Fig. 3
From: Lung nodule pre-diagnosis and insertion path planning for chest CT images
Insertion path planning. 3-D model of reconstructed lung regions: a internal tissues, and b whole chest model. c Illustration of finding the optimize feasible insertion path. d Designed surgical robotic system used for minimally invasive percutaneous lung. The numbers represent as below: 1-noumenon structure, 2-force sensor, 3-camera, 4-video surveillance, 5-needle, 6-thoracic model, 7-controller, and 8-emergency stop button. e Graphic of simulating nodule used to represent suspected nodule in experiment. f Description of in-vitro puncture experiments for verifying path planning