INDUSTRIAL BORESCOPE SYSTEM WITH ADJUSTABLE STIFFNESS INSERTION TUBE

An inspection tube for non-destructive inspection including at least one variable stiffness section extending along a longitudinal axis between a proximal end and a distal end of the inspection tube, at least one stiff section, and a tensioning element. The at least one variable stiffness section can include a first end, a second end, and a plurality of serially-arranged linkages provided within the at least one variable stiffness section. The serially-arranged linkages can include a distal linkage provided at the second end. The at least one stiff section can be configured to couple to the first end or the second end of the at least one variable stiffness section. The tensioning element can include a first end coupled to the distal linkage and a second end extending through the serially-arranged linkages, and out of the proximal end of the inspection tube.

BACKGROUND

The present invention relates to an industrial borescope for use in for non-destructive inspection.

Industrial borescopes can be used for inspection of industrial assets and equipment where an area to be inspected is inaccessible by other forms of inspection or devices, or where other such inspection would require destructive measures such as disassembly to be carried out. For example, such systems and equipment can include engines and turbines which, can be configured in environments ranging from, but not limited to, aerospace, automotive, and oil and gas production environments. During equipment operation, equipment may degrade or corrode or encounter general wear and tear that affects the effectiveness of the equipment. Industrial borescopes, and other forms of non-destructive inspection may be used to detect these undesirable equipment conditions.

Industrial borescopes can typically consist of a rigid or flexible tube with a display on one end, and a camera, or other sensor on the other end. The display and the sensor can be linked to one another by electrical or optical means (such as fiber optic cables). Some borescopes can be further configured to include mechanical or electrical articulation mechanisms, such as pull-wires and a motor. The articulation mechanism can allow for articulation of the inspection tip. A user can articulate the camera or other sensor within the asset being inspected in order to obtain a fuller view of the inspection environment.

SUMMARY

In one aspect, a system for use in non-destructive inspection is provided. In an embodiment, the system can include an inspection tube having a longitudinal axis extending between a proximal end and a distal end. The inspection tube can further include at least one variable stiffness section extending along the longitudinal axis between the proximal end and the distal end of the inspection tube. The at least one variable stiffness section can include a first end and a second end, the first end facing the proximal end of the inspection tube. The at least one variable stiffness section can further include a plurality of serially-arranged linkages provided within at least one variable stiffness section and extending along the longitudinal axis. The plurality of serially-arranged linkages can include a distal linkage provided at the second end of the at least one variable stiffness section. The inspection tube can further include at least one stiff section can be configured to extend along the longitudinal axis between the proximal end and the distal end of the inspection tube. The at least one stiff section can further be configured to couple to the first end or the second end of the at least one variable stiffness section. The inspection tube can further include a tensioning element including a first end and a second end. The first end of the tensioning element can be coupled to the distal linkage of the plurality of serially-arranged linkages and the second end of the tensioning element can be configured to extend through the plurality of serially-arranged linkages, along the longitudinal axis and out of the proximal end of the inspection tube.

In another embodiment, the system can further include a sensing section having a first end and a second end. The second end can include a sensor, and the sensing section can be configured to couple to the distal end of the inspection tube at the first end. The system can further include an inspection control unit configured to couple to the proximal end of the inspection tube. The inspection control unit can include at least one actuator coupled to the second end of the tensioning element. The system can further include a controller communicatively coupled to the at least one actuator and configured to cause the at least one actuator to adjust a longitudinal force exerted on the tensioning element extending through the plurality of serially-arranged linkages.

In another embodiment, movement of the at least one actuator of the system in a first direction can be configured to cause the tensioning element to reduce the longitudinal force exerted on the plurality of serially-arranged linkages to cause flexion of the at least one variable stiffness section. Movement of the at least one actuator in a second direction, opposite to the first direction, can be configured to cause the tensioning element to increase the longitudinal force exerted on the plurality of serially-arranged linkages to cause stiffening of the at least one variable stiffness section.

In another embodiment, the at least one actuator of the system can include a motor attached to a spool. In this embodiment, the tensioning element can be configured to unwind from the spool when the motor is actuated in the first direction and to wind around the spool when the motor is actuated in second direction opposite to the first direction.

In another embodiment, the at least one actuator of the system can be a knob attached to a spool. In this embodiment, the tensioning element can be configured to wind around the spool when the knob is actuated in one direction and configured to unwind from the spool when the knob is actuated in another direction.

