Patent ID: 8100031

Claim:
A steerable multi-linked device, comprising: a first multi-linked mechanism; and a second multi-linked mechanism, wherein the second multi-linked mechanism concentrically surrounds the first multi-linked mechanism, wherein the second multi-linked mechanism comprises: a first link; a plurality of intermediate links, wherein a first one of the intermediate links is movably coupled to the first link, wherein the plurality of intermediate links comprise a first plurality of grooves; a second link movably coupled to a second one of the intermediate links; and a reinforcing member, wherein the reinforcing member extends from a first end of a third one of the intermediate links toward a second end of the third one of the intermediate links, wherein the reinforcing member is configured to reduce stress on the third one of the intermediate links, wherein the first multi-linked mechanism comprises a second plurality of intermediate links comprising a second plurality of grooves, wherein the first plurality of grooves and the second plurality of grooves cooperate to define at least one working port along a length of the steerable multi-linked device.