Selectively flexible extension tool

Abstract

A selectively flexible extension tool includes a wire assembly; and a plurality of sequentially arranged links, the wire assembly operable with the plurality of sequentially arranged links to move the plurality of sequentially arranged links between a relaxed position and a tensioned position, the plurality of sequentially arranged links spaced from each other when in the relaxed position to allow the plurality of sequentially arranged links to pivotally move relative to each other, the plurality of sequentially arranged links are pressed against each other when in the tensioned position such that the plurality of sequentially arranged links are securely secured to each other.

Description

[0001] This application is a divisional application of the invention patent application with application number 201910977830.2 filed on October 15, 2019 and invention name “Selective Flexible Extension Tool”.

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS

[0003] This application is a non-provisional application claiming priority under 35 U.S.C. §119(e) to U.S. Provisional Application No. 62 / 745,727, filed on October 15, 2018, the entire contents of which are incorporated herein by reference. Technical Field

[0004] The present subject matter generally relates to a selectively flexible extension tool and method of using the same. Background Art

[0005] Robotic arm assemblies are useful throughout a variety of industries for performing operations at, for example, remote locations, hazardous locations, and the like. At least some robot arm assemblies include a robot arm formed from a plurality of links joined together at respective joints. Additionally, a plurality of control wires may extend through the robot arm, each wire terminating at a respective link for moving the link relative to a rear adjacent link. The control wires may be coupled to one or more motors within a base of the robot arm assembly such that the robot arm assembly may control movement of the robot arm by increasing and / or decreasing tension on the plurality of control wires.

[0006] In this way, robotic arms can be helpful in reaching out-of-line-of-sight locations within various environments. However, robotic arms can often be costly and / or more complex than desired for certain applications. Therefore, a tool that can allow a user to reach remote locations within an environment in a more cost-effective manner would be useful. Summary of the invention

[0007] Aspects and advantages of the invention will be set forth in part in the following description, or may be obvious from the description, or may be learned through practice of the invention.

[0008] In an exemplary embodiment of the present disclosure, a selective flexible extension tool is provided. The selective flexible extension tool includes a wire assembly; and a plurality of sequentially arranged links, the wire assembly can operate with the plurality of sequentially arranged links to move the plurality of sequentially arranged links between a relaxed position and a tensioned position, the plurality of sequentially arranged links are spaced apart from each other when in the relaxed position to allow the plurality of sequentially arranged links to pivotally move relative to each other, and the plurality of sequentially arranged links are pressed against each other when in the tensioned position to securely fix the plurality of sequentially arranged links to each other.

[0009] In certain exemplary embodiments, the plurality of sequentially arranged links include a first link extending between a front end and a rear end, and a second link extending between the front end and the rear end, wherein the front end of the first link defines a first interface geometry, and the rear end of the second link defines a second interface geometry complementary to the first interface geometry.

[0010] In certain exemplary embodiments, the wire assembly includes a first wire that is slidable relative to at least a first link to move the plurality of sequentially arranged links between a relaxed position and a tensioned position.

[0011] For example, in certain exemplary embodiments, the first link defines a first geometry, wherein the second link defines a second geometry, and wherein the first geometry and the second geometry are substantially identical.

[0012] For example, in certain exemplary embodiments, the first link defines a first geometry, wherein the second link defines a second geometry, and wherein the first geometry is different than the second geometry.

[0013] For example, in certain exemplary embodiments, a first interface geometry defines a perimeter and includes at least two extension members spaced apart along the perimeter, wherein the second interface geometry also defines a perimeter and includes at least two recesses corresponding in shape to the at least two extension members.

[0014] For example, in certain other exemplary embodiments, the at least two extension members of the first interface geometry include three extension members, and wherein the at least two recesses of the second interface geometry include three corresponding recesses.

[0015] For example, in certain other exemplary embodiments, when the plurality of links are in the tensioned position, at least two extension members of the first interface geometry are pressed within at least two notches of the second interface geometry.

