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This paper proposes a flexible robot for transbronchial lung biopsy with a cable-driven mechanism-based flexible manipulator. The robotic system of transbronchial lung biopsy is presented in detail, including the snake-bone end effector, the flexible catheters and the actuation unit. The kinematic analysis of the snake-bone end effector is conducted for the master-slave control. The experimental results show that the end effector reaches the target nodule through a narrow and tortuous pathway in a bronchial model. In conclusion, the proposed robotic system contributes to the field of advanced endoscopic surgery with high flexibility and controllability.<\/jats:p>","DOI":"10.1017\/s0263574722001345","type":"journal-article","created":{"date-parts":[[2022,9,27]],"date-time":"2022-09-27T10:51:40Z","timestamp":1664275900000},"page":"1055-1065","source":"Crossref","is-referenced-by-count":24,"title":["Design of a flexible robot toward transbronchial lung biopsy"],"prefix":"10.1017","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3524-0613","authenticated-orcid":false,"given":"Runtian","family":"Zhang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4879-8512","authenticated-orcid":false,"given":"Dongsheng","family":"Xie","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chao","family":"Qian","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xingguang","family":"Duan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Changsheng","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2022,9,27]]},"reference":[{"key":"S0263574722001345_ref24","doi-asserted-by":"publisher","DOI":"10.34133\/2020\/9724807"},{"key":"S0263574722001345_ref34","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574721000989"},{"key":"S0263574722001345_ref4","doi-asserted-by":"publisher","DOI":"10.1016\/S0140-6736(99)06093-6"},{"key":"S0263574722001345_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2016.2613502"},{"key":"S0263574722001345_ref5","unstructured":"[5] Mousa, W. and Khan, M. , \u201cLung Nodule Classification Utilizing Support Vector Machines,\u201d In: Proceedings of the 2002 International Conference on Image Processing (2002)."},{"key":"S0263574722001345_ref17","doi-asserted-by":"crossref","unstructured":"[17] Heya, A. , Kamegawa, T. , Matsuno, T. , Hiraki, T. and Gofuku, A. , \u201cDevelopment of Instantaneously Puncture System for Ct Fluoroscopy-Guided Interventional Radiology,\u201d In: 2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (2016) pp. 2369\u20132374.","DOI":"10.1109\/IROS.2016.7759369"},{"key":"S0263574722001345_ref33","doi-asserted-by":"crossref","unstructured":"[33] Simaan, N. , Taylor, R. and Flint, P. , \u201cA Dexterous System for Laryngeal Surgery,\u201d In: IEEE International Conference on Robotics and Automation, Proceedings. 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