A bodily-invasive steerable device having a proximal and distal end comprising: i) a steering mechanism having - a proximal bending part, - a distal bending part, and - an intermediate part disposed between the proximal bending part and the distal bending part configured mechanically to transmit forces applied at the proximal end to the distal end, the steering mechanism configured such that the distal bending part moves relative to the intermediate part responsive to movements of the proximal bending part relative to the intermediate part, ii) a handle coupled to the proximal bending part to effect manual bending; wherein - the handle comprises at least one grip member, - the distal bending part is configured for movement in at least two different intersecting planes responsive to the movements of the proximal bending part, and wherein the device is further provided with an end effector at the distal end of the distal bending part wherein the steering mechanism is configured such that the end effector is rotationally fixed in relation to the distal bending part, and the end effector is rotatable when the distal bending part is in a bent position, by a complementary rotation of the proximal bending part characterized in that the at least one grip member extends distally at least over the proximal terminal end of the proximal bending part. i) a steering mechanism having - a proximal bending part, - a distal bending part, and - an intermediate part disposed between the proximal bending part and the distal bending part configured mechanically to transmit forces applied at the proximal end to the distal end, the steering mechanism configured such that the distal bending part moves relative to the intermediate part responsive to movements of the proximal bending part relative to the intermediate part, - a proximal bending part, - a distal bending part, and - an intermediate part disposed between the proximal bending part and the distal bending part configured mechanically to transmit forces applied at the proximal end to the distal end, ii) a handle coupled to the proximal bending part to effect manual bending; wherein - the handle comprises at least one grip member, - the distal bending part is configured for movement in at least two different intersecting planes responsive to the movements of the proximal bending part, and wherein the device is further provided with an end effector at the distal end of the distal bending part wherein the steering mechanism is configured such that the end effector is rotationally fixed in relation to the distal bending part, and the end effector is rotatable when the distal bending part is in a bent position, by a complementary rotation of the proximal bending part characterized in that the at least one grip member extends distally at least over the proximal terminal end of the proximal bending part. - the handle comprises at least one grip member, - the distal bending part is configured for movement in at least two different intersecting planes responsive to the movements of the proximal bending part, and wherein the device is further provided with an end effector at the distal end of the distal bending part wherein the steering mechanism is configured such that the end effector is rotationally fixed in relation to the distal bending part, and the end effector is rotatable when the distal bending part is in a bent position, by a complementary rotation of the proximal bending part characterized in that the at least one grip member extends distally at least over the proximal terminal end of the proximal bending part.