[0016] For example, in certain exemplary embodiments, the flexible extension tool further includes a biasing member operable with the first link and the second link to bias the second link away from the first link, and wherein the wire assembly is configured to overcome the biasing member when moving the plurality of links to the tensioning position.

[0017] For example, in certain other exemplary embodiments, the biasing member is a resilient member that is at least partially positioned between the first link and the second link.

[0018] For example, in certain other exemplary embodiments, each link of the plurality of links defines an outer surface, and wherein the biasing member is a spring attached to the outer surface of the first link and the outer surface of the second link for biasing the second link away from the first link.

[0019] For example, in certain other exemplary embodiments, each link of the plurality of links defines an outer surface, and wherein the biasing member is a spring positioned inwardly of the outer surface of the first link and inwardly of the outer surface of the second link.

[0020] In certain exemplary embodiments, the flexible extension tool further includes a plurality of biasing members, wherein each biasing member is operable with a pair of adjacent links of the plurality of links for biasing the adjacent links away from each other.

[0021] In certain exemplary embodiments, the flexible extension tool further includes a biasing member capable of operating with each of the plurality of links to bias adjacent links away from each other, wherein each of the plurality of links defines an outer surface, and wherein the biasing member is capable of operating with the outer surface of each of the plurality of links.

[0022] For example, in certain exemplary embodiments, the biasing member includes an elastomeric material attached to an outer surface of each link of the plurality of links.

[0023] For example, in certain exemplary embodiments, the biasing member includes a continuous spring member attached to an outer surface of each link of the plurality of links.

[0024] In certain exemplary embodiments, each link of the plurality of links defines a substantially similar geometry.

[0025] In certain exemplary embodiments, each link of the plurality of links is formed by an additive manufacturing process.

[0026] In certain exemplary embodiments, the selectively flexible extension tool is a catheter, and wherein the plurality of links together define a hollow tube extending therethrough.

[0027] In certain exemplary embodiments, the selectively flexibly extending tool is a tool member, the tool member further comprising a tool implement coupled to one of the plurality of links.

[0028] For example, in certain exemplary embodiments, the tool implement includes a drill, and wherein the selectively flexibly extendable tool includes a flexible drive shaft extending through a plurality of links.

[0029] For example, in certain exemplary embodiments, a tool implement includes one or more sensors, cameras, or both.

[0030] In certain exemplary embodiments, each link of the plurality of links includes a circumferential wall, wherein the wire assembly includes a first wire, and wherein the first wire of the wire assembly extends through the circumferential wall of each link of the plurality of links.

[0031] For example, in certain exemplary embodiments, each link of the plurality of links defines an elongated opening in the circumferential wall, and wherein a first wire of the wire assembly is slidably received through the elongated opening of the circumferential wall of each link of the plurality of links.

[0032] In certain exemplary embodiments, the wire assembly includes a plurality of wires operable with a plurality of linkages.

[0033] In certain exemplary embodiments, the plurality of sequentially arranged links is a first plurality of sequentially arranged links, the first plurality of sequentially arranged links defining a first conduit extending therethrough, and wherein the selectively flexible extension tool further includes a second plurality of sequentially arranged links, the second plurality of sequentially arranged links being at least partially movably positioned within the first conduit of the first plurality of sequentially arranged links.

[0034] For example, in certain exemplary embodiments, the wire assembly includes a first wire and a second wire, wherein the first wire is capable of operating with a first plurality of sequentially arranged links to move the first plurality of sequentially arranged links between a relaxed position and a tensioned position, and the second wire is capable of operating with a second plurality of sequentially arranged links to move the second plurality of sequentially arranged links between a relaxed position and a tensioned position.

[0035] For example, in certain exemplary embodiments, a second plurality of sequentially arranged links together define a second conduit extending therethrough, and wherein the selectively flexible extension tool further includes a third plurality of sequentially arranged links that are at least partially movably positioned within the second conduit of the second plurality of sequentially arranged links.

