Abstract: First and second tubes are advanceable into first and second airways of a lung. First and second cameras are positionable at the ends of the first and second tubes. An imaging device is advanceable through the first tube. A tool is advanceable through the second tube. A data-processing system comprises means for: (1) using the first camera, guiding advancement of the first tube along a first airway route to an imaging site within the first airway; (2) using the second camera, guiding advancement of the second tube along a second airway route to a tool site within the second airway; (3) using the imaging device at the end of the first tube at the imaging site, imaging a target within the lung; and (4) responsively to the imaging, providing a visual output that facilitates guidance of the tool, from the second airway, to the target. Other embodiments are also described.

Abstract: Via a trachea (5) of the subject, an end of a first tube (120) is advanced along a first airway route (127) to an imaging site (20) within the lung (55). Independently of the first tube, an end of a second tube (130) is advanced along a second airway route (130) to a tool site (30) within the lung. While the first tube remains extended along the first route and the second tube remains extended along the second route, an imaging device (128), extended from the end of the first tube, is used to image a tool (138) extended from the end of the second tube, and a target (40) within the lung. The tool can be used to perform a procedure on the target, guided by the imaging of the target and the tool. Other embodiments are also described.

Abstract: A three-dimensional printer comprising: a printing head that includes a heater for fusing a material; a plurality of nozzles, each nozzle including an opening through which the material that is fused by the heater is extrudable; and a mechanism for causing the fused material to be extruded solely through the opening of a selected nozzle of the plurality of nozzles.

Abstract: Via a trachea (5) of the subject, an end of a first tube (120) is advanced along a first airway route (127) to an imaging site (20) within the lung (55). Independently of the first tube, an end of a second tube (130) is advanced along a second airway route (130) to a tool site (30) within the lung. While the first tube remains extended along the first route and the second tube remains extended along the second route, an imaging device (128), extended from the end of the first tube, is used to image a tool (138) extended from the end of the second tube, and a target (40) within the lung. The tool can be used to perform a procedure on the target, guided by the imaging of the target and the tool. Other embodiments are also described.

Abstract: A long serial mechanism (LSM) extends from an actuator, distally along a chain of links. Each link comprises a moving mechanism (MM), actuation of which adjusts a position of the link with respect to another of the links. The LSM comprises a shaft, and a series of driving mechanisms (DMs) coupled to the shaft at each link. The LSM has (i) an engaging state in which each DM can potentially transfer rotation of the shaft into actuation of a respective MM, and (ii) a neutral state in which the DMs cannot transfer rotation. Via only (i) transitioning the shaft between the neutral state and the engaging state, and (ii) rotation of the shaft, the actuator is able to cause actuation of the first MM independently from actuation of the second MM, and actuation of the second MM independently of actuation of the first MM. Other embodiments are also described.