Fig. 2

Computed tomography (CT)-guided percutaneous procedure. a Coronal CT image with a lung window showing pulmonary nodules in the right upper lobe (yellow arrowhead). b Anterior view of the preoperative 3D reconstruction showing the location of the right upper lobe pulmonary nodules (yellow arrow). c Indocyanine green (ICG) fluorescence was detected via thoracoscopy in fluorescence mode, with yellow arrows indicating the localization points. d and e Pulmonary nodule profiles in ex vivo specimens; white dashed circles represent fluorescence or pulmonary nodules, and red dashed lines represent localization deviations