[0036] In certain exemplary embodiments, a plurality of sequentially arranged links define a first plurality of sequentially arranged links, the first plurality of sequentially arranged links defining a front end, and wherein the selectively flexible extension tool further includes a second plurality of sequentially arranged links, the second plurality of sequentially arranged links being coupled to the front ends of the first plurality of sequentially arranged links.

[0037] For example, in certain exemplary embodiments, the wire assembly includes a first wire and a second wire, wherein the first wire is capable of operating with a first plurality of sequentially arranged links to move the first plurality of sequentially arranged links between a relaxed position and a tensioned position, and the second wire is capable of operating with a second plurality of sequentially arranged links to move the second plurality of sequentially arranged links between a relaxed position and a tensioned position, and wherein the second wire is capable of operating with the second plurality of sequentially arranged links independently of the first wire being capable of operating with the first plurality of sequentially arranged links.

[0038] In another exemplary aspect of the present disclosure, a method for operating a selective flexible extension tool within an environment defining a nonlinear path is included. The method includes inserting a plurality of sequentially arranged links of the selective flexible extension tool at least partially into the nonlinear path of the environment while the plurality of sequentially arranged links of the selective flexible extension tool are in a relaxed position; and tensioning a wire of a wire assembly operable with the plurality of sequentially arranged links to move the plurality of sequentially arranged links to a tensioned position, thereby securely fixing the plurality of sequentially arranged links to each other.

[0039] In certain exemplary aspects, the method further includes inserting a tool implement in a tensioned position through a conduit defined by the plurality of sequentially arranged links to access the environment.

[0040] In certain exemplary aspects, the plurality of sequentially arranged links of the extension tool is a first plurality of sequentially arranged links, wherein the extension tool further includes a second plurality of sequentially arranged links, wherein the second plurality of sequentially arranged links are capable of moving between a retracted position and an extended position, in the retracted position, the second plurality of sequentially arranged links are substantially nested within the first plurality of sequentially arranged links, in the extended position, the second plurality of sequentially arranged links substantially extend from within the first plurality of sequentially arranged links, and wherein the second plurality of sequentially arranged links are capable of further moving between a relaxed position and a tensioned position.

[0041] For example, in certain exemplary aspects, inserting the plurality of sequentially arranged links of the selectively flexible extension tool includes inserting a first plurality of sequentially arranged links into a non-linear path of the environment while a second plurality of sequentially arranged links are in a retracted position and a relaxed position.

[0042] For example, in certain other exemplary aspects, the line of the tensioner line assembly includes a first line of the tensioner line assembly, and wherein the method further includes moving a second plurality of sequentially arranged links to an extended position after the first line of the tensioner line assembly.

[0043] For example, in certain other exemplary aspects, the method further includes tensioning a second wire of the wire assembly operable with the second plurality of sequentially arranged links to stiffen the second plurality of sequentially arranged links and to securely secure the second plurality of sequentially arranged links to each other.

[0044] In certain exemplary aspects, the plurality of sequentially arranged links of the extension tool is a first plurality of sequentially arranged links, wherein the extension tool further includes a second plurality of sequentially arranged links, wherein the wire of the wire assembly is a first wire of the wire assembly, wherein the wire assembly further includes a second wire capable of operating together with the second plurality of sequentially arranged links, and wherein the method further includes tensioning the second wire of the wire assembly independently of tensioning the first wire of the wire assembly to move the second plurality of sequentially arranged links to a tensioned position, thereby stiffening the second plurality of sequentially arranged links and firmly fixing the second plurality of sequentially arranged links to each other.

[0045] For example, in certain exemplary aspects, a first plurality of sequentially arranged links define a front end, wherein a second plurality of sequentially arranged links define a rear end, and wherein the rear end of the second plurality of sequentially arranged links is coupled to the front end of the first plurality of sequentially arranged links.

