Fig. 3

Illustration of the localisation procedure in patient 2. A Three-dimensional computed tomography lung reconstruction of the right lung showing the Y point and the surrounding area to be easily identified (circle). B A computed tomography image showing a ground-glass opacity (yellow arrow) in the right upper lobe. C Three-dimensional computed tomography lung reconstruction showing the nodule (yellow arrow) near the Y point. D Measuring the distance from the nodule to the Y point on the three-dimensional model. E An intraoperative view showing measurement of the distance of the nodule relative to the Y point with a sterile ruler. F A resected specimen showing adequate surgical margins (arrow). The pathology report revealed minimally invasive adenocarcinoma