Rigid insertion tool

Abstract

A rigidizable insertion tool includes a first section having a pin extension and a second section having an elongated pin slot. The first section and the second section are connected via a joint including a pin extension of the first section and a pin slot of the second section. The pin extension is movable between a proximal end and a distal end of the pin slot as the first section moves relative to the second section.

Description

Technical Field

[0001] The present subject matter generally relates to tools for inspecting an environment and / or performing maintenance operations on components within the environment, such as within an annulus in a turbine engine. Background Art

[0002] At least some gas turbine engines include, in a serial flow arrangement, a compressor section including a low-pressure compressor and a high-pressure compressor for compressing air flowing through the engine, a combustor for mixing fuel with the compressed air so that the mixture can be ignited, and a turbine section including a high-pressure turbine and a low-pressure turbine for providing power to the compressor section.

[0003] At least some of the gas turbine engines define annular openings within one or more sections. Some of these annular openings may be of different sizes, necessitating the use of a dedicated special insertion tool for each annular opening to extend around and through such annular openings. BRIEF DESCRIPTION OF THE DRAWINGS

[0004] A full and enabling disclosure of the present invention, including the best mode thereof, to one of ordinary skill in the art is set forth in the specification with reference to the accompanying drawings.

[0005] Figure 1 is a cross-sectional schematic diagram of a high bypass turbofan jet engine according to some embodiments;

[0006] Figure 2 is a perspective view of an insertion tool according to some embodiments;

[0007] Figure 3A and Figure 3B are perspective and bottom views of a male end of a connector according to some embodiments;

[0008] Figure 4A and Figure 4B are perspective and bottom views of a female end of a connector according to some embodiments;

[0009] Figure 5A and Figure 5B are bottom and top views of a rigidified joint according to some embodiments.

[0010] Fig. 6A and Figure 6B are side and bottom views of a non-rigidified joint according to some embodiments;

[0011] Fig. 7A and Figure 7B is a side view of a segment at different pitch angles according to some embodiments;

[0012] Fig. 8A and Figure 8B is a top view of a segment yawed at different angles according to some embodiments; and

[0013] Fig. 9 is a flow chart of a process for additively manufacturing a joint according to some embodiments;

[0014] Fig. 10A is a bottom view of a female end of a connector according to some embodiments; and

[0015] Fig. 10B is a perspective view of a male end of a connector according to some embodiments.

[0016] Repeat use of reference characters in the present specification and drawings is intended to represent the same or analogous features or elements of the present disclosure. DETAILED DESCRIPTION

[0017] Reference will now be made in detail to the present embodiments of the present disclosure, one or more examples of which are illustrated in the accompanying drawings. The detailed description uses numerical and letter references to refer to features in the drawings. Like or similar reference numbers in the drawings and description have been used to refer to like or similar parts of the present disclosure.

[0018] The word "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any implementation described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations. Furthermore, each example is provided by way of explanation of the invention rather than limitation of the disclosure. Indeed, it will be apparent to those skilled in the art that various modifications and changes may be made to the disclosure without departing from the scope of the disclosure. For example, features shown or described as part of one embodiment may be used with another embodiment to produce yet another embodiment. Therefore, the disclosure is intended to cover such modifications and changes as fall within the scope of the appended claims and their equivalents.

[0019] As used herein, the terms "first," "second," "third," and the like are used interchangeably to distinguish one component from another and are not intended to indicate the position or importance of the respective components. The singular forms "a," "an," and "the" include plural references unless the context clearly dictates otherwise. Unless otherwise indicated herein, the terms "coupled," "fixed," "attached to," and the like refer to both direct coupling, fixing, or attachment and indirect coupling, fixing, or attachment through one or more intermediate components or features.

[0020] Approximate language, as used herein throughout the specification and claims, is applied to modify any quantitative representation that may be permissibly varied without resulting in a change in the basic function to which it is related. Thus, values ​​modified by terms such as "about," "approximately," and "substantially" are not limited to the precise values ​​specified. In at least some cases, approximate language may correspond to the precision of an instrument used to measure a value, or the precision of a method or machine used to construct or manufacture a component and / or system. For example, approximate language may refer to within a 10% margin.

[0021] Here and throughout the specification and claims, range limitations are combined and interchanged, and unless context or language indicates otherwise, such ranges are identified and include all sub-ranges contained therein. For example, all ranges disclosed herein are inclusive of the endpoints, and the endpoints are independently combinable with each other.

[0022] In general, an insertion tool according to one or more embodiments described herein can be configured to allow an operator or mechanical component to service (e.g., inspect and / or repair) a cavity, such as an interior volume of a gas turbine engine. The insertion tool can typically include a plurality of adjacent segments that can be selectively rigidified relative to each other to allow the tip of the insertion tool to access an enclosed cavity of the device through a complex path. The adjacent segments can include elements that form a joint for connecting the segments. The joint can include features that enhance the operation of the insertion tool during use, such as when inserting the insertion tool into the interior volume of a gas turbine engine.

[0023] In some embodiments, a translation joint for an insertion tool is provided that allows more than one pivot in the extension phase, but retracts through a gradually restricted range of motion until it becomes rigid. In some embodiments, the tool described herein with a translation joint has a reduced likelihood of getting stuck during operation. In some embodiments, the joint includes one or more protrusions (e.g., male crenelation) on one segment and one or more recesses (e.g., female crenelation) on another segment. As used herein, protrusions, recesses, and serrations may generally be referred to as features of a segment. In some embodiments, the protrusions and recesses are tapered to prevent relative torsional motion between the two segments when the two segments are pushed together. In some embodiments, one protrusion is longer than the other protrusions and includes a pin extension (e.g., two extruded cylinders) at the end of the tapered shape, and one recess has a pin slot formed by two openings on the wall of the recess for receiving the pin extension.

[0024] In some embodiments, the joints described herein can pivot about two or all three (x, y, z) axes. In some embodiments, the tools described herein have multiple segments connected via such a joint. In some embodiments, the width of the pin extension on the protrusion is longer than the maximum open gap between the walls of the slot in the corresponding recess so that the pin extension does not shift (e.g., slide out of the slot) with movement. In some embodiments, the taper of the protrusion and recess aligns the segments when a rigid force is applied to prevent misalignment of the segments during operation. In some embodiments, the tapered shape of the protrusion and recess prevents relative torsional movement between adjacent segments when the segments are pushed together.

