A remote control flexible instrument system, employing a shaft which
supports a tool, is described in which the has proximal and distal ends
with at least a portion thereof extending through a lumen of the human
body so as to locate the shaft at an internal target site. A master
station including an input device provides control of the instrument
situated at a slave station. The master station can control at least one
degree-of-freedom of the flexible instrument. A controller intercouples
the master and slave stations and is operated in accordance with a
computer algorithm that receives a command from the input device for
controlling at least one degree-of-freedom of the catheter so as to
respond in accordance with action at the input device. The flexible
instrument further comprises a controlled flexible segment along the
shaft, for controlled bending at the flexible segment to guide the shaft
and to dispose the tool at an operative site.