A system for performing a medical procedure comprises a first assembly and a second assembly. The first assembly comprises an articulating probe assembly and a first housing. The articulating probe assembly comprises an outer probe and an inner probe. The outer probe comprises: multiple articulating outer links and a first connector. The inner probe comprises multiple articulating inner links and a second connector. The first housing comprises: a proximal portion； a distal portion； and an opening positioned in the first housing distal portion. The articulating probe is constructed and arranged to pass through the first housing opening. The second assembly comprises: a first carriage constructed and arranged to operably engage the first connector of the outer probe； a second carriage constructed and arranged to operably engage the second connector of the inner probe； a dual linear drive assembly configured to independently translate the first carriage and the second carriage； and a second housing comprising a proximal portion and a distal portion. The first assembly is constructed and arranged to operably attach to the second assembly. Methods of performing a medical procedure are also described.
