Efficacy and Safety of Robotic-assisted Bronchoscopy Combined With the ICNVA Strategy in Biopsy of Peripheral Pulmonary Nodules

Inclusion Criteria: 1. Age ≥18 years old, and ≤75 years old, male or female; 2. Patients with peripheral lung lesions found by chest CT, whose diameter ≥ 6mm and \< 3cm, who plan to undergo robotic-assisted bronchoscopic for pulmonary biopsy; 3. The patient voluntarily undergo bronchoscopy and meet the requirements for bronchoscopy; 4. Patients can understand the purpose of the trial, have good compliance with the examination and follow-up, voluntarily participate in the clinical trial and sign the informed consent. Exclusion Criteria: 1. Patients with cardiovascular diseases, such as blood pressure instability, myocardial infarction or arrhythmia; 2. Patients with massive hemoptysis within two weeks; 3. Patients with severe pneumothorax and rib fracture; 4. Patients with serious infectious diseases, such as tuberculosis or AIDS; 5. Patients with severe abdominal aortic aneurysm or thoracic aortic aneurysm; 6. Participants who have participated in or are participating in drug clinical trials within 3 months before screening, or have participated in other medical device clinical trials within 30 days; 7. Those who were not considered suitable for inclusion by the researchers.