[0046] In another exemplary embodiment of the present disclosure, a tool assembly is provided. The tool assembly includes a first selectively flexible tool, the first selectively flexible tool including a first plurality of sequentially arranged links that can move between a relaxed position and a tensioned position; and a second selectively flexible tool, the second selectively flexible tool including a second plurality of sequentially arranged links that can move between a relaxed position and a tensioned position, the second plurality of sequentially arranged links being movable on or through the first plurality of sequentially arranged links.

[0047] In certain exemplary embodiments, a first selective flexible tool defines a first outer diameter, wherein a second plurality of sequentially arranged links of a second selective flexible tool define a second hollow tube, and the second hollow tube defines a second inner diameter, wherein the first outer diameter of the first selective flexible tool is smaller than the second inner diameter of the second hollow tube of the second plurality of sequentially arranged links, such that the second plurality of sequentially arranged links of the second selective flexible tool are able to move on the first plurality of sequentially arranged links of the first selective flexible tool.

[0048] In certain exemplary embodiments, a first plurality of sequentially arranged links of a first selective flexible tool are spaced apart from one another when in a relaxed position to allow the plurality of sequentially arranged links to pivotally move relative to one another, and wherein the plurality of sequentially arranged links are pressed against one another when in a tensioned position to securely secure the first plurality of sequentially arranged links to one another.

[0049] In certain exemplary embodiments, the first selectively flexible tool further comprises a wire operable with the first plurality of sequentially arranged links to move the first plurality of sequentially arranged links between the relaxed position and the tensioned position.

[0050] In certain exemplary embodiments, the second plurality of sequentially arranged links of the second selectively flexible tool includes a plurality of engagement members and a plurality of link members, wherein each engagement member is positioned between adjacent link members.

[0051] For example, in certain exemplary embodiments, each of the plurality of engaging members defines a first longitudinal opening, wherein each of the plurality of link members defines a second longitudinal opening, and wherein the second selectively flexible tool further includes a wire assembly that extends through the first longitudinal opening of each of the plurality of engaging members and further extends through the second longitudinal opening of each of the plurality of link members.

[0052] For example, in certain other exemplary embodiments, the first longitudinal opening of each engagement member extends through a engagement member centerline of the respective engagement member, and wherein the second longitudinal opening of each link member extends through a link member centerline of the respective link member.

[0053] For example, in certain other exemplary embodiments, each engagement member of the plurality of engagement members extends between a first end and a second end, and wherein the first end and the second end of each engagement member define a convex surface.

[0054] For example, in certain other exemplary embodiments, each link member of the plurality of link members extends between a first end and a second end, and wherein the first end and the second end of each link member define a concave opening capable of mating with a convex surface of an adjacent engagement member.

[0055] For example, in certain other exemplary embodiments, each engagement member of the plurality of engagement members defines a substantially spherical shape, and wherein each linkage member of the plurality of linkage members defines a substantially cylindrical shape.

[0056] In another exemplary embodiment of the present disclosure, a method for operating a tool assembly within an environment is provided. The method includes inserting a first selective flexible tool into the environment while the first selective flexible tool is in a relaxed position; moving the first selective flexible tool to a tensioned position; positioning a second selective flexible tool at least partially over or through the first selective flexible tool while the second selective flexible tool is in a relaxed position; and moving the second selective flexible tool to a tensioned position.

[0057] In certain exemplary aspects, inserting the first selective flexible tool into the environment includes inserting the first plurality of links of the first selective flexible tool while the first plurality of links of the first selective flexible tool are in a relaxed position, and wherein moving the first selective flexible tool to a tensioned position includes moving the first plurality of links of the first selective flexible tool to a tensioned position.

