Flexible instrument with grooved steerable tube

A minimally invasive surgical system comprising:

• an actuator;
• an elongate flexible body including a proximal portion, a distal portion, and a flexible sheath defining a central lumen and extending through the proximal portion;
• a steerable tube coupled to the distal portion of the elongate flexible body, the steerable tube including an inner surface, an outer surface, a wall having a thickness extending between the inner surface and the outer surface, and a plurality of grooves in the wall configured to receive the conduits;
• a plurality of conduits embedded within the flexible sheath, each conduit including a lumen and extending through the flexible inner sheath, at least one conduit of the plurality of conduits extending from the proximal portion through the steerable tube in 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 wall of the steerable tube,
• wherein the plurality of actuation tendons are actuatable to bend the steerable tube.