Troubleshooting.

<p>Troubleshooting.</p

Visualization of CT and MR images of the phantom.

<p>Left: 3D volume rendering of the CT data with low-level threshold to remove the “parenchyma” (candle gel component). Middle column: Orthogonal slices through the CT volume at the position indicated by the yellow cross in the 3D rendering, axial, coronal and sagittal slices (top to bottom). Right column: Corresponding MR slices from the MR volume data at the same position in the phantom. No thresholding has been applied to the MR data.</p

Orthogonal slicing through a 3D ultrasound volume and the MR volume data.

<p>From top to bottom: axial, coronal and sagittal slices. The tumor model has a silicone string going into it, representing a portal vein, as can be seen in the coronal slice in both ultrasound and MR.</p

Silicone molds for manufacturing tumors.

<p>Silicone molds for manufacturing tumors.</p

Manufacturing multimodal phantom.

<p>Left: step 19 of the protocol; Middle: step 22 of the protocol; Right: the end result of the protocol – multimodal phantom mimicking liver tissue.</p

Silicone phantom container with carpet.

<p>Left: open container; Right: closed container.</p

The original MR, CT, and US images from the phantom and patients along with the cropped regions.

<p>The original MR, CT, and US images from the phantom and patients along with the cropped regions.</p

Silicone string for mimicking portal veins.

<p>Silicone string for mimicking portal veins.</p

Electromagnetic navigated EBUS-TBNA, procedure workflow.

<p>Preoperative preparations included target definition, CT model extraction and image import into the navigation software. During the EBUS procedure, image-to-patient registration was performed using an automatic algorithm in the navigation software. A combination of video, electromagnetic navigated bronchoscopy (ENB) and EBUS was used for target localization and confirmation before EBUS guided fine needle sampling. A variety of options existed for image reconstruction during the procedure or postoperatively.</p

Navigated EBUS: Technical outcomes.

<p>Navigated EBUS: Technical outcomes.</p