The invention is directed to a robotic medical system, comprising a catheter having a flexible elongate shaft (30, KA, KB, KC) with a plurality of bendable segments (42, 01, 02, 03) along the catheter a plurality of actuators (26, A1, A2, A3) for independently bending the bendable segments (42, O1, 02, 03) an input device (A, B, C, D, E), remote from the actuators (26, A1, A2, A3), for generating at least one command and a controller (CT) for directing the actuators (26, A1, A2, A3) to independently bend the bendable segments (42, O1, 02, 03) in response to the at least one command.