[0025] Reference is now made to the drawings, wherein like numerals refer to like elements throughout. Figure 1 is a schematic cross-sectional view of a conventional gas turbine engine 10 for an aircraft in which the imaging and inspection systems described herein may be operated. As shown, the gas turbine engine 10 is a high bypass turbofan jet engine. The engine 10 has a generally longitudinally extending axis or centerline 12 extending from a forward direction 14 to an aft direction 16. The engine 10 includes, in downstream serial flow relationship: a fan section 18, which includes a fan 20; a compressor section 22, which includes a supercharger or low pressure (LP) compressor 24 and a high pressure (HP) compressor 26; a combustion section 28, which includes a combustor 30; a turbine section 32, which includes an HP turbine 34 and an LP turbine 36; and an exhaust section 38.

[0026] Fan section 18 includes a fan housing 40 surrounding fan 20. Fan 20 includes a plurality of fan blades 42 radially disposed about centerline 12.

[0027] HP compressor 26, combustor 30, and HP turbine 34 form a core 44 of engine 10 that generates combustion gases. Core 44 is surrounded by a core housing 46 that may be coupled to fan housing 40.

[0028] An HP shaft or spool 48 disposed coaxially about the centerline 12 of the engine 10 drivingly connects the HP turbine 34 to the HP compressor 26. An LP shaft or spool 50 disposed coaxially about the centerline 12 of the engine 10 within the larger diameter annular HP spool 48 drivingly connects the LP turbine 36 to the LP compressor 24 and the fan 20.

[0029] The LP compressor 24 and the HP compressor 26 each include a plurality of compressor stages 52, 54, wherein a set of compressor blades 56, 58 rotate relative to a corresponding set of static compressor vanes 60, 62 (also referred to as nozzles) to compress or pressurize a fluid flow through the stage. In a single compressor stage 52, 54, the plurality of compressor blades 56, 58 may be arranged in a ring and extend radially outward from a blade platform to a blade tip relative to the centerline 12, with the corresponding static compressor vanes 60, 62 positioned downstream of and adjacent to the rotating blades 56, 58. Notably, Figure 1 The numbers of blades, buckets, and compressor stages shown in FIG. 5 are chosen for illustration purposes only, and other numbers are possible.

[0030] The HP turbine 34 and the LP turbine 36 each include a plurality of turbine stages 64, 66, wherein a set of turbine blades 68, 70 rotate relative to a corresponding set of static turbine vanes 72, 74 (also referred to as nozzles) to extract energy from a fluid flow passing through the stage. In a single turbine stage 64, 66, the plurality of turbine blades 68, 70 may be arranged in a ring and extend radially outward from a blade platform to a blade tip relative to the centerline 12, while the corresponding static turbine vanes 72, 74 are positioned upstream of and adjacent to the rotating blades 68, 71. Notably, Figure 1 The number of blades, buckets, and turbine stages shown in FIG. 5 are selected for illustration purposes only, and other numbers are possible.

[0031] In operation, the rotating fan 20 supplies ambient air to the LP compressor 24, which then supplies pressurized ambient air to the HP compressor 26, which further pressurizes the ambient air. The pressurized air from the HP compressor 26 is mixed with fuel and ignited in the combustor 30, thereby generating combustion gases. Some work is extracted from these gases by the HP turbine 34 that drives the HP compressor 26. The combustion gases are exhausted into the LP turbine 36 that extracts additional work to drive the LP compressor 24, and the exhaust gas is ultimately exhausted from the engine 10 via the exhaust section 38. The drive of the LP turbine 36 drives the LP spool 50 to rotate the fan 20 and the LP compressor 24.

[0032] It should be understood that although Figure 1 1 , but the engine 10 may further define a plurality of openings that allow for inspection of various components within the turbine engine 10. For example, the engine 10 may define a plurality of insertion tool openings at various axial locations within the compressor section 22, the combustion section 28, and / or the turbine section 32. Additionally, as will be discussed below, the engine 10 may include one or more igniter ports within, for example, the combustion section 28 of the engine 10, which may allow for inspection of the combustion section 28.

[0033] It should also be understood that Figure 1 The high bypass turbofan jet engine depicted in FIG. 1 is merely an example, and in other exemplary embodiments, the engine 10 may have any other suitable configuration, including, for example, any other suitable number of shafts or spools, turbines, compressors, etc. Additionally or alternatively, in other exemplary embodiments, any other suitable turbine engine may be inspected with the tools described herein. For example, in other exemplary embodiments, the engine may not be a turbofan engine, but may be configured as a turboshaft engine, a turboprop engine, a turbojet engine, etc., or may be an industrial gas turbine engine for power generation, fluid pumping, etc.

[0034] Figure 2 A perspective view of a tool 100 seen in a rigidized configuration according to an exemplary embodiment is shown. The tool 100 may generally be referred to as a rigidizable insertion tool, which is configured to operate in a rigidized state and a non-rigidized state. The tool 100 includes segments 102, such as segments 102A, 102B, 102C, 102D, 102E, 102F, 102G, 102H, 102I, 102J, and 102K. Although the illustrated embodiment depicts the tool 100 as including eleven segments 102, the number of segments 102 may vary. For example, the tool 100 may include at least two segments, such as at least three segments, such as at least four segments, such as at least five segments, such as at least six segments, such as at least seven segments, such as at least eight segments, such as at least nine segments, such as at least ten segments, such as at least fifteen segments, such as at least twenty segments, such as at least thirty segments, such as at least forty segments, etc. In an embodiment, at least two of the plurality of segments 102 may have the same or similar shape to each other. In more specific embodiments, all of the multiple segments 102 may share a common body shape or specific aspects of the body shape. For example, all of the multiple segments 102 may have the same sidewall length (as measured between opposite ends), all of the multiple segments 102 may have the same general sidewall shape, etc. In another embodiment, at least two of the multiple segments 102 may have shapes that are different from each other. For example, at least two of the multiple segments 102 may have different lengths from each other, different circumferential dimensions from each other, different curvatures on the body, different ends, etc. In some embodiments, the segments 102 may be formed using an additive manufacturing process (such as 3D printing) to be connected via the joints described herein. In some embodiments, the segments 102 may have an effective outer diameter of 3-12 mm, such as an outer diameter of 6 mm.

[0035] In one or more embodiments, one or more pairs of adjacent (i.e., neighboring) segments 102 may be attached together by a joint 123 as described herein. For example, the ninth segment 102I has a male end 200, and the eighth segment 102H has a female end 300, which together form a joint 123. Each of the other pairs of adjacent segments 102 may be similarly attached via a joint. In some embodiments, the joints formed between at least two pairs of adjacent segments 102 may be different from each other. For example, the joint formed between the fourth segment 102D and the fifth segment 102E may be arranged in a first rotational plane, while the joint formed between the second segment 102B and the third segment 102C may be arranged in a second rotational plane different from the first plane. Therefore, the rotation angle of the joint formed between the third segment 102C and the fourth segment 102D may be different from the rotation angle of the joint formed between the fourth segment 102D and the fifth segment 102E. In a non-rigidized configuration, such a multi-plane interface may not have a substantial effect on the relaxed shape of the tool 100. However, when rigidified, the multi-planar interface may result in the tool 100 having a three-dimensional shape for accessing certain areas of an engine 10 or similar structure being serviced (inspected and / or operated).

