A flexible VLSI film containing shape memory alloy SMA actuator elements (105) and associated control and driver circuitry is wrapped around any bendable element such as a flexible, hollow tube, catheter tube or the like. The SMA actuator elements (105) are thus spatially distributed around the circumference of the bendable element. The SMA actuator elements (105) are selectively resistively heated with an electric current through associated decode and driver circuitry, thereby causing a portion of the film to contract. The radical distribution of the SMA actuator elements (105) across the surface of the VLSI actuator film is such that when properly activated, a device sheathed with the VLSI film is capable of executing highly dexterous maneuvers in three-dimensional space, which was not heretofore possible. The actuator elements are self-guided in that control circuitry, decode circuitry and associated microprocessors, including position mapping means are fabricated in VLSI integrally with the SMA actuator elements. Alternatively, a microprocessor controller may be located at a remote location while communicating with associated driver circuitry on the actuator film.