Rigidizable insertion tool with position adjustment

A rigidizable insertion tool comprising:

• a plurality of links arranged in a sequence, the plurality of links including at least one deformable link that is structurally deformable;
• and
• a tension assembly configured to apply a first tensioning force on the plurality of links to actuate the plurality of links from a relaxed state to a rigidized state having a first shape, wherein the tension assembly is further configured to apply a second tensioning force greater than the first tensioning force to the plurality of links while in the rigidized state to cause structural deformation of the at least one deformable link and change a shape of the plurality of links from the first shape to a second shape;
• wherein the at least one deformable link comprises one or more line channels extending axially within a deformable portion of the at least one deformable link, and wherein the tension assembly comprises one or more lines extending through the one or more line channels of the at least one deformable link to apply tension;
• wherein a portion of the one or more line channels comprises an opening extending to a cavity of the at least one deformable link.

A rigidizable insertion tool comprising:

• a plurality of links arranged in a sequence, the plurality of links including at least one deformable link that is structurally deformable;
• and
• a tension assembly configured to apply a first tensioning force on the plurality of links to actuate the plurality of links from a relaxed state to a rigidized state having a first shape, wherein the tension assembly is further configured to apply a second tensioning force greater than the first tensioning force to the plurality of links while in the rigidized state to cause structural deformation of the at least one deformable link and change a shape of the plurality of links from the first shape to a second shape;
• wherein an end of the at least one deformable link comprises one or more protrusions configured to engage with one or more indentions of a neighboring link to align the at least one deformable link with the neighboring link and to limit relative movement of the at least one deformable link and the neighboring link when the first tensioning force is applied.

A method for operating a rigidizable insertion tool within an engine defining a path, the method comprising:

• inserting the rigidizable insertion tool at least partially into the path of the engine while a plurality of links of the rigidizable insertion tool are in a relaxed state, wherein the rigidizable insertion tool comprises:
• the plurality of links arranged in a sequence and a tension assembly, wherein the plurality of links are separate and individual structures such that the plurality of links form a non-continuous structure, and wherein the plurality of links includes at least one deformable link that is structurally deformable;
• applying, by the tension assembly, a first tensioning force on the plurality of links to actuate the plurality of links from the relaxed state to a rigidized state having a first shape;
• and
• applying, by the tension assembly, a second tensioning force greater than the first tensioning force on the plurality of links while in the rigidized state to cause structural deformation of the at least one deformable link and change a shape of the plurality of links from the first shape, wherein the second tensioning force changes the shape from the first shape to a second shape.