Table 1.

Review and comparison with existing works.

Robotic system	Navigation capability	Robotic mechanism	Size of end effector	Variable stiffness	Variable length of bending section
superDimension [9]	✓		–
LungCare	✓		–
Lin et. al. [11]	✓		–
Ion [12]	✓	✓	4.2 mm
Monarch [12]	✓	✓	3.5 mm
Liu et. al. [21]		✓	2.2 mm
Proposed system	✓	✓	3.3 mm	✓	✓