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The established brace in a dynamic bronchus phantom reduced respiration-induced catheter displacement by about 96.0% while preserving more than 97.4% luminal flow conductance. Ex vivo and in vivo bronchial studies confirmed safety under prolonged radial loading, with no notable surface trauma or deep tissue injury observed. We demonstrate a helically braced telerobotic manipulator that can operate with submillimeter control accuracy in dynamic environments, enabling targeted transbronchial needle interventions in live porcine models, including drug delivery, bronchus puncture, and fluid aspiration. In addition, in vivo studies on porcine lungs showed that the brace-aided telerobotic catheter enhances the stability of optical coherence tomography imaging, effectively achieving respiratory motion-free conditions. 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