Hierarchical clock-scale hand-drawn mapping as a simple method for bronchoscopic navigation in peripheral pulmonary nodule by Chang-Hao Zhong, Zhu-Quan Su, Wei-Zhan Luo, Wan-Yuan Rao, Jia-Xin Feng, Chun-Li Tang, Yu Chen, Xiao-Bo Chen, Ming-Yue Fan, Shi-Yue Li

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