Articulating mechanism

An articulating mechanism comprising:

• a joint having a central longitudinal axis extending therethrough, the joint including a first linking member having a convex component and a second linking member having a mating concave component sized to receive at least a portion of the convex component,
• wherein the convex component includes a frusto-spherical portion;
• wherein the concave component includes a spherical surface defining a cavity within the concave component and includes a frustoconical base surface extending around the central longitudinal axis and protruding from the spherical surface into the cavity, the base surface being non-perpendicular to the central longitudinal axis to limit angular rotation between the convex component and the mating concave component,
• wherein each of the convex and concave components includes a plurality of channels, the channels in the concave component having an opening located on the spherical surface;
• a set of tension members, wherein individual tension members from the set of tension members extend through each of the plurality of channels to transmit motion between the mating convex and mating concave components;
• wherein the plurality of channels of the convex component divide the frusto-spherical portion into a plurality of separate segments, each segment defining a frusto-spherical surface portion;
• and
• wherein each of the plurality of channels of the convex component is respectively outwardly tapered from a mid-section of the channel to a first end and a second end of the channel.