In another embodiment, the plurality of serially-arranged linkages can be made from brass, aluminum, steel, ceramic, and/or plastic.

In another embodiment, the tensioning element can be a nitinol wire, and the system can further include a power supply configured to be communicatively coupled to the controller and to the nitinol wire. The controller can be configured to increase current provided by the power supply to cause the nitinol wire to contract in length, or the controller can be configured to decrease current provided by the power supply to cause the nitinol wire to extend in length.

In another embodiment, the plurality of serially-arranged linkages can be made from ceramic and/or plastic.

In another embodiment, the inspection control unit of the system can further include a computing device including a user interface configured to receive inputs to operate the inspection tube. The user interface can include one or more user interface objects operative to adjust the longitudinal force exerted on the longitudinal axis extending through the plurality of serially-arranged linkages.

In another embodiment, the inspection control unit can further comprise a display screen to display at least one of a stiffness value, a stiffness setting, a stiffness controller, and/or a preprogrammed mode.

In another embodiment, the at least one sensor can include a camera, a light, a temperature sensor, a proximity sensor, or a flow sensor.

In another aspect, a method for inspecting an asset is provided. In one embodiment, the method can include inserting an inspection tube of a borescope system into an asset to perform an inspection. The inspection tube can include a longitudinal axis extending between a proximal end and a distal end, and can further include at least one variable stiffness section extending along the longitudinal axis between the proximal end and the distal end of the inspection tube. The at least one variable stiffness section can include a first end and a second end. The first end can be configured to face the proximal end of the inspection tube. A plurality of serially-arranged linkages can be provided within at least one variable stiffness section and can be configured to extend along the longitudinal axis. The plurality of serially-arranged linkages can include a distal linkage that can be provided at the second end of the at least one variable stiffness section. The inspection tube can further include at least one stiff section configured to extend along the longitudinal axis between the proximal end and the distal end of the inspection tube and couple to the first end or the second end of the at least one variable stiffness section. The inspection tube can further include a tensioning element that can include a first end and a second end. The first end can be configured to couple to the distal linkage and the second end and can be configured to extend through the plurality of serially-arranged linkages and out of the proximal end of the inspection tube. The tensioning element can further be configured to couple to at least one actuator of the borescope system. The inspection tube can further include a sensing section including a first end and a second end. The second end can further include a sensor, and the sensing section can be configured to couple to the distal end of the inspection tube at the first end. The method can further include receiving, by a data processor of the borescope system, an input associated with at least one operation parameter of the inspection tube. The method can further include controlling, by the data processor responsive to the input, a longitudinal force exerted on the tensioning element along the longitudinal axis extending through the plurality of serially-arranged linkages.

In another embodiment, the method can include controlling the longitudinal force by rotating the at least one actuator in a first direction. Rotating the at least one actuator in a first direction can be configured to cause the tensioning element extending within the plurality of serially-arranged linkages to reduce the longitudinal force exerted on the plurality of serially-arranged linkages causing flexion of the at least one variable stiffness section. The method can also include rotating the at least one actuator in a second direction, opposite to the first direction. Rotating the at least one actuator in the second direction can cause the tensioning element to increase the longitudinal force exerted on the plurality of serially-arranged linkages to cause stiffening of the at least one variable stiffness section.

In another embodiment, the at least one actuator can be a motor attached to a spool. In this embodiment, the controlling can further include unwinding the tensioning element from the spool in the first direction or winding the tensioning element around the spool in the second direction.

In another embodiment, the at least one actuator can be a knob attached to a spool. In this embodiment, the controlling can further include unwinding the tensioning element from the spool when the knob is actuated in a third direction or winding the tensioning element around the spool when the knob is actuated in a fourth direction opposite to the third direction.

In another embodiment, the borescope system can further include a current source, and the tensioning element can be a nitinol wire communicatively coupled to the current source. In this embodiment, the controlling can further include increasing a current provided to the nitinol wire causing the tensioning element to increase the longitudinal force exerted on the plurality of serially-arranged linkages. The controlling can also include decreasing the current provided by to the nitinol wire causing the tensioning element to decrease longitudinal force exerted on the plurality of serially-arranged linkages.

In another embodiment, the method can include providing, by the data processor, the at least one operational parameter of the inspection tube for display on a display of the borescope system.

