Patent ID: 8758232

Claim:
A robotic arm comprising: a plurality of sequentially arranged articulated segments, in which articulations between the segments are formed by structural hinges that extend across a substantial majority of the diameter of the segments to couple adjacent segments and allow bending substantially about a hinge line, in which the hinge lines are offset from each other by about 60 degrees; a channel extending along the longitudinal axis of the arm, through each of the plurality of articulated segments, and an elongate stiffening member carried by the channel, the stiffening member comprising a sensor for measuring the shape of the arm, wherein the channel is flared at the ends of the articulated segments so that its flared diameter is greater than the diameter of the stiffening member; wherein the robotic arm comprises at least three control cables that can be used to control the orientation of the articulated segments, wherein the three control cables control bending about respective hinge lines with different angular offsets.