Low friction instrument driver interface for robotic systems

A method of steering a distal end of an elongate member, comprising:

• determining a desired bending to be achieved by the distal end of the elongate member;
• determining an amount of tension to be applied to a steering wire located within the elongate member based on the desired bending to be achieved;
• using an actuatable element to apply a torque to turn a rotary member that is detachably coupled to the actuatable element, the steering wire having one end is secured to the rotary member and another end secured to the elongate member, wherein the application of the torque by the actuatable element causes tension to be applied to the steering wire;
• and
• using a sensor coupled to the actuatable element to sense a characteristic that corresponds with an amount of force or torque being applied by the actuatable element to turn the rotary member.