[0058] For example, in certain exemplary aspects, when in the tensioned position, the first plurality of links of the first selective flexible tool define a hollow tube extending therethrough, and wherein positioning the second selective flexible tool at least partially on or through the first selective flexible tool includes positioning the second selective flexible tool at least partially through the hollow tube of the first plurality of links of the first selective flexible tool.

[0059] In certain exemplary aspects, positioning the second selectively flexible tool at least partially over or through the first selectively flexible tool while the second selectively flexible tool is in the relaxed position includes positioning a distal end of the second selectively flexible tool proximate a distal end of the first selectively flexible tool.

[0060] In certain exemplary aspects, positioning the second selectively flexible tool at least partially on or through the first selectively flexible tool while the second selectively flexible tool is in the relaxed position includes positioning the second selectively flexible tool at least partially on the first selectively flexible tool.

[0061] In certain exemplary aspects, the method further includes moving the first selectively flexible tool to the relaxed position after moving the second selectively flexible tool to the tensioned position; and removing the first selectively flexible tool from the environment.

[0062] For example, in certain exemplary aspects, the method further includes positioning the third selectively flexible tool at least partially over or through the second selectively flexible tool while the third selectively flexible tool is in the relaxed position; and moving the third selectively flexible tool to the tensioned position.

[0063] For example, in certain other exemplary aspects, the method further includes, after moving the third selectively flexible tool to the tensioned position, moving the second selectively flexible tool to the relaxed position; and removing the second selectively flexible tool from the environment.

[0064] For example, in certain exemplary aspects, the first selectively flexible tool defines a first outer diameter, wherein the third selectively flexible tool defines a third outer diameter, and wherein the third outer diameter is substantially equal to the first outer diameter.

[0065] For example, in certain other exemplary aspects, the second selectively flexible tool defines a hollow tube that defines a second inner diameter, and wherein the second inner diameter is greater than the first outer diameter and the third outer diameter.

[0066] For example, in certain other exemplary aspects, the first selectively flexible tool defines a first hollow tube defining a first inner diameter, wherein the third selectively flexible tool defines a third hollow tube defining a third inner diameter, and wherein the third inner diameter is substantially equal to the first inner diameter.

[0067] For example, in certain other exemplary aspects, the second selectively flexible tool defines a second outer diameter, and wherein the second outer diameter is smaller than the first inner diameter and the third inner diameter.

[0068] In certain exemplary aspects, the first selectively flexible tool includes a first plurality of sequentially arranged links movable between a relaxed position when the first selectively flexible tool is in the relaxed position and a tensioned position when the first selectively flexible tool is in the tensioned position.

[0069] For example, in certain exemplary aspects, the second selectively flexible tool includes a second plurality of sequentially arranged links that are movable between a relaxed position when the second selectively flexible tool is in the relaxed position and a tensioned position when the second selectively flexible tool is in the tensioned position.

[0070] For example, in certain exemplary aspects, the second selective flexible tool includes a plurality of engaging members, a plurality of link members, and a wire assembly, wherein each engaging member is positioned between adjacent link members and defines a first longitudinal opening, wherein each of the plurality of link members defines a second longitudinal opening, and wherein the wire assembly extends through the first longitudinal opening of each of the plurality of engaging members and further extends through the second longitudinal opening of each of the plurality of link members.

[0071] For example, in certain exemplary aspects, the environment is the interior of a gas turbine engine.

[0072] For example, in certain other exemplary aspects, inserting the first selectively flexible tool into the environment while the first selectively flexible tool is in the relaxed position includes inserting the first selectively flexible tool into the gas turbine engine through an opening in the gas turbine engine.

[0073] For example, in certain other exemplary aspects, the opening is a borescope opening. These and other features, aspects and advantages of the present invention will become more readily understood by reference to the following description and appended claims. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present invention and, together with the description, serve to explain the principles of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] In the specification with reference to the accompanying drawings, a complete and enabling disclosure of the present invention including its best mode is set forth for those skilled in the art, wherein:

[0075] Figure 1 is a schematic diagram of an extension tool in a relaxed position according to an exemplary embodiment of the present disclosure.

