Abstract: A system for performing minimally invasive surgery includes a control tool and an elongate member for insertion into a body lumen. The control tool includes a first control tool bending segment and a first control tool transducer configured to generate a first control tool deflection signal based on manipulation of the first control tool bending segment. The elongate member includes a first elongate member bending segment at a distal portion and a first elongate member actuator configured to apply a force at the first elongate member bending segment. The system further includes a processor unit in communication with the control tool and the elongate member. Upon receipt of the deflection signal, the processor generates a first elongate member actuator signal configured to cause the first elongate member bending segment to move in accordance with the deflection signal.