Various apparatuses and methods involve flexible components for insertion into tissue, such as for minimally-invasive surgical procedures. As consistent with one or more embodiments, an apparatus includes a plurality of elongated flexible segments and one or more rigid actuators coupled between the flexible segments. One or more tendons extend within and moves the flexible segments, which elastically flex upon insertion into tissue. Each rigid actuator also operates to move one or more of the flexible segments, providing further movement control. A manipulator circuit is coupled to each rigid actuator and operates to position one or more of the segments by actuating the rigid actuator (e.g., via electrical and/or mechanical input).
