A medical catheter extrusion forms a sheath around a wire. The extrusion is coupled to a steering and motivating handle. The handle is part of a housing that houses a motivation component fixed to the housing, a crankshaft, or similar eccentric component, couples to the motivation component, which is coupled to a proximal end of the wire. At the wire's distal end, a cutting tip with canted teeth couples to the wire. The cutting tip is capable of cutting bone when moving axially toward the catheter extrusion but glides across the bone without cutting it when moving axially away from the catheter extrusion. The motivation component can be a motor or buttons or a trigger, that couple to the wire and converts manual movement into reciprocating motion of the flexible shaft. The shaft's reciprocating motion moves the flexible and steerable shaft back and forth to move the cutting tip.