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 method of advancing a steerable, multi-linked device, the method comprising:
positioning an outer multi-linked mechanism so that it surrounds an inner multi-linked mechanism, wherein:
the outer multi-linked mechanism comprises a plurality of links,
the inner multi-linked mechanism comprises a plurality of links,
the plurality of links of the outer multi-linked mechanism cooperate with the plurality of links of the inner multi-linked mechanism to define at least two working ports along a length of the multi-linked device, and
a longitudinal axis of the links of the outer multi-linked mechanism substantially aligns with a longitudinal axis of the links of the inner multi-linked mechanism;
applying tension on a first cable to place the inner multi-linked mechanism in a rigid mode;
advancing the outer multi-linked mechanism such that a distal-most link of the outer multi-linked mechanism is positioned ahead of a distal end of the inner multi-linked mechanism;
applying tension to one or more second cables to place the outer multi-linked mechanism in the rigid mode;
releasing the tension on the first cable to place the inner multi-linked mechanism in a limp mode; and
advancing the inner multi-linked mechanism so that a distal-most link of the inner multi-linked mechanism is positioned at a same position of the distal-most link of the outer multi-linked mechanism,
wherein advancement of the outer multi-linked mechanism or the inner multi-linked mechanism preserves cooperation of the plurality of links of the outer multi-linked mechanism and the plurality of links of the inner multi-linked mechanism to define the at least two working ports.
2. The method of claim 1 , further comprising orienting a position of the distal-most link of the outer multi-linked mechanism using at least one of the second cables such that a longitudinal axis of a first link of the outer multi-linked mechanism is not aligned with one or more other links of the outer multi-linked mechanism.
3. The method of claim 1 , wherein the tension placed on the first cable is substantially the same as the tension applied to the one or more second cables.
4. The method of claim 1 , further comprising orienting a position of the distal-most link of the inner multi-linked mechanism using the first cable while the inner multi-linked mechanism is operating in the limp mode.
5. The method of claim 4 , further comprising:
applying tension on the first cable to place the inner multi-linked mechanism in the rigid mode and to preserve the orientation of the inner multi-linked mechanism.
6. The method of claim 1 , further comprising:
after advancing the inner multi-linked mechanism so that the distal-most link of the inner multi-linked mechanism is positioned at the same position of the distal-most link of the outer multi-linked mechanism:
applying tension on the first cable to place the inner multi-linked mechanism in the rigid mode,
releasing the tension on one or more of the second cables to place the outer multi-linked mechanism in the limp mode, and
advancing the outer multi-linked mechanism.
7. The method of claim 6 , wherein advancing the outer multi-linked mechanism comprises:
advancing the outer multi-linked mechanism so that the distal-most link of the outer multi-linked mechanism is positioned ahead of the distal-most link of the inner multi-linked mechanism.
8. The method of claim 6 , further comprising orienting a position of the distal-most link of the outer multi-linked mechanism using at least one of the second cables.
9. The method of claim 8 , further comprising applying tension to one or more of the second cables to place the outer multi-linked mechanism in the rigid mode to preserve the orientation of the outer multi-linked device.
10. The method of claim 6 , further comprising:
applying tension to one or more of the second cables to place the outer multi-linked mechanism in the rigid mode.
11. A method of advancing a steerable, multi-linked device, the method comprising:
positioning an outer multi-linked mechanism so that it surrounds an inner multi-linked mechanism, wherein:
the inner multi-linked mechanism comprises a plurality of links, wherein one or more of the plurality of links of the inner multi-linked mechanism comprises a first plurality of grooves,
the outer multi-linked mechanism comprises a plurality of links, wherein one or more of the plurality of links of the outer multi-linked mechanism comprises a second plurality of grooves,
the first plurality of grooves and the second plurality of grooves cooperate to define at least two working ports along a length of the multi-linked device,
a longitudinal axis of the links of the outer multi-linked mechanism substantially aligns with a longitudinal axis of the links of the inner multi-linked mechanism;
applying tension on a first cable to place the inner multi-linked mechanism in a rigid mode;
advancing the outer multi-linked mechanism such that a distal-most link of the outer multi-linked mechanism is positioned ahead of a distal end of the inner multi-linked mechanism;
applying tension to one or more second cables to place the outer multi-linked mechanism in the rigid mode;
releasing the tension on the first cable to place the inner multi-linked mechanism in a limp mode; and
advancing the inner multi-linked mechanism so that a distal-most link of the inner multi-linked mechanism is positioned at a same position of the distal-most link of the outer multi-linked mechanism,
wherein advancement of the outer multi-linked mechanism or the inner multi-linked mechanism preserves alignment of the first plurality of grooves and the second plurality of grooves.