Patent ID: 8608647

Claim:
A system for modifying an articulating force on an articulatable elongate body deliverable within a body cavity, the system comprising: an elongate body comprising an articulatable distal portion and a proximal portion, wherein the distal portion comprises a plurality of links forming an internal lumen of the distal portion, wherein the plurality of links are coupled to move relative to one another to selectively position the plurality of links into a curved shape, and a transverse member coupled to at least one of the links and comprising at least one force modifying element, wherein the member is disposed within and extends transversely across the internal lumen; and a tendon having a proximal end and a distal end, wherein the tendon proximal end is coupled to an actuator outside of the elongate body, wherein the tendon extends along a length of the elongate body and engages the force modifying element in the distal portion of the elongate body, and wherein the distal end of the tendon is coupled to the elongate body proximal to the force modifying element.