1. Path 1 Path goes through the bronchial passages, starting in the trachea and heading into the middle lobe of the right lung. Parallel-projection viewing geometry constructs the rendered views. 2. Trajectory for Path 1 Path trajectory sketched on supplementary orhtographic projection displays for voyage seen in picture 1. 3. Path 2 through the bronchial passages, using the coherence method for dynamic navigation. The path starts in the trachea and heads into the upper lobe of the left lung. A perspective-projection viewing geometry is used in constructing the rendered views. 4. Path 3 through the bronchial passages, using the ADRT method for dynamic navigation. The path starts in the trachea and heads into the middle lobe of the right lung. A parallel-projection viewing geometry is used in constructing the rendered views. 5. Trajectory for Path 3 6. Composite view of various QUICKSEE tools at a site in the right lung's middle lobe. Endoscope shows the rendered view at the site. 2D Slicer gives transverse, sagittal, and coronal data slices at the viewing site. 7. 3D voyage through the coronary arteries 8. Various paths through the coronary arteries 9. Trajectory for above voyage Path trajectory sketched on supplementary orthographic projection displays.

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