With the development of social and economic level, the enhancement of national awareness of physical examination and the popularization of lowdose spiral CT examination, the detection rate of peripheral pulmonary nodules is getting higher and higher, which puts forward higher and higher requirements for accurate tissue sampling of pulmonary nodules. In recent years, many new techniques have appeared, among which, Ultra-bronchoscope (UTB), realtime small probe ultrasonic bronchoscope (REBUS), navigation bronchoscope (including virtual bronchoscope navigation VNB and electromagnetic navigation bronchoscope ENB) and robot-assisted bronchoscope (RAB) are typical representatives, and each has its own unique technical characteristics and advantages. Accurate grasp of the technical characteristics of lung nodules, especially peripheral pulmonary nodules, will greatly help to improve the accuracy of tissue sampling.