Patent ID: 8714038

Claim:
An instrument comprising: an elongate portion having a proximal and a distal region and a plurality of segments between the proximal and distal regions, the segments being configured to be movable relative to each other: a primary cam having a slot; a follower, a tensioner; and a wire connected between the tensioner and one of the plurality of segments: the distal region comprising a tool, wherein in use, the primary cam is configured to both advance and curve the elongate portion at the distal region thereof, according to movement of the follower along the slot, movement of the primary cam causing the tensioner to change the tension in the wire so that the angle of the one or more of the plurality of segments relative to each other is changed, the elongate portion moving from a first configuration to at least one second configuration whereby the elongate portion is caused to curve, and the slot having a non-uniform curvature.