Extendable articulated probe device

An articulated probe device, comprising:

• a first mechanism comprising:
• a first link positioned at a proximal area of the first mechanism,
• a plurality of intermediate links, wherein a first one of the intermediate links is moveably coupled to the first link, and
• a second link positioned at a distal area of the first mechanism which is moveably coupled to a second one of the intermediate links;
• a second mechanism that concentrically surrounds at least a portion of the first mechanism, wherein the second mechanism comprises:
• a first link positioned at a proximal area of the second mechanism,
• a plurality of intermediate links, wherein a first one of the intermediate links is moveably coupled to the first link, and
• a second link positioned at a distal area of the second mechanism and which is moveably coupled to a second one of the intermediate links;
• and
• at least one overtube mechanism that concentrically surrounds at least a portion of the first mechanism and the second mechanism, wherein the overtube mechanism comprises:
• a first link positioned at a proximal area of the overtube mechanism,
• a plurality of intermediate links, wherein a first one of the intermediate links is moveably coupled to the first link, and
• a second link which is moveably coupled to a second one of the intermediate links and positioned at a proximal area of the overtube mechanism,
• wherein at least one of the first mechanism, second mechanism, and overtube mechanism is configured to be steerable and extendable beyond the other mechanisms
• the first mechanism comprises a single concentrically positioned through-hole through which is disposed a tensioning cable;
• a first end of the tensioning cable is configured to be terminated at an actuation component at the proximal area of the first mechanism;
• and
• a second end of the tensioning cable is configured to be terminated at the second link of the first mechanism so that the tensioning cable transmits force to the second link of the first mechanism
• The device further comprising a plurality of ports, each port partially formed by grooves within walls of the links of the first mechanism, and partially formed by structure of the walls of the links of the second mechanism or the overtube mechanism.