In this patent, I designed a system for automatically and manually generating transthoracic route plans from skin surface to target lesion within a patient’s lung for both diagnostic and treatment. In addition, I handled the system state for tracking and verifying the robotic procedural needle position and pose before and during procedure.

In this patent, I designed an iterative user interface for adjusting a C-Arm to Patient CT registration result during a procedure. In addition, I handled the rendering of the augmentation of various virtual segmentation onto the live fluoro view.