Systems and methods for holding a flexible elongate device in a pose

A medical system comprising:

• a flexible elongate device including:
• a flexible body with a proximal end, a distal end, and at least one lumen extending between the proximal and distal ends, wherein the flexible body includes a plurality of sub-portions;
• a shape sensor extending along at least a portion of the flexible body;
• a stiffening mechanism having a plurality of stiffening elements, each of the stiffening elements positioned within one of the plurality of sub-portions, wherein the sub-portions extend along the flexible body;
• and
• at least one pull wire extending through the flexible body, wherein manipulation of the at least one pull wire controls a pose of the flexible body;
• and
• a controller connected in communication with the shape sensor, the controller configured to:
• (i) selectively control tension applied to the at least one pull wire to control the pose of the flexible body, and (ii) activate selected ones of the plurality of stiffening elements based in part on data received from the shape sensor to adjust stiffness of the flexible body.