Telescoping insertion tool

An insertion tool comprising:

• an insertion portion;
• a telescoping link, the telescoping link having a base part and an extension part, the extension part being configured to slide longitudinally relative to the base part from a retracted state to an extended state;
• a joint actuation assembly configured to change an angle between the base part of the telescoping link and the insertion portion via a joint;
• and
• an extension actuator configured to actuate the extension part of the telescoping link from the retracted state to the extended state;
• wherein the extension actuator comprises:
• a rigid tube affixed to a portion of an end effector connector inserted through the insertion portion.

A method for operating an insertion tool comprising:

• inserting the insertion tool into a confined space, the insertion tool comprising an insertion portion, a joint actuation assembly, an extension actuator and a telescoping link having a base part and an extension part configured to slide longitudinally relative to the base part from a retracted state to an extended state, wherein the insertion portion comprises one or more rigidizable segments forming a rigidizable guide tube extending from a proximal end to a distal end, wherein the extension actuator comprises a rigid tube affixed to a portion of an end effector connector inserted through the insertion portion;
• actuating, via the joint actuation assembly of the insertion tool, a joint between the base part of the telescoping link and the insertion portion to change an angle between the base part of the telescoping link and the insertion portion;
• and
• actuating, via an extension actuator of the insertion tool, the base part of the telescoping link from a retracted state to an extended state;
• wherein the joint actuation assembly further tensions the one or more rigidizable segments of the insertion portion to a predefined shape;
• and
• wherein the joint comprises a first interface of the base part of the telescoping link and a second interface on the insertion portion, and when the first interface and the second interface are engaged by via tension, the joint limits a relative motion between the base part of the telescoping link and the insertion portion.