Flexible positioning appendage

A flexible positioning appendage, comprising:

• a plurality of segments, aligned to define a longitudinal axis of the appendage, each of the segments having at least one opening spaced laterally of the axis, defining a passage substantially parallel to the longitudinal axis;
• resilient couplings spacing the segments;
• and,
• at least one control line having an end fixed to a remote one of the segments, spaced from a proximal end of the appendage, the control line passing through the passage of each of the segments between the remote segment and the proximal end, whereby tension on the control line causes the appendage to bend laterally toward the control line;
• wherein each of the segments defines an open lumen substantially along the longitudinal axis, and wherein the resilient couplings are hollow tubular structures, aligned with the lumen of the segments;
• wherein each one of the segments comprises a tube disposed along the axis and at least one flange plate aligned perpendicular to the tube, the resilient tubular couplings being coupled to the tube of adjacent ones of the segments;
• and,
• wherein each segment has two flange plates, the tube protruding from the flange plates at opposite ends of the segment.

A flexible positioning appendage, comprising:

• a plurality of segments, aligned to define a longitudinal axis of the appendage, each of the segments having at least one opening spaced laterally of the axis, defining a passage substantially parallel to the lnogitudinal axis;
• resilient couplings spacing the segments;
• and,
• at least one control line having an end fixed to a remote one of the segments, spaced from a proximal end of the appendage, the control line passing through the passage of each of the segments between the remote segment and the proximal end, whereby tension on the control line causes the appendage to bend laterally toward the control line;
• and,
• wherein each of said segments comprises axially spaced flanges, coupled together to form a rigid segment structure.

A flexible positioning appendage, comprising:

• a plurality of segments, aligned to define a longitudinal axis of the appendage, each of the segments having at least one opening space laterally of the axis, defining a passage substantially parallel to the longitudinal axis;
• resilient couplings spacing the segments;
• and,
• at least one control line having an end fixed to a remote one of the segments, spaced from a proximal end of the appendage, the control line passing through the passage of each of the segments between the remote segment and the proximal end, whereby tension on the control line causes the appendage to bend laterally toward the control line;
• wherein each of the segments defines an open lumen substantially along the longitudinal axis, and wherein the resilient couplings are hollow tubular structures, aligned with the lumen of the segments;
• wherein the tubular resilient couplings comprise helical springs;
• and,
• wherein at least some of the helical springs are wound such that adjacent turns of springs rest against one another at rest, the adjacent turns resting against one another on a side of the appendage facing toward a bending radius, defining a constant length, and separating on a side of the appendage facing away from the bending radius, to allow bending.