The former Newcastle and England manager is in his fifth battle with the illness.
But this time he said he has accepted doctors' prognosis that he is unlikely to beat it.
Support The Sir Bobby Robson FoundationSpeaking to
The Sun newspaper, he said: "I have accepted what they have told me, and I am determined to make the most of what time I have left.
"I am going to die sooner rather than later.
"But then everyone has to go some time, and I have enjoyed every minute.
"I have been fortunate to survive this long. It is thanks to the doctors and their dedication."
The former Fulham and West Brom player was capped by his country on 20 times in the late '50s and early '60s.
But it was his career in management where he really made his name.
After an incredible spell at Ipswich Town where he won the FA Cup and Uefa Cup with the Suffolk side, as well as regularly seeing them challenge for the old Football League Championship, he was appointed England manager in 1982.
And his footballing career was almost crowned with the ultimate glory at Italia 1990 only for his England side to lose their World Cup semi-final to West Germany on penalties.
He moved back into club management on the continent with successful spells at PSV Eindhoven (twice), Sporting Lisbon, Porto, and Barcelona.
It was finally in September 1999 that Newcastle United brought Sir Bobby 'home' to the north east.
Then chairman Freddie Shepherd signed the Sacriston-born manager to replace Ruud Gullit after United had made a disastrous start to the season, culminating in an embarrassing 2-1 defeat to deadly rivals Sunderland at a rain-sodden St James's Park.
In his first game in charge bottom-of-table Newcastle thrashed Sheffield Wednesday 8-0.
Sir Bobby reinvigorated the Magpies and during his spell at the club they finished fourth and third in consecutive seasons, earning a place in the lucrative Champions' League.
He was ungloriously dismissed from the United job by Shepherd in August 2004. And since then a succession of high profile managers have failed to match Sir Bobby's achievements or standards on Tyneside.
Most recently he spent a short time as consultant for the Republic of Ireland.
But the football daft County Durham man is still working to the last.
This year he launched a charitable fund -
The Sir Bobby Robson Foundation.
Only last month Sir Bobby was in North Tyneside as part of his Foundation work.
Along with wife Elsie and their son Andrew they were at Crusoe's Cafe in Tynemouth for a event which raised more than £8,000 for his charity.
All money raised is supporting the new Early Cancer Trials Unit at the Northern Centre for Cancer Care, currently being built at the Freeman Hospital and to be named The Sir Bobby Robson Cancer Trials Research Centre.