Steerable, follow the leader device

Abstract

A highly articulated robotic probe (HARP) is comprised of a first mechanism and a second mechanism, one or both of which can be steered in desired directions. Each mechanism can alternate between being rigid and limp. In limp mode the mechanism is highly flexible. When one mechanism is limp, the other is rigid. The limp mechanism is then pushed or pulled along the rigid mechanism. The limp mechanism is made rigid, thereby assuming the shape of the rigid mechanism. The rigid mechanism is made limp and the process repeats. These innovations allow the device to drive anywhere in three dimensions. The device can “remember” its previous configurations, and can go anywhere in a body or other structure (e.g. jet engines). When used in medical applications, once the device arrives at a desired location, the inner core mechanism can be removed and another functional device such as a scalpel, clamp or other tool slid through the rigid sleeve to perform. Because of the rules governing abstracts, this abstract should not be used to construe the claims.

1 .- 41 . (canceled) 
     
     
         42 . A method of operating a highly articulated probe, the method comprising:
 receiving, by a computing device, position data from an input device, wherein the position data is associated with a highly articulated probe that comprises a first mechanism and a second mechanism configured to surround at least a portion of the first mechanism;   translating, by the computing device, the position data into coordinate system data; and   causing, by the computing device, a position of one or more shafts of one or more motors to be varied based on the coordinate system data, wherein the one or more motors are configured to control a tension of one or more wires of the second mechanism.   
     
     
         43 . The method of  claim 42 , further comprising:
 receiving, by the computing device, an instruction from the input device to lock a position of the second mechanism;   causing one or more of the one or more motors to be driven in a direction opposite a pull of the one or more wires; and   causing one or more motors associated with the first mechanism to be driven in a direction of a pull of one or more wires associated with the first mechanism.   
     
     
         44 . The method of  claim 42 , further comprising:
 causing one or more motors associated with the first mechanism to advance the first mechanism a distance equal to approximately a length of one of a plurality of links of the first mechanism; and   locking a position of the first mechanism.   
     
     
         45 . The method of  claim 44 , further comprising:
 causing one or more of the motors that are configured to control one or more wires of the second mechanism to advance the second mechanism a distance equal to approximately a length of one of a plurality of links of the second mechanism; and   locking a position of the second mechanism.   
     
     
         46 . The method of  claim 42 , wherein:
 the one or more motors comprises a first motor, a second motor, and a third motor,   the one or more wires comprise a first wire, a second wire, and a third wire,   the first motor is configured to control a tension of the first wire,   the second motor is configured to control a tension of the second wire,   the third motor is configured to control a tension of the third wire.