In another embodiment, the display of the borescope system can include a user interface configured to receive the input.

In another embodiment, the at least one operation parameter can include a stiffness value, a stiffness setting, and/or a preprogrammed mode.

In another embodiment, the at least one sensor can include a camera sensor, a light sensor, a temperature sensor, a proximity sensor, or a flow sensor.

It is noted that the drawings are not necessarily to scale. The drawings are intended to depict only typical aspects of the subject matter disclosed herein, and therefore should not be considered as limiting the scope of the disclosure.

DETAILED DESCRIPTION

Traditional borescope insertion tubes on the market today have a fixed rigidity or stiffness configured at the time of manufacture. One limitation of traditional borescopes can be their limited use in a wide variety of different applications. A borescope system that has been configured to have a pliant or flexible insertion tube can be easier to maneuver during inspection but may not include sufficient rigidity to be advanced within objects or materials that apply friction against the insertion tube, which can cause the insertion tube to buckle and/or bunch. A more rigid insertion tube can be advanced or pushed into an object or material under inspection more easily, but it can be more difficult to maneuver. Another problem with insertion tubes is that, when trying to span a large gap, they can fall into the gap.

The systems, apparatuses, and methods described herein can address the aforementioned shortcomings. For example, one or more embodiments of the system herein can include an insertion tube of a borescope that can include at least one stiff push tube sections, at least one variable stiffness section. In some embodiments, the system can further include a sensing section. In one embodiment, the at least one variable stiffness section can include a plurality of serially-arranged linkages, which can be coupled to an at least one actuator. The at least one actuator can be configured to adjust the stiffness of the plurality of serially-arranged linkages within the at least one variable stiffness section (and thus the insertion tube) while performing an inspection, based on the application or requirements of the inspection. The optional sensing section can also include at least one sensor used to acquire sensor data during the inspection. The system, apparatuses, and methods described herein can also include a user interface in communication with the at least one actuator. The user interface can include one or more user interface objects operative to control the at least one actuator to adjust the stiffness of the at least one variable stiffness section and/or the sensing section.

The current subject matter can advantageously provide a borescope system, including an insertion tube that can be controlled by an operator to adjust a stiffness of portions of the insertion tube for more effective and efficient navigation through an asset during inspection. The system, apparatuses, and methods described herein provide an operator greater control of the insertion tube to provide flexibility when maneuvering, while also providing rigidity, for example, when pushing or spanning a gap.

FIG.1illustrates an example embodiment of a borescope system10including an insertion tube100. The insertion tube100can be made, for example, from a streel-braided monocoil tube and can have a proximal end110and a distal end120. The insertion tube100can further include at least one stiff section20provided within the insertion tube100, between the proximal end110and the distal end120. The insertion tube100can further include at least one variable stiffness section40having a first end42and a second end44. The at least one variable stiffness section40can be provided within the insertion tube100, between the proximal end110and the distal end120and serially coupled to the at least one stiff section20, for example, at connection30. The at least one variable stiffness section40can be oriented with the first end42facing the proximal end110. In some embodiments, the distal end120can be coincident with the second end44of the at least one variable stiffness section40. In other embodiments, the ordering of the at least one stiff section20and the at least one variable stiffness section40can be switched, with the distal end120coinciding with an end of the at least one stiff section20. In other embodiments, the insertion tube100can include a plurality of stiff sections20and/or a plurality of variable stiffness sections40connected serially in a predetermined order. In some embodiments, the borescope system10can further a sensing section60having a sensing end70, the sensing section60further including a sensor coupled to the sensing end70. In some embodiments, the sensing section60can be coupled to the distal end120of the insertion tube at an end opposite the sensing end70. Each of the at least one stiff section20, the at least one variable stiffness section40, and the sensing section60can have a different stiffness and/or be made from different materials to produce different desired flexibilities for a respective section. In some embodiments, the change in stiffness between sections can be achieved with varying braid angles and/or monocoil geometry. In some embodiments, the coupling at connection30can be made by butting an end of the at least one stiff section20and an end of the at least one variable stiffness section40together around a solid connector (shown inFIG.8). In some embodiments, the connected end of the at least one stiff section20and the at least one variable stiffness section40can be tied down with Kevlar thread & epoxied around the solid connector. In some embodiments, the distal end120of the insertion tube100can be coupled to the sensing section60at connection50. In some embodiments, the coupling at connection50can be made in the same way as the connection30. In other embodiments, the connection50can be made using a combination of press fitting and epoxies. In other embodiments, the connections30and50could be made using, for example, laser welding and/or mechanical interlocks.