[0036] To allow for maintenance operations, the tip segment of the tool 100 (such as segment 102K in the depicted embodiment) can have a different shape than the other segments 102. In the illustrated embodiment, segment 102K is depicted as having a grinding bur 112. In some embodiments, other tools (such as a camera, a manipulator, etc.) can be coupled to or extend from the tip segment of the tool 100. Typically, the tip segment of the tool 100 can have a tapered profile having a minimum width disposed at or near the tip 110 of the tool 100. In this way, the tool 100 can be more easily fed into the equipment being repaired, such as an aircraft engine. In some embodiments, the first segment 102A at the base of the tool 100 can be configured to be coupled to a handle or actuator to be operated by a human operator or a mechanical actuator.

[0037] In some embodiments, the wire assembly 120 is inserted through one or more segments 102 of the tool. The wire assembly 120 can operate to selectively rigidify the tool 100 and / or help support the tool 100 in a non-rigidified (i.e., relaxed) configuration. During tensioning of the tool 100, adjacent segments of the tool 100 can move until the wire assembly 120 reaches a critical tension, thereby rigidifying the tool 100. In some embodiments, the wire assembly 120 can include one or more wires that surround the tip of the tool 100 and are connected to the handle 105 at both ends. In some embodiments, the wire assembly 120 can include a single rope that terminates at the tip 110. In some embodiments, the wire assembly 120 can include one or more wires that are connected to only a subset of the segments to selectively rigidify only a portion of the tool 100. For example, the wires of the wire assembly 120 can terminate at segment 102D. Pulling the wires will apply tension to the wires 102A-D, but will non-rigidify the segments 102E-102K.

[0038] like Figure 2 As seen in , according to some embodiments of the present disclosure, tool 100 can define complex geometric shapes extending through a three-dimensional Cartesian coordinate system. That is, tool 100 can extend in the X-axis, Y-axis, and Z-axis simultaneously. The specific shape of tool 100 can be viewed in response to the shape of the environment in which the tool will be used. In some embodiments, in a non-rigidized state, tool 100 can be inserted through complex passages (such as ports and cavities of a jet engine). Once tool 100 is inserted into place, tool 100 can be rigidified to position the tip of the tool in a desired position and orientation, thereby allowing inspection, maintenance and / or repair of parts, such as engine components.

[0039] The handle 105 can be coupled to the tool 100 to allow the operator to keep the tool 100 in a desired position. The handle 105 can include one or more elements configured to allow selective rigidification of the tool 100. For example, the handle 105 can include a trigger configured to pull the segment 102 toward the handle 105 by tensioning the wire assembly 120 to selectively rigidify the tool 100. The trigger can rotate, pivot, translate, etc. between a disengagement configuration in which the tool 100 is relaxed (i.e., non-rigidified) and an engagement configuration in which the tool is rigid. Therefore, the operator can rigidify the tool 100 and release the trigger during a maintenance operation. In yet another embodiment, the trigger can be operated by a motor or other power device so that the rigidification of the tool 100 does not require the generation of manual pressure. When the tool 100 is inserted into the engine, the handle 105 can remain exposed from the engine. In this way, the operator can maintain control of the tool 100 without directly approaching the tool 100.

[0040] The handle 105 may include an aperture configured to receive an implement for insertion into the engine. For example, the aperture may include an opening through which an operator may insert an implement (e.g., a camera on a cable) into the engine. In certain embodiments, the aperture may be selectively sealed or closed to prevent dust and other contaminants from entering the tool 100. Once opened, the operator may feed an implement into the aperture or move the implement relative to the aperture to allow maintenance operations to be performed as needed.

[0041] Figure 3A and 3B A perspective view and a bottom view are respectively shown of the male end 200 of the segment 102 according to some embodiments. The segment 102 can be any segment of the insertion tool 100. Figure 3A and 3B Only one end of the segment 102 is shown. In some embodiments, the other end of the segment 102 may include another male end 200, a female end 300 ( Figure 4A and 4B )、Tool tip 110( Figure 2 ) or a connector for handle 105. Figure 3A and 3B The segment 102 shown in has a body 114. The male end 200 is integrally formed with the body 114 of the segment 102. For example, during an additive manufacturing process, the male end 200 can be formed as part of the body 114 of the segment 102 and formed from the same material as the body 114 of the segment 102. The body 114 has a length extending from the male end 200 to an opposite end (not shown). The body 114 also has a centerline 107 extending along the center of the length of the body 114. As used herein, when describing elements and features of the male end 200 and the female end 300, the distal end and the proximal end are with respect to the body 114 of the segment. For example, in Figure 3A and Figure 3B , the distal end is on the right side of the page, away from the body 114, and the proximal end is on the left side of the page, toward the body 114.

[0042] The male end 200 includes a first protrusion 210 having a pin extension 215. The first protrusion 210 may be referred to as a pinning protrusion and is generally referred to as a feature of the segment. The first protrusion 210 may be laterally offset from the centerline 107 of the body 114 in a radial direction. In some embodiments, the first protrusion 210 includes a side that is aligned with (e.g., forms a continuous surface of) the outer wall 117 of the segment 102. In some embodiments, the first protrusion 210 includes a side that is parallel to the wall of the central channel 180 of the segment. The first protrusion 210 extends away from the body 114 of the segment 102 along the length of the segment 102. In some embodiments, the first protrusion 210 may be axially tapered, wider at the base near the body 114 of the segment 102, and narrower (e.g., at least 5%, 10%, 20%, 30% narrower) toward a tip away from the body 114. In some embodiments, the first protrusion 210 can be radially tapered, with the side facing the centerline 107 of the segment 102 being narrower (e.g., at least 5%, 10%, 20%, 30% narrower) than the side facing away from the center of the segment 102. In some embodiments, the first protrusion 210 has a trapezoidal cross-sectional profile at the proximal and / or distal ends.

[0043] Pin extension 215 is attached to the distal end of first protrusion 210 and extends outward substantially perpendicular to first protrusion 210 and / or centerline 107. Pin extension 215 has a width Wpin and a diameter Dpin. Width Wpin is generally defined as the linear distance between the two ends of pin extension 215 that are farthest from first protrusion 210. In some embodiments, Wpin is greater than the distance between the widest gaps of corresponding pin slots 315, such as Figure 4A and 4B The distance between the distal end of the first opening 315A and the proximal end of the second opening 315B on the inner wall of the first recess 310 is shown in FIG.

