Notes:
The system is in it's initial state tested on a model, built in LEGO to capture the essential challenges of the presented problem. Here we can see three views of the model. The small image shows the model from it's exterior as the camera would see it. The big image shows a smaller structure hidden inside the larger structure which in analogy with the anatomical problem will represent the lima. The larger house will thus represent the visible surface inside the chest cavity. We also see an animation of the CT scan of the model which clearly shows the small house hidden inside.