In an emotional interview to The Sun, Robson said: "I have accepted what they have told me and I am determined to make the most of what time I have left. I have been fortunate to survive this long. It is thanks to my doctors and their dedication.
"My condition is described as static and has not altered since my last bout of chemotherapy. They have arrested the growth of the tumours on my lungs and I have my next scan shortly.
"I am going to die sooner rather than later. But then everyone has to go sometime and I have enjoyed every minute. I am not going to sit around at home thinking about what might or might not happen."
Despite his brave battle against cancer, it has not stopped Robson from supporting his friends and good causes: "I have always found it difficult to turn down good causes and invitations from people I know.
"My family and close friends have always said I should say 'No' more often and now is no different. It has been a hectic summer."
Last year Sir Bobby set-up the Sir Bobby Robson foundation which focuses on the early detection and treatment of cancer and the clinical trials of new drugs that will eventually beat it. Around £500,000 has been raised so far.