The insertion tube100can further be connected to at least one actuator80and a borescope computing device90(discussed inFIGS.4-6). The at least one actuator80can be configured to control a stiffness of the at least one variable stiffness section40(discussed in detail below in reference toFIGS.4-10). In some embodiments, a plurality of variable stiffness sections40can be controlled by a plurality of actuators80. The borescope computing device90can be an inspection control unit, which when coupled to the insertion tube100can form a borescope or a visual inspection system, such as the borescope system10. In some embodiments, the at least one actuator80may be configured to be integral with the borescope computing device90. In some embodiments, the borescope computing device90can further be communicatively coupled to the sensing section60, including the sensor at the sensing end70. In some embodiments, the sensor at the sensing end70can include a camera, a light, a temperature sensor, a proximity sensor, or a flow sensor, or a combination thereof.

FIG.2illustrates a cross-sectional view taken along axis B ofFIG.1of an embodiment of the at least one stiff section20of the insertion tube100described inFIG.1. As shown inFIG.2, the at least one stiff section20of the insertion tube100can include a first conduit210housing an imager harness220having an imager jacket222, a plurality of articulation cables230for articulating the sensor articulation assembly and having sheathes232, a phase-measure (PM) contact harness240, a fiber optic cable bundle250having a jacket252. Each of the imager harness220, the plurality of sheathed articulation cables230, the phase-measure (PM) contact harness240and the fiber optic cable bundle250can be configured to extend from the borescope computing device90through the insertion tube100and the sensing section60and terminate at the sensing end70.

In some embodiments, the conduit210of section20can be made from a stainless steel monocoil, a polyurethane jacket, a tungsten braid, and/or a polyurethane coating.

Imager harness220can be configured to connect, for example, a camera in the sensor at the sensing end70to the electronics of the borescope90in order to produce an image. In some embodiments, the imager jacket222can be made from Teflon.

The plurality of sheathed articulation cables230can be configured to articulate a sensor articulation assembly provided in the sensing section60. The cables230can connect the sensor at the sensing end70to a sensing end actuator within the borescope computing device90. In some embodiments, the sensing end actuator can include one or more cams that cables230can be wound around. The sensing end actuator can be controlled by a controller within the borescope computing device90. The controller can provide control signals to the sensing end actuator to cause the cables230to be wound around the cams. By winding the cables230around their respective cam more or less than others, a user can produce different levels of tension within the sensing section60and cause bending of the sensing section60in a controlled articulation manner. In some embodiments, the plurality of cables230can be made from tungsten. Additionally, in some embodiments, the cable sheaths232can be made from stainless steel.

The phase-measure (PM) contact harness240can be configured to provide the borescope system10with a capability to identify PM tips as they are attached to a camera in the sensor at the sensing end70.

The fiber optic cable bundle250can be configured to transmit information in the form of light, from the sensor at the sensing end70to a computing system of the borescope computing device90. In some embodiments, the fiber optic cable jacket252can be made from a PVC material.

FIG.3illustrates a cross-sectional view taken along axis B ofFIG.1of an embodiment of the at least one variable stiffness section40of the insertion tube100described in relation toFIG.1. As shown inFIG.3, the at least one variable stiffness section40can include a plurality of serially-arranged linkages300located within a second conduit310. The plurality of serially-arranged linkages300may be arranged along a longitudinal axis (e.g., axis A ofFIG.1) of the insertion tube100and can be coupled to the at least one actuator80by the tensioning element305. The plurality of serially-arranged linkages300, the tensioning element305, and the at least one actuator80can be configured to vary the stiffness of the at least one variable stiffness section40of the insertion tube100and will be discussed further in regard toFIGS.4-6. In some embodiments, where at least one stiff section20is provided in between at least one variable stiffness section40and the at least one actuator80, the at least one stiff section20described inFIG.2can further include the tensioning element305configured to extend through the at least one stiff section20to couple the at least one actuator80to the at least one variable stiffness section40. The second conduit310can be configured to have a different stiffness than the first conduit210. In some embodiments, the at least one variable stiffness sections40can be configured to have a thinner monocoil design than the at least one stiff section20. In some embodiments, conduit310of the at least one variable stiffness section40can be made from a stainless steel monocoil, a polyurethane jacket, one or more layers of a tungsten braid, and/or a polyurethane coating.

