a flexible steerable device comprising a plurality of interconnected segments configured to pivot relative to each other , each of the plurality of segments having a cavity disposed therein . the device also includes a flexible tube disposed within the cavities of the plurality of segments . the flexible tube includes at least one rigidizing chamber having fusible material disposed therein , wherein upon varying temperature of the fusible material , the fusible material shifts between a first state in which the flexible steerable device is flexible and a second state in which the flexible steerable device is rigidized .