This robotic platform for conducting minimally invasive biopsies deep in the peripheral lung features an ultra-thin, human-controlled robotic catheter that allows physicians to navigate with high stability and precision. A new shape-sensing technology measures the full shape of the catheter hundreds of times per second, providing precise location and shape information throughout the entire navigation and biopsy process. Biopsy is enabled by the innovative Flexision needle, which bends with the catheter and is able to pass through the airways.