Flexible instrument

A medical instrument assembly, comprising:

• an outer probe having an elongated shaft;
• an inner probe having an elongated shaft coaxially disposed within the outer probe shaft;
• a driver interface module having a plurality of actuating elements configured to be driven by a drive unit to independently effect movement of each of the outer and inner probes within at least one degree-of-freedom;
• and
• a carriage on which the driver interface module is movably disposed.

A medical instrument assembly, comprising:

• an outer probe having an elongated shaft;
• an inner probe having an elongated shaft coaxially disposed within the outer probe shaft;
• a drivable mechanism to which the outer and inner probe shafts are mounted, the drivable mechanism having a plurality of actuating elements configured to independently effect movement of each of the outer and inner probes within at least one degree-of-freedom;
• and
• a receiver to which the drivable mechanism is configured for being removably mated, the receiver configured for operably coupling a drive unit to the plurality of actuating elements,
• wherein the receiver has a plurality of complementary actuating elements that mechanically interface with the actuating elements in the drivable mechanism.

A robotic medical system for use with a coaxial arrangement of an outer probe and an inner probe, comprising:

• a driver interface module having a plurality of actuating elements;
• a user interface configured for generating at least one command;
• a drive unit including a motor array operatively coupled to the respective actuating elements;
• and
• an electric controller configured, in response to the at least one command, for directing the drive unit to drive the actuating elements to independently effect movement of each of the outer and inner probes within at least one degree-of-freedom.