An assembly includes at least one steerable invasive instrument and an access device for introducing the instrument into an object via an access port of the object. The steerable instrument includes an elongated tubular body having a proximal end part including at least one flexible zone, a distal end part including at least one flexible zone, and a rigid intermediate part. The instrument further includes a steering arrangement for translating a deflection of at least a part of the proximal end part relative to the rigid intermediate part into a related deflection of at least a part of the distal end part. The access device includes a deflection setting arrangement for setting at least one angle between at least a part of the proximal end part and the rigid intermediate part of the instrument.
