Highly articulated robotic probes and methods of production and use of such probes

Abstract

A highly articulated robotic probe comprises an outer sleeve and an inner core. The outer sleeve and inner core include a plurality of links. The links of the outer sleeve and inner core are configured to pivot relative to one another. Various characteristics of the links determine the overall pivot angle of the articulated probe. Each of the plurality of links may have one or more channels. The channels form a semi-continuous passage from link to link and are configured to receive an elongated member such as an inner core, tool or cable. One or more cables may be used to control the outer links of the outer sleeve and the inner links of the inner core. Various characteristics of the cables determine the overall performance of the articulated probe.

1 . (canceled) 
     
     
         2 . A method of controlling an articulated probe including at least a portion configured to be controllably rigid and flexible, comprising:
 providing an inner core comprising a plurality of inner links;   providing an inner cable;   extending the inner cable through the plurality of inner links and configuring the inner cable to control the inner core;   providing an outer sleeve comprising a plurality of outer links;   providing a plurality of outer cables; and   extending the plurality of outer cables through the plurality of outer links and configuring the plurality of outer cables to control the outer sleeve,   providing the inner cable extending through the inner links to have a tensile strength that is greater than that of each of the individual outer cables extending through the outer links.   
     
     
         3 . The method of  claim 2 , wherein providing the inner cable comprises providing the inner cable to have a tensile strength approximately equal to a combined tensile strength of the plurality of outer cables. 
     
     
         4 . The method of  claim 2 , wherein providing the plurality of outer cables comprises providing each of the plurality of outer cables to have approximately the same tensile strength. 
     
     
         5 . The method of  claim 4 , wherein the tensile strength of each of the plurality of outer cables is approximately 1/Nth of a tensile strength of the inner cable, where N is the number of outer cables. 
     
     
         6 . The method of  claim 2 , wherein providing the plurality of outer cables comprises providing each of the plurality of outer cables to have approximately the same cross-sectional area. 
     
     
         7 . The method of  claim 6 , wherein the cross-sectional area of each of the plurality of outer cables is approximately 1/Nth of a cross-sectional area of the inner cable, where N is the number of outer cables. 
     
     
         8 . The method of  claim 2 , wherein providing the inner cable comprises providing the inner cable comprising at least one of steel, polyethylene, nylon or fluorocarbons. 
     
     
         9 . The method of  claim 2 , wherein providing the plurality of outer cables comprises providing the plurality of outer cables comprising at least one of steel, polyethylene, nylon or fluorocarbons. 
     
     
         10 . The method of  claim 2 , wherein the tensile strength of each of the outer cables is less than or equal to the tensile strength of the inner cable and greater than or equal to 1/Nth of the tensile strength of the inner cable, where N is the number of outer cables. 
     
     
         11 . The method of  claim 2 , wherein the inner cable has a diameter that is greater than those of each of the individual outer cables.