[0044] The diameter Dpin can be the effective diameter of the cross-section of the pin extension 215 in a plane perpendicular to the width Wpin. In some embodiments, the pin extension 215 can be cylindrical with a circular, elliptical, or oval cross-section. Dpin can be the diameter of the circular cross-section, or can be the maximum diameter of the elliptical or oval cross-section. In some embodiments, the pin extension 215 can be tapered toward both ends so that the diameter Wpin of the pin extension 215 is larger near the first protrusion 210 and smaller near the two ends. In some embodiments, the two ends of the pin extension 215 can be angled relative to each other. For example, the two ends of the pin extension 215 can form a V-shape with the ends of the V pointing toward or away from the body 114 of the segment 102. In another example, the two ends of the pin extension can be angled upward toward or downward away from the centerline 107 of the body 114.

[0045] In some embodiments, the male end 200 may include one or more additional features, such as a male protrusion without a pin extension, referred to as a serration, such as Figure 3A and Figure 3B , and the second protrusion 220A and the third protrusion 220B shown in . Typically, based on the relative movement of the two adjacent segments, the serrations can engage or disengage with the recesses on the female end 300, while the pinning protrusions (such as the first protrusion 210) remain connected to the female end 300 via the pin extension 215. In some embodiments, the male end 200 may include any number of serrations, such as one, two, three, four, or more. In some embodiments, the positioning of the serrations can vary. For example, when only one serration is present, the only serration can be positioned opposite (e.g., 180 degrees) to the first protrusion 210. As Figure 3A and Figure 3B As shown in , when two serrations are present, the serrations may be positioned radially approximately 120 degrees from the pinning protrusion.

[0046] In general, the sawtooth-like protrusions, such as the second protrusion 220A and the third protrusion 220B, extend away from the body 114 of the segment 102 along the length of the segment 102. The second protrusion 220A and the third protrusion 220B can be laterally offset from the centerline 107 of the body 114 in the radial direction. In some embodiments, the second protrusion 220A and / or the third protrusion 220B include sides that are aligned with (e.g., form a continuous surface) the outer wall 117 of the segment 102. In some embodiments, the second protrusion 220A and / or the third protrusion 220B include sides that are generally parallel to the wall of the central channel 180 of the segment. In some embodiments, the second protrusion 220A and / or the third protrusion 220B can be axially tapered, wider at the base near the body 114, and narrower (e.g., at least 5%, 10%, 20%, 30% narrower) at the tip away from the body 114. In some embodiments, the second protrusion 220A and / or the third protrusion 220B can be radially tapered, wherein the side facing the centerline 107 of the segment 102 is narrower (e.g., at least 5%, 10%, 20%, 30% narrower) than the side facing outward from the center of the segment 102. In some embodiments, the second protrusion 220A and / or the third protrusion 220B have a trapezoidal cross-sectional profile at the proximal end and / or the distal end. In some embodiments, the male end 200 can alternatively or additionally include a recess, such as Figure 4A and Figure 4B The second recess 320A and the third recess 320B are shown in FIG.

[0047] In some embodiments, the length Lp1 of the pinning protrusions (such as the first protrusion 210) is greater than the length Lp2 of the serration protrusions (such as the second protrusion 220A and the third protrusion 220B). In some embodiments, Lp1 is at least 10%, 20%, 30% or 40% greater than Lp2.

[0048] Figure 4A and Figure 4B A perspective view and a bottom view, respectively, of the female end 300 of the segment 102 are shown according to some embodiments. Figure 4A and Figure 4B Only one end of the segment 102 is shown. In some embodiments, the other end of the segment 102 may include a male end 200, another female end 300, a tool tip 110, or a connector for a handle 105. As disclosed above, the segment 102 has a body 114. The female end 300 is integrally formed with the body 114 of the segment 102. For example, during an additive manufacturing process, the female end 300 can be formed as a part of the body 114 of the segment 102 and formed from the same material as the body 114 of the segment 102. The body 114 has a length extending from the female end 300 to an opposite end (not shown). As used herein, when describing elements and features of the female end 300, the distal end and the proximal end are with respect to the body 114 of the segment 102. For example, in Figure 4A and Figure 4B , the distal end is on the left side of the page, away from the body 114, and the proximal end is on the right side of the page, toward the body 114.

[0049] The female end 300 includes a first recess 310 having a pin slot 315. The first recess 310 may be referred to as a slotted recess and is generally referred to as a feature of the segment. The first recess 310 may be laterally offset from the centerline 107 of the body 114 in a radial direction. In some embodiments, the first recess 310 includes a cutout extending radially from the inner wall of the central channel 180 to the outer wall 117 of the segment 102. The first recess 310 extends in the direction of the centerline 107 of the segment 102 and has a length Lr1. In some embodiments, the first recess 310 may be axially tapered, narrower at the base near the body 114, and wider (e.g., at least 5%, 10%, 20%, 30% wider) at the end away from the body 114. In some embodiments, the first protrusion 210 may be radially tapered, with the side facing the centerline 107 of the segment 102 being narrower (e.g., at least 5%, 10%, 20%, 30% narrower) than the side facing away from the centerline 107 of the segment 102. In some embodiments, the first recess 310 has a trapezoidal cross-sectional profile at the proximal end and / or the distal end. Generally, the first recess 310 is configured to receive the first protrusion 210 of the male end 200 and may have a negative space with similar dimensions.

[0050] A pin slot 315 is formed in the first recess 310. The pin slot 315 may be elongated and extend along the length of the first protrusion 210 and the length of the segment 102. The pin slot 315 includes two openings 315A and 315B on the sidewall of the first recess 310. In some embodiments, the openings 315A and 315B extend through the sidewall of the first recess 310 to the outer wall 117 of the segment 102. In some embodiments, the openings 315A and / or the openings 315B may include indentations on the sidewall of the recess 310 that do not extend to the outer wall of the segment 102. The pin slot 315 has a distal end 315A-1 and a proximal end 315A-2. The length Ls of the pin slot 315 may be measured from the proximal end 315A-1 and the distal end 315A-2, and the width Ws of the pin slot 315 may be measured in the circumferential direction, perpendicular to Ls. The pin extension 215 ( Figure 3A and Figure 3B ) can move between the proximal end 315A-2 and the distal end 315A-1 of the pin slot, with one segment moving forward and backward relative to the other segment. In some embodiments, Ls is at least five times larger than the effective diameter Dpin. In some embodiments, for at least 70% of the width of the pin slot 315, Ws is at least 0.3 mm larger than Dpin. In some embodiments, for at least 70% of the width of the pin slot 315, Ws is 0.02 mm to 0.5 mm larger than Dpin. In some embodiments, for a joint 123 formed using powder-based additive manufacturing, Ws can be at least twice larger than the particle size of the powder material (e.g., 10 microns, 20 microns, 50 microns, etc.).

