Fig. 2:

(a) Controlling the tendon stroke $\left(X_1\right)$ and joint length $\left(X_2\right)$ allows for variable curvature, (b) Controlling $X_1$ and $X_2$ while advancing the actuation module $\left(X_4\right)$ allows for follow-the-leader motion, (c) outer tube advanced individually $\left(X_3\right)$ to go further into a target vasculature, while retaining the curvature at the location of the vessel tortuosity.