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This is especially apparent in minimally invasive procedures where millimeter\u2010scale devices are necessary for reaching the desired surgical site, such as in interventional bronchoscopy. To leverage the benefits of soft robotics in minimally invasive surgery, a soft robot with integrated tip steering, stabilization, and needle deployment capabilities is proposed for lung tissue biopsy procedures. Design, fabrication, and modeling of the force transmission of this soft robotic platform allow for integration into a system with a diameter of 3.5\u2009mm. Characterizations of the soft robot are performed to analyze bending angle, force transmission, and expansion during needle deployment. 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