Active cannula for bio-sensing and surgical intervention

A surgical cannula, comprising:

• a first flexible tube having a first pre-formed curvature;
• a second flexible tube having a second pre-formed curvature, wherein the second flexible tube is disposed within the first flexible tube;
• a first actuator coupled to the first flexible tube, wherein the first actuator controls a translation and a rotation of the first flexible tube;
• and a second actuator coupled to the second flexible tube, wherein the second actuator controls a rotation and translation of the second flexible tube independently of the translation and rotation of the first flexible tube wherein said first and second flexible tubes store elastic energy in a configuration such that said elastic energy is releasable by translation of said second flexible tube relative to said first flexible tube and at least one of said first and second flexible tubes is configured to change shape as said second flexible tube is translated relative to said first flexible tube.