Articulated device with visualization system

A visualization system for a steerable multi-linked device, comprising:

• a first steerable multi-linked mechanism that defines a first plurality of grooves;
• a second steerable multi-linked mechanism that defines a second plurality of grooves, wherein the second steerable multi-linked mechanism comprises:
• a first link,
• a plurality of intermediate links, wherein a first one of the intermediate links is movably coupled to the first link, and
• a second link movably coupled to a second one of the intermediate links,
• wherein the second link comprises a protective shield connected to a distal end of the second link;
• wherein the first plurality of grooves and the second plurality of grooves cooperate to define one or more working ports along a length of the device, and
• a camera located within at least a portion of the second link,
• wherein the second link comprises a plurality of mirrors, wherein a reflective surface of a first mirror is positioned to reflect an image of an area located behind the camera, wherein a reflective surface of a second mirror is positioned to reflect an image of an area located to a side of the camera, wherein the reflective surface of the first mirror and the reflective surface of the second mirror are within direct view of the camera.

A visualization system for a steerable multi-linked device, comprising:

• a camera connected to one or more image fibers;
• a first steerable multi-linked mechanism;
• a second steerable multi-linked mechanism that concentrically surrounds at least a portion of the first steerable multi-linked mechanism, wherein the second steerable multi-linked mechanism comprises:
• a first link,
• a plurality of intermediate links, wherein a first one of the intermediate links is movably coupled to the first link, and
• a second link movably coupled to a second one of the intermediate links, wherein the second link comprises:
• a first port and a second port, wherein the one or more image fibers are configured to pass through one or more of the first port and the second port, and
• a protective shield connected to a distal end of the second link, wherein the protective shield comprises:
• a first shield section that fully covers the first port, and
• a second shield section that covers a portion of the second port.