Highly articulated probes with anti-twist link arrangement, methods of formation thereof, and methods of performing medical procedures

Abstract

An articulating probe, comprises a first mechanism including a first link comprising a first longitudinal axis, a first articulation surface and a first motion-limiting element; and a second link comprising a second longitudinal axis, a second articulation surface and a second motion-limiting element. An articulation joint comprises the first articulation surface and the second articulation surface and constructed and arranged to allow two degree-of-freedom articulation of the second link relative to the first link. A motion resisting assembly comprises the first motion limiting element and the second motion limiting element, wherein the motion resisting assembly is constructed and arranged to resist rotation of the second link about the second longitudinal axis relative to the first longitudinal axis of the first link.

What is claimed is: 
     
         1 . An articulating probe, comprising:
 a first mechanism comprising:
 a first link comprising a first longitudinal axis, a first articulation surface and a first motion limiting element; 
 a second link comprising a second longitudinal axis, a second articulation surface and a second motion limiting element; 
 an articulation joint comprising the first articulation surface and the second articulation surface and constructed and arranged to allow two degree-of-freedom articulation of the second link relative to the first link; and 
 a motion resisting assembly comprising the first motion limiting element and the second motion limiting element, wherein the motion resisting assembly is constructed and arranged to resist rotation of the second link about the second longitudinal axis; and 
   a second mechanism comprising:
 a third link comprising a third longitudinal axis and a third articulation surface; 
 a fourth link comprising a fourth longitudinal axis and a fourth articulation surface; 
 an articulation joint comprising the third articulation surface and the fourth articulation surface and constructed and arranged to allow at least two degree of freedom articulation of the fourth link relative to the third link, wherein the first mechanism and the second mechanism extend in a longitudinal direction, wherein a link of one of the first and second mechanisms has an opening having an inner width greater than a greatest outer width of a link of the other of the first and second mechanisms, and wherein the link of the other of the first and second mechanisms extends through the opening of the link of the one of the first and second mechanisms and an entire length of the link of the other of the first and second mechanisms is movable in a longitudinal direction through the opening of the link of the one of the first and second mechanisms.