Virtual bronchoscopy motion planner

In this paper, we offer a virtual bronchoscopy simulator as an assistance exploration tool and diagnosis of peripheral lung nodule lesions. We present a proposal for motion planning to a interest region in the lung nodule based on RRT (Rapidly-Exploring Random Trees). Navigation will be guided by this path in a 3d virtual lung reconstructed from CT images. We compare several RRT-algorithm looking for the optimal option for the virtual bronchoscopy problem.