[0051] In some embodiments, the pin slot 315 can be rounded at the distal end 315A-1 and / or the proximal end 315A-2. In some embodiments, the width of the middle portion of the pin slot 315 can vary. For example, the pin slot 315 can taper from the wider distal end 315A-1 toward the narrower proximal end 315A-2, so that the movement of the pin extension 215 within the pin slot 315 is more restricted near the proximal end 315A-2.

[0052] In some embodiments, the female end 300 may include one or more additional features, such as recesses without pin slots, referred to as serrated recesses, such as the second recess 320A and the third recess 320B. Typically, based on the relative movement of the two adjacent segments, the serrated recesses can engage or disengage with corresponding serrated protrusions on the male end 200, while the slotted recesses (such as the first recess 310) remain connected to the male end 200 by the pin extension 215 disposed in the pin slot 315. In some embodiments, the female end 300 may include any number of serrated recesses, such as one, two, three, four, or more. In some embodiments, the positioning of the serrated recesses may vary. For example, when only one serrated recess is present, the only serrated recess may be positioned opposite (e.g., 180 degrees) to the first protrusion 210. When as Figure 4A and Figure 4B Where two serrations are present as shown, the serrations may be positioned approximately 120 degrees radially from the pinning protrusions.

[0053] In general, the sawtooth-like recesses (such as the second recess 320A and the third recess 320B) extend into the body 114 of the segment 102 along the length of the segment 102. The second recess 320A and the third recess 320B may be laterally offset from the centerline 107 of the body 114 in the radial direction. In some embodiments, the second recess 320A and / or the third recess 320B extend from the wall of the central channel 180 through the outer wall of the segment 102. In some embodiments, the second recess 320A and / or the third recess 320B may be axially tapered, narrower at the proximal end, and wider (e.g., at least 5%, 10%, 20%, 30% wider) at the distal end. In some embodiments, the second recess 320A and / or the third recess 320B may be radially tapered, with the side facing the central channel 180 being narrower (e.g., at least 5%, 10%, 20%, 30% narrower) than the side facing outward. In some embodiments, the second recess 320A and / or the third recess 320B have a trapezoidal cross-sectional profile at the proximal end and / or the distal end. In some embodiments, the female end 300 may alternatively or additionally include a protrusion, such as Figure 3A and Figure 3B In some embodiments, the female end 300 or male end 200 of a segment may include any combination of protrusions and recesses, generally referred to as features, that are configured to engage with features of another segment to limit movement when forces push the segments together.

[0054] In some embodiments, the length Lr1 of the grooved recess (such as the first recess 310) is greater than the length Lr2 of the sawtooth recess (such as the second recess 320A and the third recess 320B). In some embodiments, Lr1 is at least 10%, 20%, 30% or 40% greater than Lr2.

[0055] In some embodiments, Figure 3A , Figure 3B , Figure 4A and Figure 4B As shown, a central channel 180 can be disposed in the body 114 of at least one of the segments 102 (such as all segments 102) for guiding an instrument (such as a camera) to operate at a desired position. In some embodiments, the central channel 180 can be positioned centered or approximately centered relative to the centerline 107 of the body 114. In some cases, the central channel 180 can be configured to receive an instrument, such as a cable connected to a tool (e.g., a camera). Although a central channel 180 having a circular cross-section is shown, the central channel 180 can have a cross-section of any shape. In some embodiments, a reaction force element (such as a spring) can be disposed in another channel of the body in the central channel 180 or between adjacent segments. The reaction force element can be positioned to generate a reaction force in the absence of a tensioning force (such as a tension applied by the wire assembly 120) to push the pin extension away from the proximal end of the pin slot.

[0056] In some embodiments, Figure 3A and Figure 4A As shown in FIG. 1 , the body 114 also includes one or more auxiliary channels that form a wire guide 185. The body 114 may include any number of channels, such as one, two, three, four, or five, for use as wire guides 185. In some embodiments, the wire guide 185 may be configured to receive one or more tensioning members, such as Figure 1 . In some embodiments, the body 114 can include a single wire guide 185 and the wire assembly 120 of the tool includes a single cord terminating at a tip section of the tool.

[0057] Figure 5A and Figure 5B The tool 100 is shown in a rigidified state according to some embodiments. Figure 2) are top and bottom views of a joint 123 of a first segment. The joint 123 is formed by a male end 200 of a first segment and a female end 300 of a second segment. In the rigidized state, the pin extension 215 is pushed toward the proximal end of the pin slot 315, and the first protrusion 210 is nested within the first recess 310. In some embodiments, the first protrusion 210 and the first recess 310 have similar dimensions so that in the rigidized state, the relative movement of the segments is limited in 1, 2, or 3 axes by the contact walls / sides of the first protrusion 210 and the first recess 310. In some embodiments, when the first protrusion 210 and the first recess 310 are engaged, the linear movement, pitch, yaw, and / or roll of the first segment relative to the second segment is limited by the contact walls of the first protrusion 210 and the first recess 310. In some embodiments, the second protrusion 220A is further nested in the second recess 320A, and 220B is nested in the third recess 320B. The relative movement of the two segments connected via the joint 123 is further limited by the contact walls / sides of the second protrusion 220A and the second recess 320A, and the contact walls / sides of the third protrusion 220B and the third recess 320B.

[0058] Fig. 6A and 6B The non-rigidified state according to some embodiments is shown respectively. Figure 5A and Figure 5B 100 is a side view and a bottom view of the joint 123 of the tool 100 shown in FIG. As used herein, the x-axis is in the general direction of the length of the segment, and the y-axis is in the general direction of the width of the pin extension 215. The z-axis is perpendicular to the x-axis and the y-axis. In the non-rigidified state, the pin extension 215 can be positioned as shown in FIG. Figure 4A , thereby allowing the segments to move closer and farther in the x-axis (i.e., linear movement). In addition, the two segments can pivot about the y-axis in the xz plane (i.e., pitch) and pivot about the z-axis in the xy plane (i.e., yaw). In some embodiments, the segments can also be configured to rotate / twist relative to each other about the x-axis (i.e., roll). In some embodiments, the joint 123 as described herein can provide 6 degrees of freedom (forward and backward, pitch, yaw, and roll between the segments, as well as up and down, left and right movement of the segments) in a non-rigidized state.