FIG.4illustrates a cross-sectional view corresponding to axis A ofFIG.1showing one embodiment of the plurality of serially-arranged linkages300described inFIG.3. As shown, the plurality of serially-arranged linkages300can include individual links410and a tensioning element305can extend through a lumen provided within the links410. In some embodiments, the links410can be simple cylindrical beads. In other embodiments, the links410can take the form of other interlocking shapes, some of which can be seen inFIGS.7A and7B. The tensioning element305may be terminated at or be coupled to a distal linkage420of the plurality of serially-arranged linkages300. In some embodiments, the distal linkage420can be provided at the second end of the at least one variable stiffness section40(described in relation toFIG.1). In this embodiment the links410may be made from a ceramic material and the tensioning element305can be made from nitinol wire. In some embodiments, the nitinol wire305can be a 2-way linear actuator nitinol wire. 2-way linear actuator nitinol wire can be pre-programmed to remember its martensite shape (i.e. its cold shape). In some embodiments, the 2-way linear actuator nitinol wire305can be pre-programmed to have a straight martensite shape, allowing for the nitinol wire305to be flexible when a current is supplied to the nitinol wire305and it is heated, and then straighten when current is switched off and the nitinol wire305cools. Having a straight pre-programmed martensite shape allows the nitinol wire305to be used without a spring-back in linear actuator applications. In some embodiments, the nitinol can have an actuation temperature of 50 degrees C. In this embodiment, the nitinol tensioning element305can be coupled to a power supply430. The power supply430can be configured to provide an electrical current to the nitinol tensioning element305. In this embodiment, the power supply430may be integrally within the borescope computing device90. The power supply430can be controlled by a controller440. The controller440can be provided integrally within the borescope computing device90, or can be provided separately. In some embodiments, the controller440can be configured to receive inputs from the pointing device450and/or a user interface display460of the borescope computing device90. In other embodiments, the controller440can be configured to receive inputs from other devices that can be communicatively coupled to the borescope computing device90. In some embodiments, the user interface display460can be a touchscreen.

In the embodiment illustrated byFIG.4, the controller440can be configured to send a signal from an input to the power supply430to vary the amount of current supplied to the nitinol tensioning element305in order to adjust a longitudinal force exerted on the plurality of serially-arranged linkages300. When the current supplied to the nitinol tensioning element305is increased, resistance within the tensioning element can be increased, which can cause an increase in temperature. As the nitinol tensioning element305increases in temperature, it can be configured to contract and can shorten in length. Contracting of the tensioning element305can cause the links410to be drawn together due to the increased longitudinal force exerted on the plurality of serially-arranged linkages300between the distal linkage420and the power supply430. This can stiffen the plurality of serially-arranged linkages300which can to form a more rigid configuration as the links410abut one another. Alternatively, the controller440can be configured to send a signal to decrease the current supplied to the tensioning element305from the power supply430. With less current supplied, resistance within the tensioning element305can be decreased, which can cause a decrease in temperature. As the tensioning element305cools, it can be configured to elongate and can return to its original length, which can cause the links410to disengage from contact with one another which can cause the plurality of serially-arranged linkages300to loosen to form a more flexed configuration. In this embodiment, the links410can be formed as ceramic beads to insulate portions of the at least one variable stiffness section40from heat generated by the nitinol tensioning element305. In some embodiments, the links410can be formed from plastic or anodized aluminum.

FIG.5is a cross-sectional view corresponding to axis A ofFIG.1showing another embodiment of the plurality of serially-arranged linkages300described inFIG.3. As shown inFIG.5, the plurality of serially-arranged linkages300can further include links410, tensioning element305which can be configured to extend through a lumen one or more links410of the plurality of serially-arranged linkages300. The tensioning element305may be terminated at or be coupled to a distal linkage420of the at least one variable stiffness section40. In some embodiments, the distal linkage420can be provided at the second end of the at least one variable stiffness section40(described in relation toFIG.1). In this embodiment the links410may be made from brass, steel, plastic, and/or aluminum. In this embodiment, the tensioning element305can be made from tungsten, and/or stainless steel. In some embodiments, the tensioning element305can be coated in Teflon. The tensioning element305may be coupled to an at least one actuator80. In this embodiment, the at least one actuator80can further include a motor510coupled to a spool520. In this embodiment, the at least one actuator80may be provided integrally with the borescope computing device90, or it may be provided separately. The at least one actuator80can be configured to be controlled by a controller440. In some embodiments, the controller440can be configured to receive inputs from the pointing device450and/or the user interface display460of the borescope computing device90. In other embodiments, the controller440can be configured to receive inputs from other devices communicatively coupled to the borescope computing device90.

