A guiding apparatus includes a plurality of collapsible support members, a plurality of retraction assemblies, each of the plurality of retraction assemblies coupled to a respective one of the plurality of collapsible support members, and a connector adapted to connect the plurality of retraction assemblies to a teleoperational manipulator arm. The plurality of collapsible support members have an extended configuration in which the plurality of collapsible support members are arranged to form a channel extending along a longitudinal axis, the channel sized to receive an elongated instrument. The plurality of collapsible support members have a collapsed configuration in which each of the plurality of collapsible support members is retracted within a respective coupled retraction assembly as the elongated instrument is advanced along the longitudinal axis.