Systems and methods for robotic bronchoscopy

A robotic flexible endoscopic apparatus to be inserted into a subject comprising:

• a disposable flexible elongate member comprising:
• a proximal end and a distal end, wherein the proximal end is removably attached to a robotic arm via a handle, wherein the distal end is integrated with an imaging device, a position sensor and an illumination device;
• and a flexible bending section that is articulated by one or more pull wires,
• wherein the handle is configured to removably couple to an instrument driving mechanism attached to the robotic arm, and
• wherein at least a portion of the disposable flexible elongate member is prevented from buckling by an anti-buckling device, wherein a distal end of the anti-buckling device is configured to travel along a linear trajectory prior to inserting the disposable flexible elongate member into the subject, wherein an alignment feature is configured to align the anti-buckling device in a collapse state to a connector that is not located on the subject thereby ensuring the linear trajectory, and
• wherein upon alignment, the anti-buckling device is extended such that the distal end of the anti-buckling device travels along the linear trajectory until it is connected to the connector.