In the embodiment illustrated byFIG.5, the motor510can be configured to wind the tensioning element305around the at least one actuator spool520in order to shorten or lengthen the tensioning element305within the at least one variable stiffness section40. The controller440can be configured to send a signal from an input to the motor510which can rotate the spool520to cause the tensioning element305to be wound around the spool520. When the tensioning element305is spooled around the spool520, the links410can be drawn into contact with one another which can increase the stiffness of the plurality of serially-arranged linkages300within the at least one variable stiffness section40. Alternatively, the controller440may be configured to send a signal from an input to the motor510to release the tensioning element305from the spool520. As a result, tension on the tensioning element305can be reduced and slack can be introduced into the plurality of serially-arranged linkages300. In this way, flexion of the plurality of serially-arranged linkages300can be increased and the stiffness of the at least one variable stiffness section40can be reduced.

FIG.6is a cross-sectional view of another embodiment of the plurality of serially-arranged linkages300. As shown inFIG.6, the plurality of serially-arranged linkages300can include links410, and tensioning element305, which can be configured to extend through a lumen within the links410. The tensioning element305may be terminated at or be coupled to a distal linkage420of the plurality of serially-arranged linkages300. In some embodiments, the distal linkage420can be provided at the second end of the at least one variable stiffness section40(described in relation toFIG.1). In this embodiment the links410may be made from brass, steel, plastic, and/or aluminum. In this embodiment, the tensioning element305can be made from tungsten, and/or stainless steel. In some embodiments, the tensioning element305can be coated in Teflon. The tensioning element305may be coupled to an at least one actuator80. In this embodiment, the at least one actuator80can further include a knob610coupled to a spool620. In this embodiment, the at least one actuator80may be provided integrally with the borescope computing device90, or may be provided separately, for example, mounted to the housing of the insertion tube100.

The spool620can rotate in response to rotation of the knob610and can release or retract the tensioning element305. Rotating the knob610in a first direction can cause the tensioning element305to be wound around the spool620. When the tensioning element305is spooled around the spool620, the links410can be drawn into contact with one another which can increase the stiffness of the plurality of serially-arranged linkages300within the at least one variable stiffness section40. Alternatively, rotating the knob610in a second direction, opposite to the first direction, can release the tensioning element305from the spool620. As a result, tension on the tensioning element305can be reduced and slack can be introduced into the plurality of serially-arranged linkages300. In this way, flexion of the plurality of serially-arranged linkages300can be increased and the stiffness of the at least one variable stiffness section40can be reduced. In this embodiment, the knob610can be configured to be manually operated by a user to tighten or loosen the tensioning element305within the plurality of serially-arranged linkages300. In some embodiments, the knob610can alternatively be a slider or a switch.

FIGS.7A and7Billustrates two example embodiments of the links410that make up the plurality of serially-arranged linkages300. As shown inFIG.7A, the link410acan include a cylindrically-shaped body710aand a cylindrically-shaped protrusion720aextending from the body710a. The protrusion720acan include a tapered collar730ahaving a sloped surface. The protrusion720aof a first link410can be received within the body710aof a second link410that is adjacent to the first link410. The sloped surface of the collar730acan enable flexion of adjacent links410allowing the plurality of links300to bend or flex as needed. The link410acan also include a lumen740aextending through the link410a. The lumen740acan convey the tensioning element305therein.

As shown inFIG.7B, the link410bcan include a cylindrically-shaped body710band a dome-shaped protrusion720bextending from the body710b. The protrusion720bof a first link410can be received within the body710bof a second link410that is adjacent to the first link410. The dome-shaped protrusion720bcan enable flexion of adjacent links410allowing the plurality of links300to bend or flex as needed. The link410bcan also include a lumen740bextending through the link410b. The lumen740bcan convey the tensioning element305therein.