[0059] When the segments pitch relative to each other, the centerlines of the two segments can pivot in the xz plane, thereby changing the angle θp between the centerlines of the two segments. In some embodiments, one segment is configured to pitch relative to the other segment, with an angular displacement of up to 45 degrees, 90 degrees, or 150 degrees. In some embodiments, when the segments pitch, the second protrusion 220A and the second recess 320A can be completely disengaged, and the third protrusion 220B and the third recess 320A can be completely disengaged, so that the relative movement of the segments is not constrained by the serrated protrusions and recesses.

[0060] In some embodiments, in the non-rigidified state, the pin extension 215 is configured to be arranged in the pin slot 315 around the first protrusion 210 ( Figure 4B ) is rotated about an axis of length Lp1 such that one segment is configured to roll relative to the other segment about the axis. In some embodiments, at least 70% of the width Ws of the pin slot 315 is at least 0.3 mm, 0.5 mm, or 1 mm greater than the effective diameter Dpin of the pin extension 215. In some embodiments, the segments are configured to roll relative to each other at an angular displacement of up to 10 degrees, up to 15 degrees, up to 25 degrees, or up to 30 degrees.

[0061] In some embodiments, in the non-rigid state, the pin extension 215 is configured to be relatively fixed to the pin slot 315 ( Figure 4B ) is pivoted by a length Ls such that one segment is configured to deflect relative to the other segment with the pin extension 215 within the pin slot 315. In some embodiments, one segment is configured to deflect relative to the other segment at an angular displacement of up to 20 degrees, up to 45 degrees, up to 70 degrees.

[0062] Fig. 7A and 7B A side view of another embodiment of a connector 123 is shown in accordance with some embodiments. Fig. 7A In , the segments are pitched in a first direction, where the centerlines of the two segments, shown as dashed lines, form an angle θp in the xy plane. Fig. 7A In the , the segments are pitched so that the serrations and recesses are disengaged. Figure 7B In , the segments pitch in the second direction, with the centerlines of the two segments making an angle θp. Figure 7B In the embodiment, the segments are pitched so that the serrations and recesses partially engage. However, as the serrations and recesses taper, the segments can still Figure 7B Roll and yaw as positioned in the.

[0063] Fig. 7A and 7B Also shown in FIG. 1 is a wire assembly 120 and a spring 130 used as a reaction force element. When the wire assembly 120 is not tensioned, the segments can be pushed apart by the spring 130, so that the pin extension 215 moves toward the distal end of the pin slot 315, as shown in FIG. Fig. 7A and Figure 7B shown.

[0064] Fig. 8A and 8B A bottom view of another embodiment of a connector 123 is shown in accordance with some embodiments. Figure 8B In FIG. 1 , the segments are deflected in a first direction, wherein the center lines of the two segments, as shown by the dashed lines, form an angle θy in the xy plane. Fig. 8A As shown in , pin extension 215 can pivot within pin slot 315 so that the top end of pin extension 215 is at different distances from the distal ends of the two openings of pin slot 315. When pin extension 215 approaches the distal end of pin slot 315, the tapered shape of first protrusion 210 allows a greater amount of deflection. Figure 8B The segments are shown deflected in relative directions in the xy plane.

[0065] In some embodiments, when the segments are non-rigidized, the joints 123 as described herein can provide six degrees of freedom (fore-and-aft, pitch, roll, and yaw between the segments, and up-and-down, left-and-right movement of the segments) between the connected segments via the pin extensions 215 and the pin slots 315. In some embodiments, the amount of pitch, roll, and yaw possible can vary depending on the relative fore-and-aft positioning of the two segments. When a force is applied to push the segments together, the protrusions and recesses on the segments engage to limit the relative pitch, roll, and yaw between the segments.

[0066] In one or more embodiments, the protrusions and recesses are integrally formed with the body 114 of the segment 102. In some embodiments, the segment 102 including the male end 200 and / or the female end 300 can be formed using an additive manufacturing process (e.g., three-dimensional printing) to produce a hierarchy including multiple layers. In some embodiments, the segment 102 can be formed in an assembled state so that during the additive manufacturing process, the pin extension 215 is formed together and within the pin slot 315. For example, the bottom side of the pin slot 315 can be formed before the pin extension 215, and the top side of the pin slot 315 can be formed after the pin extension 215 to surround the pin extension 215. In some embodiments, the computer model arranges the first segment and the second segment to have a gap between the pin extension and the distal end of the pin slot, and between the pin extension and the proximal end of the pin slot. The gap can be used as a powder gap in powder-based additive manufacturing.

[0067] In some embodiments, the body 114 of at least one of the segments 102 may be formed by an additive manufacturing process, such as, by way of non-limiting example, by three-dimensional printing. The body 114 according to some embodiments described herein may therefore include indicia of a three-dimensional printing manufacturing process, such as layers, e.g., formed in the body 114 corresponding to individual step-printed layers. In certain embodiments described herein, all of the segments 102 of the tool 100 may be formed using an additive manufacturing process, such as a three-dimensional printing technique. In certain embodiments, the segments 102 may be additively manufactured while already in a connected configuration.

[0068] Although pin extension 215 is generally described herein as being part of male end 200 and pin slot 315 is described as being part of female end 300, in some embodiments, the placement of pin extension 215 and pin slot 315 may be reversed. Fig. 10A An alternative embodiment is shown in which a pin extension 215' is formed within a recess 310' of a female end 300'. The pin extension 215' extends across and bridges the opening of the recess 310'. Fig. 10B The corresponding male end 200' is shown, which includes a pin slot 315' on the protrusion 210'. Similar to other embodiments described herein, a pin extension 215' can be formed in the pin slot 315' to connect the segment having the female end 300' and the segment having the male end 200'. The joint formed by the pin extension 215' and the pin slot 315' can be similar to the reference Figure 3A-6B The described embodiment operates. For example, the pin extension 215' can move between the distal and proximal ends of the pin slot 315' and allow the segments to have linear movement, pitch, roll and / or yaw relative to each other. When a force is applied to push the segments together, the protrusions 210' and recesses 310' are configured to engage and limit the relative movement of the segments. Additional serrated protrusions and recesses may also be present in such an embodiment.

[0069] Fig. 9A method 900 for forming the tool 100 described herein is shown. In step 910, a computer-aided design ("CAD") model is constructed. In some embodiments, the CAD model can define the shape of one or more segments 102 of the tool 100 and their relative placement and orientation during the additive manufacturing process. In some embodiments, the pin extension 215 and the pin slot 315 of the segment are connected in the CAD model. In some embodiments, the CAD model includes a powder gap between the pin extension 215 and the pin slot 315. In some embodiments, the powder gap can be 0.3 mm or greater. In some embodiments, the CAD model can be constructed via a user device including a processor and a memory. The user device may include a user input / output device, such as a display screen, a keyboard, a touch screen, a motion tracker, etc. In some embodiments, the CAD model is stored and retrieved from a computer-readable memory.

