Actuated steerable probe and systems and methods of using same

A probe system comprising:

• a steerable probe having a central axis, a first end, and an opposed second end, the probe having a length corresponding to the distance between the first end and the second end, the probe comprising:
• a plurality of spaced segments, each segment of the plurality of spaced segments defining a respective central bore that surrounds the central axis of the probe, wherein the central bores of the plurality of spaced segments cooperate to define an inner channel of the probe;
• at least one joint assembly, each joint assembly comprising:
• at least one actuator comprising a high-power-density material, each actuator of the at least one actuator being secured to adjacent segments of the plurality of spaced segments such that each segment of the plurality of spaced segments is operatively coupled to an adjacent segment of the plurality of spaced segments, wherein each actuator of the at least one actuator comprises a bending element, and wherein the bending element of each actuator is positioned in between the adjacent segments of the plurality of spaced segments, thereby defining a respective joint of the probe,
• wherein each actuator is configured for selective actuation, and wherein, in response to actuation, the bending element of each actuator is configured for movement about and between a straight position and a curved position, thereby adjusting the shape of the probe at each joint along the length of the probe.;
• and
• means for selectively effecting movement of the bending element of each actuator of each joint assembly about and between the straight position and the curved position.