FIG.8illustrates an example of a connection800between the at least one variable stiffness section40and the sensing section60, described in relation toFIG.1. However, in some embodiments, connection800can be provided between the at least one variable stiffness section40and the at least one stiff section20. For the following description, the connection800will be described as a connection between the at least one variable stiffness section40and the sensing section60. In this embodiment, the at least one variable stiffness section40can include a monocoil860and a jacket870. The sensing section60can include a monocoil880and a jacket890. In this embodiment, the connection800can further include a coupling810having a first end820and a second end830. The coupling810can have a cylindrically-shaped body and include a plurality of cylindrically-shaped ridges840extending, concentrically, from the cylindrically shaped body of the coupling810. The coupling810can also include a lumen850extending through the coupling. The lumen850can convey the imager harness220, the plurality of sheathed articulation cables230, the phase-measure (PM) contact harness240and the fiber optic cable bundle250(described in relation toFIG.3) from the at least one variable stiffness section40into the sensing section60. Further, the distal linkage420of the plurality of serially-arranged linkages300can be configured to mount to the lumen of the850of the coupling810at the first end820. Alternatively, the distal linkage420can be machined integrally with the coupling810. In some embodiments, a section of the monocoil860near the first end820and a section of the monocoil880near the second end830can be cut out to form a space for the coupling810to slide into. The coupling810can then be covered by the jacket870and the jacket890. In some embodiments, the jacket870and the jacket890can be polyurethane jackets and tungsten braid(s). The coupling810covered by the jacket870and the jacket890can then be tied down with Kevlar thread around the cylindrically-shaped ridges840of the coupling810which provide grip. Epoxy can then be applied around the thread and smoothed to form a smooth connection800.

FIG.9illustrates an example embodiment of a settings screen900the user interface display460. The user interface display460can be communicatively coupled to a computing device (i.e. the borescope computing device90) and can be further coupled to a controller (i.e. controller440). The user interface display460can be configured to display user inputs that control the operation of the borescope device10. In some embodiments, the settings screen900can be configured to display at least one stiffness control window910and/or920. Each stiffness control window910and/or920can be configured to control at least one variable stiffness section40. In some embodiments, the user interface display460can be configured to expand the stiffness control window910and/or920responsive to an input (i.e. touching/clicking the control window910and/or920).

FIG.10illustrates an example embodiment of the expanded stiffness control window910. In some embodiments, the expanded stiffness control window910can include a plurality of operational parameters configured to control at least one variable stiffness section40. In some embodiments, the plurality of operational parameters can include a stiffness setting, such as a minimum stiffness911and/or a maximum stiffness914. In some embodiments, responsive to selecting a stiffness setting911, the controller440coupled to the user interface display460can be configured to send a control signal to the actuator80causing the actuator80to reduce the longitudinal force applied to the tensioning element305to a predetermined minimum value. Alternatively, responsive to selecting a stiffness setting914, the controller440coupled to the user interface display460can be configured to send a control signal to the actuator80causing the actuator80to increase the longitudinal force applied to the tensioning element305to a predetermined maximum value. In some embodiments, the plurality of operational parameters can further include a stiffness value912. In some embodiments, the stiffness value912can be a value between 1-100 with 0 being the predetermined minimum value and 100 being the predetermined maximum value. In some embodiments, the stiffness value912can be changed using a stiffness controller913. In some embodiments, the stiffness controller912can be a virtual slide controller displayed on a touchscreen. In other embodiments, the stiffness controller912can be a physical slide controller. In other embodiments, the stiffness value912can be changed in other ways, for example, using the knob610described inFIG.6. In other embodiments, the plurality of operational parameters can further include at least one preprogrammed mode917and/or918. In some embodiments, the at least one preprogrammed mode (Preset 1)917and/or (Preset 2)918can be set by a user. In some embodiments, where the user interface display460is a touchscreen, a preprogrammed mode917can be set, for example, by sliding the slide controller913to a desired stiffness value912and then pressing, and holding the preprogrammed mode917for a predetermined amount of time.