[0070] In step 920, the CAD model is loaded onto an additive manufacturing device (such as a 3D printer). In some embodiments, the 3D printer may be a powder bed fusion printer, a laser sintering printer, a stereolithography printer, a fused deposition modeling printer, etc. In some embodiments, the printing material may be any suitable metal, metal alloy, plastic, or composite material, such as titanium, stainless steel, copper, nickel alloy, cobalt chromium alloy, aluminum alloy, refractory metal, resin, thermoplastic, acrylonitrile butadiene styrene, polylactic acid, polyethylene terephthalate, carbon fiber, Kevlar fiber, glass fiber, etc. In step 930, at least a portion of the tool 100 is formed by an additive manufacturing device that performs additive manufacturing tasks based on the CAD model.

[0071] This written description uses examples to disclose the present disclosure, including the best mode, and also enables any person skilled in the art to practice the present disclosure, including making and using any device or system and performing any combined methods. The patentable scope of the present disclosure is defined by the claims, and may include other examples that occur to those skilled in the art. These other examples are intended to fall within the scope of the claims if they include structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements that do not differ substantially from the literal language of the claims.

[0072] Further aspects of the disclosure are provided by the subject matter of the following clauses:

[0073] A rigidifiable insertion tool comprises: a first section having a first male end with a first protrusion, wherein the first protrusion comprises a pin extension; and a second section having a first female end with a first recess, wherein the first recess comprises a pin slot extending along the length of the second section; wherein the first section and the second section are connected via a joint, the joint comprising the pin extension of the first protrusion coupled to the pin slot of the first recess, the pin extension being movable between a proximal end and a distal end of the pin slot as the first section moves forward and backward relative to the second section; wherein in a non-rigidified state of the joint, the first section is configured to pitch relative to the second section via rotation of the pin extension within the pin slot; and wherein when a force is applied to push the first section and the second section together, the pin extension moves toward the proximal end of the pin slot, and the first protrusion and the first recess engage to limit relative movement between the first section and the second section.

[0074] A tool as claimed in any preceding clause, wherein when the first protrusion and the first recess are engaged, pitch, yaw and / or roll of the first section relative to the second section is limited by contacting walls of the first protrusion and the first recess.

[0075] A tool as claimed in any preceding clause wherein the pin extension is tapered at one or both ends.

[0076] A tool as claimed in any preceding clause, wherein the pin extension is cylindrical with a circular or oval cross-section.

[0077] A tool according to any preceding clause, wherein the pin extension has two ends and the pin slot comprises a first opening on a first wall of the first recess and a second opening on a second wall of the first recess for receiving the two ends of the pin extension.

[0078] A tool as in any preceding clause, wherein the width of the pin extension is greater than the distance between the distal end of the first opening and the proximal end of the second opening.

[0079] A tool as in any preceding clause, wherein the first section is configured to pitch relative to the second section at an angular displacement of up to 150 degrees.

[0080] A tool as claimed in any preceding clause, wherein the distance between the proximal and distal ends of the pin slot is at least five times greater than the effective diameter of the pin extension.

[0081] A tool as claimed in any preceding clause, wherein in the non-rigidified state, the pin extension is configured to pivot within the pin slot relative to a width of the pin slot such that the first section is configured to deflect relative to the second section.

[0082] A tool according to any preceding clause, wherein the first section is configured to deflect relative to the second section by an angular displacement of up to 45 degrees.

[0083] A tool as claimed in any preceding clause wherein at least 70% of the width of the pin slot is at least 0.3 mm greater than the effective diameter of the pin extension.

[0084] A tool according to any preceding clause, wherein in the non-rigidified state, the pin extension is configured to rotate within the pin slot about an axis along the length of the first protrusion such that the first section is configured to roll about the axis relative to the second section.

[0085] A tool as claimed in any preceding clause, wherein the first section is configured to roll relative to the second section at an angular displacement of up to 15 degrees.

[0086] A tool as claimed in any preceding clause, wherein the pin slot tapers towards a distal end and wherein rotation of the pin extension about an axis of the first protrusion is restricted when the pin extension is at the distal end of the pin slot.

[0087] A tool as claimed in any preceding clause, wherein the first male end of the first section further comprises a second protrusion and the first female end of the second section further comprises a second recess, the second recess being configured to engage with the second protrusion when the force is applied.

[0088] A tool according to any preceding clause, wherein the second protrusion is tapered at a distal end and the second recess is tapered toward a proximal end such that the first section is configured to deflect relative to the second section, with at least a portion of the second protrusion within the second recess.

[0089] A tool according to any preceding clause, wherein the second protrusion has a trapezoidal cross-sectional profile at the distal end.

[0090] A tool as claimed in any preceding clause, wherein the second protrusion is shorter than the first protrusion.

[0091] A tool according to any preceding clause, wherein when the second protrusion and the second recess are engaged, pitch, yaw and / or roll of the first section relative to the second section is limited by contacting walls of the second protrusion and the second recess.

[0092] A tool according to any preceding clause, wherein the first male end of the first section further comprises a third protrusion and the first female end of the second section further comprises a third recess, the third recess being configured to engage with the third protrusion when the force is applied.

[0093] A tool according to any preceding clause, further comprising: a plurality of additional segments, each additional segment having at least one of a male end or a female end.

[0094] A tool according to any preceding clause, further comprising a spring coupled between the first section and the second section for generating a reaction force to urge the pin extension away from the proximal end of the pin slot in the non-rigidified state.

[0095] A tool according to any preceding clause, wherein the first section and the second section each comprise a central channel for guiding an instrument through the rigidisable insertion tool.

[0096] A tool according to any preceding clause, further comprising a wire assembly configured to apply said force, wherein said first segment and / or said second segment comprises a wire guide through which said wire assembly is inserted.

[0097] A tool according to any preceding clause, wherein the wire assembly comprises a single cord terminating at a tip of the rigidisable insertion tool.

[0098] A tool as claimed in any preceding clause, wherein the wire assembly is configured to rigidify the first segment and the second segment without rigidifying one or more other joints between other segments of the rigidifiable insertion tool.

[0099] A method for forming a tool according to any preceding clause, comprising forming the first section and the second section using additive manufacturing according to a computer model, wherein the pin extension is formed in the pin slot during the additive manufacturing.

[0100] A method as in any preceding clause, wherein the computer model arranges the first and second segments to have a gap between the pin extension and the distal end of the pin slot, and between the pin extension and the proximal end of the pin slot.

