Steerable multi-linked device having multiple working ports
A steerable multi-linked device. The device includes a first multi-linked mechanism and a second multi-linked mechanism. The first mechanism defines a first plurality of grooves. The second mechanism defines a second plurality of grooves. The first and second pluralities of grooves cooperate to define at least two working ports along a length of the device. At least one of the first and second mechanisms are steerable.
1. A steerable multi-linked device, comprising:
a first multi-linked mechanism, wherein the first multi-linked mechanism comprises a first plurality of grooves; and
a second multi-linked mechanism, wherein the second multi-linked mechanism comprises a second plurality of grooves,
wherein the first and second pluralities of grooves cooperate to define at least two working ports along a length of the device,
wherein one of the first multi-linked mechanism and the second multi-linked mechanism is configured to operate in a rigid mode while the other of the first multi-linked mechanism and the second multi-linked mechanism is configured to operate in a limp mode.
2. The steerable multi-linked device of claim 1 , wherein the second multi-linked mechanism is configured to surround at least a portion of the first multi-linked mechanism.
3. The steerable multi-linked device of claim 1 , wherein the first multi-linked mechanism comprises a passage that extends from a first end of the first multi-linked mechanism toward a second end of the first multi-linked mechanism.
4. The steerable multi-linked device of claim 1 , wherein the second multi-linked mechanism further comprises a plurality of through-holes that each extend along a length of the second multi-linked mechanism.
5. The steerable multi-linked device of claim 4 , further comprising a plurality of cables, wherein each cable is configured to be surrounded by at least one of the through-holes.
6. The steerable multi-linked device of claim 1 , wherein the first multi-linked mechanism comprises:
a first link;
a plurality of intermediate links, wherein one of the intermediate links is movably coupled to the first link; and
a second link movably coupled to another of the intermediate links.
7. The steerable multi-linked device of claim 6 , wherein the first link defines a passage extending from a first end of the first link to a second end of the first link.
8. The steerable multi-linked device of claim 6 , wherein at least one of the intermediate links defines a passage extending from a first end of the intermediate link to a second end of the intermediate link.
9. The steerable multi-linked device of claim 6 , wherein the second link defines a passage extending from a first end of the second link to a second end of the second link.
10. A steerable multi-linked device, comprising:
a first multi-linked mechanism comprising a plurality of first links; and
a second multi-linked mechanism comprising a plurality of second links,
wherein the second multi-linked mechanism is configured to surround at least a portion of the first multi-linked mechanism,
wherein the second multi-linked mechanism is configured to operate in a rigid mode while the first multi-linked mechanism is configured to operate in a limp mode and advance beyond the second multi-linked mechanism.
11. The steerable multi-linked device of claim 10 , wherein the first multi-linked mechanism comprises a passage that extends from a first end of the first multi-linked mechanism toward a second end of the first multi-linked mechanism.
12. The steerable multi-linked device of claim 11 , wherein the second multi-linked mechanism further comprises a plurality of through-holes that each extend along a length of the second multi-linked mechanism.
13. The steerable multi-linked device of claim 12 , further comprising a plurality of cables, wherein each cable is configured to be surrounded by at least one of the through-holes.
14. The steerable multi-linked device of claim 11 , wherein the first multi-linked mechanism comprises:
a first link;
a plurality of intermediate links, wherein one of the intermediate links is movably coupled to the first link; and
a second link movably coupled to another of the intermediate links.
15. The steerable multi-linked device of claim 14 , wherein the first link defines a passage extending from a first end of the first link to a second end of the first link.
16. The steerable multi-linked device of claim 14 , wherein at least one of the intermediate links defines a passage extending from a first end of the intermediate link to a second end of the intermediate link.
17. The steerable multi-linked device of claim 14 , wherein the second link defines a passage extending from a first end of the second link to a second end of the second link.
18. The steerable-multi-linked device of claim 10 , wherein the first multi-linked mechanism is configured to operate in a rigid mode while the second multi-linked mechanism is configured to operate in a limp mode and advance over and beyond the first multi-linked mechanism.