Benefit of Cone-beam CT and Robotic-Assisted Bronchoscopy During Bronchoscopy

Inclusion Criteria: * Aged \>18 years * Scheduled for bronchoscopy in order to obtain at least 1 specimen(s) of the lung via transbronchial biopsy * Necessary periinterventional laboratory examinations and other examinations needed for the bronchoscopy * Informed consent Exclusion Criteria: * Not able to tolerate procedure (bronchoscopy or apnea for CBCT) * Previous randomization to an arm of the present trial * Endobronchial lesion causing lobar atelectasis * Inability or contraindications to undergo bronchoscopy (e.g. severe cardiopulmonary diseases, coagulation disorders, intolerance to anesthesia or endoscopic operation, psychiatric disorders, or severe neurosis) * Pregnant or lactating women For nested RCTs (Trial A + B): * A: At least 1 peripheral lung lesion suspicious for lung cancer, beyond the visual range of the bronchoscope, rounded or irregular opacity, may be well or poorly defined, measuring ≤3 cm in diameter of the short axis (in CT scan) * B:At least 1 peripheral target lung lesion of any kind beyond the visual range of the bronchoscope (measuring \>3 cm in diameter of the short axis and/or with an interstitial pattern)