[0101] A rigidifiable insertion tool comprises: a first section, the first section having a pin extension; and a second section, the second section having a pin slot extending along the length of the second section; wherein the first section and the second section are connected via a joint including the pin extension and the pin slot, the pin extension being capable of moving between a proximal end and a distal end of the pin slot as the first section moves relative to the second section; wherein in a non-rigidified state of the joint, the first section is constructed to pitch relative to the second section via rotation of the pin extension within the pin slot; and wherein, when a force is applied to push the first section and the second section together, the pin extension moves toward the proximal end of the pin slot, and features of the first section and the second section engage to limit relative movement between the first section and the second section.

[0102] A tool as claimed in any preceding clause, wherein the pin extension is attached to a first protrusion of the first section and the pin slot is formed in a first recess of the second section.

[0103] A tool according to any preceding clause, wherein the pin extension has two ends, and the pin slot includes a first opening on a first wall of the first recess and a second opening on a second wall of the first recess for receiving the two ends of the pin extension; wherein the width of the pin extension from end to end is greater than the distance between the distal end of the first opening and the proximal end of the second opening.

[0104] A tool as claimed in any preceding clause, wherein the pin extension is formed in a recess of the first section and the pin slot is formed on a protrusion of the second section.

[0105] A tool as described in any preceding clause, wherein the feature includes a first protrusion and a first recess, the first protrusion and the first recess being configured to engage when the force is applied to push the first section and the second section together, and wherein when the first protrusion and the first recess are engaged, the pitch, yaw and / or roll of the first section relative to the second section is limited by the contact walls of the first protrusion and the first recess.

[0106] A tool as in any preceding clause, wherein the first and second sections further comprise a second protrusion and a second recess, the second recess being configured to engage the second protrusion when the force is applied.

[0107] A tool according to any preceding clause, wherein the second protrusion is tapered at a distal end and the second recess is tapered toward a proximal end such that the first section is configured to deflect relative to the second section, with at least a portion of the second protrusion within the second recess.

[0108] A tool as claimed in any preceding clause, wherein the pin extension is tapered at one or both ends.

[0109] A tool as claimed in any preceding clause, wherein the pin extension is cylindrical with a circular or oval cross-section.

[0110] A tool as in any preceding clause, wherein the first section is configured to pitch relative to the second section at an angular displacement of up to 150 degrees.

[0111] A tool as claimed in any preceding clause, wherein the distance between the proximal and distal ends of the pin slot is at least five times greater than the effective diameter of the pin extension.

[0112] A tool as claimed in any preceding clause, wherein in the non-rigidified state, the pin extension is configured to pivot within the pin slot relative to a width of the pin slot such that the first section is configured to deflect relative to the second section.

[0113] A tool as claimed in any preceding clause wherein at least 70% of the width of the pin slot is at least 0.3 mm greater than the effective diameter of the pin extension.

[0114] A tool according to any preceding clause, wherein in the non-rigidified state, the pin extension is configured to rotate within the pin slot about an axis perpendicular to the width of the pin extension so that the first section is configured to roll about the axis relative to the second section.

[0115] A tool as claimed in any preceding clause, wherein the first section is configured to roll relative to the second section at an angular displacement of up to 15 degrees.

[0116] A tool as claimed in any preceding clause, wherein the pin slot tapers towards the distal end and wherein rotation of the pin extension is restricted when the pin extension is at the distal end of the pin slot.

[0117] A tool according to any preceding clause, further comprising: a plurality of additional segments, each additional segment having a pin extension and / or a pin slot.

[0118] A tool according to any preceding clause, further comprising a spring coupled between the first section and the second section for generating a reaction force to urge the pin extension away from the proximal end of the pin slot in the non-rigidified state.

[0119] A tool according to any preceding clause, further comprising a wire assembly configured to apply said force, wherein said first segment and / or said second segment comprises a wire guide through which said wire assembly is inserted.

[0120] A method for forming a tool according to any preceding clause, comprising: forming the first segment and the second segment by additive manufacturing according to a computer model, the computer model arranging the first segment and the second segment to have a gap between the pin extension and the distal end of the pin slot, and between the pin extension and the proximal end of the pin slot, wherein the pin extension is formed in the pin slot during the additive manufacturing.

[0121] This written description uses examples to disclose the present disclosure, including the best mode, and also enables any person skilled in the art to practice the present disclosure, including making and using any device or system and performing any combined methods. The patentable scope of the present disclosure is defined by the claims, and may include other examples that occur to those skilled in the art. These other examples are intended to fall within the scope of the claims if they include structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements that do not differ substantially from the literal language of the claims.

Claims

1. A rigidifiable insertion tool, characterized in that: include: a first section having a pin extension; and a second segment, the second segment having a pin slot extending along a length of the second segment; wherein the first section and the second section are connected via a joint including the pin extension and the pin slot, the pin extension being movable between a proximal end and a distal end of the pin slot as the first section moves relative to the second section; wherein in the non-rigidified state of the joint, the first section is configured to pitch relative to the second section via rotation of the pin extension within the pin slot; and Wherein when a force is applied to push the first section and the second section together, the pin extension moves toward the proximal end of the pin slot and features of the first section and the second section engage to limit relative movement between the first section and the second section.

2. The tool according to claim 1, characterized in that in, The pin extension is attached to the first protrusion of the first segment, and the pin slot is formed in the first recess of the second segment.

3. The tool according to claim 2, characterized in that in, The pin extension has two ends, and the pin slot includes a first opening on a first wall of the first recess and a second opening on a second wall of the first recess for receiving the two ends of the pin extension; Wherein a width of the pin extension from end to end is greater than a distance between the distal end of the first opening and the proximal end of the second opening.

4. The tool according to claim 1, characterized in that in, The pin extension is formed in the recess of the first segment, and the pin slot is formed on the protrusion of the second segment.

5. The tool according to claim 1, characterized in that in, The feature includes a first protrusion and a first recess configured to engage when the force is applied to push the first segment and the second segment together, and When the first protrusion and the first recess are engaged, linear movement, pitch, yaw and / or roll of the first section relative to the second section are limited by contact walls of the first protrusion and the first recess.

6. The tool according to claim 5, characterized in that in, The first segment and the second segment further include a second protrusion and a second recess, the second recess being configured to engage the second protrusion when the force is applied.

7. The tool according to claim 6, characterized in that in, The second protrusion is tapered at a distal end and the second recess is tapered toward a proximal end such that the first segment is configured to deflect relative to the second segment with at least a portion of the second protrusion within the second recess.

8. The tool according to claim 1, characterized in that in, The pin extension is tapered at one or both ends.

9. The tool according to claim 1, characterized in that in, The pin extension is cylindrical with a circular or oval cross-section.

10. The tool according to claim 1, characterized in that in, The first section is configured to pitch relative to the second section at an angular displacement of up to 150 degrees.

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