Stabilizing apparatus for highly articulated probes with link arrangement, methods of formation thereof, and methods of use thereof

Abstract

An apparatus for driving an articulating probe comprises an elongate probe constructed and arranged to articulate in at least one predetermined degree of motion and to transition from a flexible state to a rigid state, and a force transfer mechanism constructed and arranged to apply a force to the probe. The force is selected from the group consisting of a force that causes probe to articulate in the at least one predetermined degree of motion and a force that causes the probe to transition from the flexible state to the rigid state. The base structure is attached to portion of the force transfer mechanism and the elongate probe; the base structure comprising one or more stabilizing elements constructed and arranged to resist undesired movement of the probe caused by force from the force transfer mechanism.

1 . (canceled) 
     
     
         2 . An apparatus comprising:
 at least one elongate probe constructed and arranged to articulate with at least one degree of motion, the at least one elongate probe comprising a first probe and a second probe, the first probe enclosing the second probe;   an articulation mechanism constructed and arranged to drive articulation of the at least one elongate probe and to translate the first and second probes longitudinally with respect to each other, the articulation mechanism comprising a locking mechanism to independently lock or release the first and second probes in states of rigidity or flexibility, respectively; and   a base structure constructed and arranged to remain stationary with respect to the articulation mechanism and to fixedly secure to at least a portion of the articulation mechanism.   
     
     
         3 . The apparatus of  claim 2 , wherein the articulation mechanism further comprises at least one carriage, and wherein the at least one carriage is constructed and arranged to advance and retract the first and second probes of the at least one elongate probe in translating the first and second probes longitudinally with respect to each other. 
     
     
         4 . The apparatus of  claim 3 , wherein the at least one carriage comprises a first carriage and a second carriage to respectively advance and retract the first and second probes of the at least one elongate probe, the second probe slidable within the first probe. 
     
     
         5 . The apparatus of  claim 4 , further comprising a first guide rail constructed and arranged to guide the first carriage, and a second guide rail constructed and arranged to guide the second carriage. 
     
     
         6 . The apparatus of  claim 3 , further comprising at least one guide rail constructed and arranged to guide the at least one carriage. 
     
     
         7 . The apparatus of  claim 6 , wherein the at least one guide rail is constructed and arranged to substantially prevent movement of the at least one carriage in directions other than along a longitudinal axis of the at least one guide rail. 
     
     
         8 . The apparatus of  claim 3 , wherein the articulation mechanism further comprises at least one lead screw and the at least one carriage translates along the at least one lead screw. 
     
     
         9 . The apparatus of  claim 2 , wherein the articulation mechanism further comprises at least one bobbin to drive the articulation of the at least one elongate probe. 
     
     
         10 . The apparatus of  claim 9 , wherein the articulation mechanism further comprises a plate to which the at least one bobbin is mounted. 
     
     
         11 . The apparatus of  claim 10 , wherein the plate comprises a force distribution plate. 
     
     
         12 . The apparatus of  claim 10 , wherein the at least one bobbin is rotatably mounted to the plate. 
     
     
         13 . The apparatus of  claim 10 , wherein the at least one bobbin comprises multiple bobbins. 
     
     
         14 . The apparatus of  claim 13 , wherein the multiple bobbins are mounted to a same plate. 
     
     
         15 . The apparatus of  claim 10 , wherein the plate comprises alignment features that align the plate with the base structure. 
     
     
         16 . The apparatus of  claim 15 , wherein the alignment features comprise at least one slot. 
     
     
         17 . The apparatus of  claim 2 , wherein the articulation mechanism further comprises at least one bobbin and at least one cable, wherein applying a force to the at least one elongate probe rotates the at least one bobbin, and wherein the at least one bobbin is stabilized by a force distribution plate. 
     
     
         18 . The apparatus of  claim 17  wherein a proximal end of the at least one cable is coupled to a corresponding at least one bobbin, wherein the at least one cable passes through a body portion of the at least one elongate probe, and wherein a distal portion of the at least one cable is coupled to a distal portion of the at least one elongate probe. 
     
     
         19 . The apparatus of  claim 17 , wherein the articulation mechanism comprises at least two bobbins and at least two corresponding cables, wherein applying a force to the at least one elongate probe rotates at least one of the at least two bobbins, and wherein the at least one of the at least two bobbins is stabilized by the force distribution plate. 
     
     
         20 . The apparatus of  claim 2  wherein the base structure further comprises a coupling mechanism that fixedly secures the articulation mechanism to the base structure. 
     
     
         21 . The apparatus of  claim 20 ,
 wherein the articulation mechanism further comprises at least one bobbin to drive the articulation of the at least one elongate probe,   wherein the base structure further comprises at least one corresponding rotatably driven wheel, and   wherein the coupling mechanism removably secures the articulation mechanism to the base structure to cause the at least one bobbin of the articulation mechanism to interface with the at least one corresponding rotatably driven wheel of the base structure so that rotation of the at least one rotatably driven wheel of the base structure causes rotation of the corresponding at least one rotatable bobbin, the rotation of the at least one rotatable bobbin causing tensioning or de-tensioning of a corresponding cable of the at least one elongate probe to drive the articulation of the at least one elongate probe.