| abstract |
What is described is a minimally invasive surgical instrument comprising an elongate flexible body, a plurality of conduits, a plurality of tendons, and a steerable tube. The elongate flexible body includes a proximal portion and a distal portion. Each conduit includes a lumen and extends through the elongate flexible body from the proximal portion into the distal portion. The tendons extend from the proximal portion to the distal portion of the elongate flexible body, and each tendon is actuatable to bend the steerable tube. The steerable tube is coupled to the distal portion of the elongate flexible body, and the steerable tube includes an inner surface, an outer surface, a wall having a thickness extending between the inner surface and the outer surface, and a plurality of channels in the wall configured to receive the tendons. |