Flexible instrument with embedded actuation conduits

A minimally invasive medical system comprising:

• an actuator;
• an elongate flexible body including a proximal portion, a distal portion, a transition portion between the proximal portion and the distal portion, an outer sheath, and a flexible inner sheath, the flexible inner sheath having an inner surface, an outer surface, and a wall extending between the inner surface and the outer surface;
• a plurality of conduits positioned within the flexible inner sheath between the inner surface and the outer surface, each conduit including a conduit lumen and a distal end, wherein each conduit extends through a corresponding lumen, wherein each lumen is formed in the wall of the flexible inner sheath, each conduit terminating within the flexible inner sheath, wherein each distal end terminates at the transition portion and is anchored to a discrete element proximal to the distal portion;
• and
• a plurality of actuation tendons, each actuation tendon being fixed at a proximal end relative to the actuator and extending through the lumen of one of the plurality of conduits into the distal portion,
• wherein the plurality of actuation tendons are actuatable by the actuator to bend the distal portion.