Patent ID: 8459138

Claim:
A system for releasably attaching a steerable disposable multi-linked device to a durable device, the system comprising: a disposable portion; a durable portion; and a connecting member connected to the disposable portion and the durable portion, wherein the disposable portion comprises a steerable multi-linked device, comprising: a first multi-lined 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, wherein the first link, second link and intermediate links define a first plurality of grooves, a cable which passes through the first link and one or more of the plurality of intermediate links and extends beyond a first end of the first link, and a second multi-linked mechanism, wherein the second multi-linked mechanism defines a second plurality of grooves, wherein the second multi-linked mechanism surrounds the first multi-linked mechanism, wherein the first and second pluralities of grooves cooperate to define at least two working ports along a length of the steerable multi-linked device, and wherein at least one of the first and second multi-linked mechanisms are steerable, wherein the durable portion comprises: an axial member which defines an opening therethrough, and a feeder mechanism, wherein the connecting member comprises an opening extending from a first end of the connecting member to a second end of the connecting member, wherein a diameter of the opening of the connecting member decreases across a length of the opening from the first end of the connecting member toward the second end of the connecting member.