Articulated device with visualization system

Abstract

An articulated device may include a first steerable multi-linked mechanism and a second steerable multi-linked mechanism. The second steerable multi-linked mechanism may include a first link, a plurality of intermediate links and a second link movably coupled to a second one of the intermediate links. A first one of the intermediate links may be movably coupled to the first link. The articulated device may include a camera located within at least a portion of the second link and a protective shield connected to a distal end of the second link. The protective shield may surround at least a portion of the camera.

1 .- 28 . (canceled) 
     
     
         29 . An articulated device, comprising:
 a first steerable multi-linked mechanism; and   a second steerable multi-linked mechanism comprising:
 a first link, 
 a plurality of intermediate links, wherein a first one of the intermediate links is movably coupled to the first link, 
 a second link movably coupled to a second one of the intermediate links, and 
   a stereocamera system comprising a plurality of cameras to provide stereoscopic vision.   
     
     
         30 . The articulated device of  claim 29 , wherein at least one of the plurality of cameras is located within at least a portion of the second link. 
     
     
         31 . The articulated device of  claim 30 , wherein the at least one of the plurality of cameras occupies one or more ports of the second link. 
     
     
         32 . The articulated device of  claim 30 , wherein the second link comprises one or more ports, wherein one or more wires connected to the at least one of the plurality of cameras extend from the second link to a feeder mechanism via one or more of the ports. 
     
     
         33 . The articulated device of  claim 29 , wherein at least one of the plurality of cameras is mounted to the second link. 
     
     
         34 . The articulated device of  claim 33 , wherein the at least one of the plurality of cameras is fastened to the second link by one or more of the following:
 one or more screws;   an adhesive; or   a press-fit connection.   
     
     
         35 . The articulated device of  claim 29 , further comprising one or more audio sensors. 
     
     
         36 . The articulated device of  claim 29 , wherein the second steerable multi-linked mechanism is configured to concentrically surround the first steerable multi-linked mechanism, 
     
     
         37 . The articulated device of  claim 29 , wherein the second steerable multi-linked mechanism is configured to operate in a rigid mode when the first steerable multi-linked mechanism operates in a limp mode. 
     
     
         38 . The articulated device of  claim 29 , wherein the first steerable multi-linked mechanism is configured to operate in a rigid mode when the second steerable multi-linked mechanism operates in a limp mode. 
     
     
         39 . The articulated device of  claim 29 , wherein the plurality of cameras comprise one or more of a charge-coupled device camera or a complimentary metal-oxide semiconductor camera. 
     
     
         40 . The articulated device of  claim 29 , wherein the plurality of cameras comprise at least one wireless camera. 
     
     
         41 . The articulated device of  claim 40 , wherein the wireless camera comprises a wireless transmitter configured to wirelessly transmit one more images captured by the wireless camera to a remote display. 
     
     
         42 . The articulated device of  claim 40 , further comprising a wireless transmitter configured to wirelessly transmit one more images captured by the wireless camera to a remote display. 
     
     
         43 . An articulated device, comprising:
 a first steerable multi-linked mechanism; and   a second steerable multi-linked mechanism comprising:
 a first link, 
 a plurality of intermediate links, wherein a first one of the intermediate links is movably coupled to the first link, 
 a second link movably coupled to a second one of the intermediate links, and 
   a stereocamera system comprising a plurality of cameras to provide stereoscopic vision, wherein at least one of the plurality of cameras is located within at least a portion of the second link.   
     
     
         44 . The articulated device of  claim 43 , wherein the second link comprises one or more ports, wherein one or more wires connected to the at least one of the cameras extend from the second link to a feeder mechanism via one or more of the ports. 
     
     
         45 . The articulated device of  claim 43 , wherein at least one of the plurality of cameras is mounted to the second link. 
     
     
         46 . The articulated device of  claim 43 , wherein the plurality of cameras comprise one or more of a charge-coupled device camera or a complimentary metal-oxide semiconductor camera. 
     
     
         47 . The articulated device of  claim 43 , wherein the plurality of cameras comprise a wireless camera. 
     
     
         48 . The articulated device of  claim 47 , further comprising a wireless transmitter configured to wirelessly transmit one more images captured by the wireless camera to a remote display.