The present disclosure provides for systems and methods for Nested Cannula configuration. Nested Cannula systems include a plurality of telescoping, pre-shaped tubes configured and dimensioned to reach target locations within a particular anatomical region. A three dimensional image is read for the particular anatomical region and structure in question. A series of arcs are generated between a point of the anatomical region and a target location, ensuring collision-free motion for each of the tubes at each specific diameter. The target location is determined based upon the medical procedure being performed and the location and orientation in six degrees of freedom of the anatomical structure in question. The series of arcs are used to configure and dimension the plurality of tubes. The Nested Cannula system is adapted to reach relatively small and complex target locations, such as to deliver photodynamic therapy, balloon angioplasty or BronchoAlveolar Lavage.
