Steerable multi-linked device having multiple working ports

A method of advancing a steerable, multi-linked device, the method comprising:

• positioning an outer multi-linked mechanism so that it surrounds an inner multi-linked mechanism, wherein:
• the inner multi-linked mechanism comprises a plurality of links, wherein one or more of the plurality of links of the inner multi-linked mechanism comprises a first plurality of grooves,
• the outer multi-linked mechanism comprises a plurality of links, wherein one or more of the plurality of links of the outer multi-linked mechanism comprises a second plurality of grooves,
• the first plurality of grooves and the second plurality of grooves cooperate to define at least two working ports along a length of the multi-linked device,
• a longitudinal axis of the links of the outer multi-linked mechanism substantially aligns with a longitudinal axis of the links of the inner multi-linked mechanism;
• applying tension on a first cable to place the inner multi-linked mechanism in a rigid mode;
• advancing the outer multi-linked mechanism such that a distal-most link of the outer multi-linked mechanism is positioned ahead of a distal end of the inner multi-linked mechanism;
• applying tension to one or more second cables to place the outer multi-linked mechanism in the rigid mode;
• releasing the tension on the first cable to place the inner multi-linked mechanism in a limp mode;
• and
• advancing the inner multi-linked mechanism so that a distal-most link of the inner multi-linked mechanism is positioned at a same position of the distal-most link of the outer multi-linked mechanism,
• wherein advancement of the outer multi-linked mechanism or the inner multi-linked mechanism preserves alignment of the first plurality of grooves and the second plurality of grooves.