What is described is a minimally invasive surgical instrument comprising an elongate flexible body including a proximal portion and a distal portion, a plurality of conduits, and at least one tendon extending through the conduit lumen of at least one of the plurality of conduits from the proximal portion into the distal portion of the elongate flexible body. The elongate flexible body includes a central lumen and a flexible wall having a thickness extending from an inner surface to an outer surface. Each conduit includes a conduit lumen and extends through the wall of the elongate flexible body and terminates within the flexible wall of the elongate flexible body. Each conduit includes a distal end directly secured to the flexible wall. The at least one tendon is actuatable to steer the distal portion.
