Controllable steerable instrument

A steerable instrument (100) controllable by a robotic arm (200), having a proximal end (20) and a distal (40) end comprising:

• a shaft (130), a bendable proximal part (120) configured to bend along a curve and a bendable distal part (140) configured to bend along a curve,
• a connector (110) having an axis of rotation (112) configured for dismountable attachment to the robotic arm (200), attached in fixed rotational relation along a longitudinal axis to the bendable proximal part (120),
• an end effector (150) having an axis of rotation (150) attached in fixed rotational relation along a longitudinal axis to the bendable distal part (140), the steerable instrument (100) configured such that:
• the bendable distal part (140) bends responsive to bending of the bendable proximal part (120), and
• the end effector (150) is rotatable around its axis of rotation (150) when the bendable distal part (140) is in a bent position by a complementary rotation of the connector (110) around its axis of rotation (112),
• wherein the rotation of the connector (110) around its axis of rotation (112) rotates the bendable proximal part (120) in a bent position that is transmitted via an axial (A-A′) rotation of the shaft (130) to the bendable distal part (140) in the bent position causing rotation of the end effector (150) around its axis of rotation (152) while the bendable distal part (140) is in the bent position, the shaft (130) is pivotable around a fulcrum zone (134) on the shaft (130) and changes direction pivoted around the fulcrum zone (134) responsive to a complementary movement of the connector (110),
• thereby providing control of the shaft (130) direction, bending of the bendable distal part (140), and rotation of the end effector (150) through robotic movement of the connector (110).