FIG.11is a block diagram1000of a computing system1010suitable for use in implementing the computerized components described herein, such as the borescope computing device90. In broad overview, the computing system1010includes at least one processor1050for performing actions in accordance with instructions, and one or more memory devices1060and/or1070for storing instructions and data. The illustrated example computing system1010includes one or more processors1050in communication, via a bus1015, with memory1070and with at least one network interface controller1020with a network interface1025for connecting to external devices1030, e.g., a computing device. The one or more processors1050are also in communication, via the bus1015, with each other and with any I/O devices1030at one or more I/O interfaces1030, and any other devices1080. The processor1050illustrated incorporates, or is directly connected to, cache memory1060. Generally, a processor will execute instructions received from memory. In some embodiments, the computing system1010can be configured within a cloud computing environment, a virtual or containerized computing environment, and/or a web-based microservices environment.

In more detail, the processor1050can be any logic circuitry that processes instructions, e.g., instructions fetched from the memory1070or cache1060. In many embodiments, the processor1050is an embedded processor, a microprocessor unit or special purpose processor. The computing system1010can be based on any processor, e.g., suitable digital signal processor (DSP), or set of processors, capable of operating as described herein. In some embodiments, the processor1050can be a single core or multi-core processor. In some embodiments, the processor1050can be composed of multiple processors.

The memory1070can be any device suitable for storing computer readable data. The memory1070can be a device with fixed storage or a device for reading removable storage media. Examples include all forms of non-volatile memory, media and memory devices, semiconductor memory devices (e.g., EPROM, EEPROM, SDRAM, flash memory devices, and all types of solid state memory), magnetic disks, and magneto optical disks. A computing device1010can have any number of memory devices1070.

The cache memory1060is generally a form of high-speed computer memory placed in close proximity to the processor1050for fast read/write times. In some implementations, the cache memory1060is part of, or on the same chip as, the processor1050.

The network interface controller1020manages data exchanges via the network interface1025. The network interface controller1020handles the physical, media access control, and data link layers of the Open Systems Interconnect (OSI) model for network communication. In some implementations, some of the network interface controller's tasks are handled by the processor1050. In some implementations, the network interface controller1020is part of the processor1050. In some implementations, a computing device1010has multiple network interface controllers1020. In some implementations, the network interface1025is a connection point for a physical network link, e.g., an RJ 45 connector. In some implementations, the network interface controller1020supports wireless network connections via network interface port1025. Generally, a computing device1010exchanges data with other network devices1030, such as computing device1030, via physical or wireless links to a network interface1025. In some implementations, the network interface controller1020implements a network protocol such as LTE, TCP/IP Ethernet, IEEE 802.11, IEEE 802.16, or the like.

The other computing devices1030are connected to the computing device1010via a network interface port1025. The other computing device1030can be a peer computing device, a network device, or any other computing device with network functionality. For example, a computing device1030can be a remote controller, or a remote display device configured to communicate and operate the borescope system10remotely. In some embodiments, a computing device1030can include a server or a network device such as a hub, a bridge, a switch, or a router, connecting the computing device1010to a data network such as the Internet.

In some uses, the I/O interface1030supports an input device and/or an output device (not shown). In some uses, the input device and the output device are integrated into the same hardware, e.g., as in a touch screen. In some uses, such as in a server context, there is no I/O interface1030or the I/O interface1030is not used. In some uses, additional other components1080are in communication with the computer system1010, e.g., external devices connected via a universal serial bus (USB).

The other devices1080can include an I/O interface1040, external serial device ports, and any additional co-processors. For example, a computing system1010can include an interface (e.g., a universal serial bus (USB) interface, or the like) for connecting input devices (e.g., a keyboard, microphone, mouse, or other pointing device), output devices (e.g., video display, speaker, refreshable Braille terminal, or printer), or additional memory devices (e.g., portable flash drive or external media drive). In some implementations an I/O device is incorporated into the computing system1010, e.g., a touch screen on a tablet device. In some implementations, a computing device1010includes an additional device1080such as a co-processor, e.g., a math co-processor that can assist the processor1050with high precision or complex calculations.

The system and apparatuses include a borescope system, including a variably adjustable insertion tube that can provide precision control of a borescope system in locations or equipment which can be difficult to navigate using traditional, rigid borescope insertion tubes. Advantageously, the ability to collect a broader range of visual inspection data can be improved and more accurate inspection of industrial assets can be achieved without requiring specialized equipment or personnel.

One skilled in the art will appreciate further features and advantages of the invention based on the above-described embodiments. Accordingly, the present application is not to be limited by what has been particularly shown and described, except as indicated by the appended claims. All publications and references cited herein are expressly incorporated by reference in their entirety.