Fig. 4

Illustration of the localisation procedure in patient 3. A A computed tomography image showing a ground-glass opacity (yellow arrow) in the right middle lobe. B Three-dimensional computed tomography lung reconstruction showing that the nodule is far from the pleura but near the horizontal fissure. C An intraoperative view showing that the actual position of the nodule (arrow) is consistent with the position in the three-dimensional model and can be easily identified. The pathology report revealed minimally invasive adenocarcinoma