An instrument comprises a shaft assembly, a handpiece body, and a drive assembly. The shaft assembly comprises a plurality of coaxially arranged shafts and a tympanostomy tube. The shaft assembly further includes a flexible section. The shaft assembly extends distally from the handpiece body. The drive assembly is operable to drive the shafts of the shaft assembly in a predetermined sequence to deploy the tympanostomy tube. One or more of the shafts are configured to translate along the flexible section of the shaft assembly as a part of the predetermined sequence to deploy the tympanostomy tube.