A steerable body insertion device is provided that includes a bendable non-piezoelectric element configured to move within patient anatomy. The non-piezoelectric element extends an element length between a proximal end and a distal end and having an element center axis extending along the element length when the non-piezoelectric element is in a non-bent state. The insertion device also includes a first piezoelectric strand coupled to a surface of the non-piezoelectric element and extending a first strand length. The first piezoelectric strand has a first strand center axis extending substantially parallel to the element center axis along the first stand length. When a first voltage is applied to the first piezoelectric strand, the first piezoelectric strand is configured to contract and cause the non-piezoelectric element to bend away from the element center axis.