[0076] Figure 2 yes Figure 1 Schematic diagram of an exemplary extension tool in a tensioned position.

[0077] Figure 3 is a schematic cross-sectional view of an extension tool according to another exemplary embodiment of the present disclosure.

[0078] Figure 4 is a schematic close-up view of an extension tool according to yet another exemplary embodiment of the present disclosure.

[0079] Figure 5 yes Figure 4 An end view of a first link of an exemplary extension tool.

[0080] Figure 6 yes Figure 4 An end view of a second link of an exemplary extension tool.

[0081] Figure 7 is a close-up view of multiple links of an extension tool according to an exemplary embodiment of the present disclosure.

[0082] Figure 8 yes Figure 7 Another view of an exemplary plurality of connecting rods.

[0083] Fig. 9 is a schematic close-up view of an extension tool according to yet another exemplary embodiment of the present disclosure.

[0084] Fig.10 is a schematic close-up view of an extension tool according to yet another exemplary embodiment of the present disclosure.

[0085] Fig.11 is a schematic close-up view of an extension tool according to yet another exemplary embodiment of the present disclosure.

[0086] Fig.12 is a schematic close-up view of an extension tool according to yet another exemplary embodiment of the present disclosure.

[0087] Fig.13 is a schematic cross-sectional view of an extension tool including a plurality of links arranged in a retracted position according to the present disclosure.

[0088] Fig.14 yes Fig.13 Schematic cross-sectional view of an extension tool having a plurality of links arranged in an extended position.

[0089] Fig.15 is a schematic cross-sectional view of an extension tool including multiple links according to another embodiment of the present disclosure.

[0090] Fig.16A is a schematic diagram of a tool assembly in a first position according to an exemplary embodiment of the present disclosure.

[0091] Fig. 16B yes Fig.16A Schematic diagram of an exemplary tool assembly in a second position.

[0092] Fig. 16C yes Fig.16A Schematic diagram of an exemplary tool assembly in a third position.

[0093] Fig.16D yes Fig.16A Schematic diagram of an exemplary tool assembly in a fourth position.

[0094] Fig.16E yes Fig.16A Schematic diagram of an exemplary tool assembly in a fifth position.

[0095] Fig.17 is a schematic diagram of a selectively flexible tool in a relaxed position according to yet another exemplary embodiment of the present disclosure.

[0096] Fig.18 yes Fig.17 Schematic diagram of an exemplary selectively flexible tool in a tensioned position.

[0097] Fig.19A is a schematic diagram of a tool assembly in a first position according to an exemplary embodiment of the present disclosure.

[0098] Fig.19B yes Fig.19A Schematic diagram of an exemplary tool assembly in a second position.

[0099] Fig.19C yes Fig.19A Schematic diagram of an exemplary tool assembly in a third position.

[0100] Fig.19D yes Fig.19A Schematic diagram of an exemplary tool assembly in a fourth position.

[0101] Fig.19E yes Fig.19A Schematic diagram of an exemplary tool assembly in a fifth position.

[0102] Fig.19F yes Fig.19A Schematic diagram of an exemplary tool assembly in a sixth position.

[0103] Figure 19G yes Fig.19A Schematic diagram of an exemplary tool assembly in a seventh position.

[0104] Fig.19H yes Fig.19A Schematic diagram of an exemplary tool assembly in an eighth position.

[0105] Fig.19I yes Fig.19A Schematic diagram of an exemplary tool assembly in a ninth position.

[0106] Fig. 20 is a schematic diagram of a gas turbine engine and an extension tool according to an exemplary embodiment of the present disclosure.

[0107] Fig.21 is a flow chart of a method for operating an extension tool according to an exemplary aspect of the present disclosure.

[0108] Fig. 22 is a flow chart of a method for operating a tool assembly according to an exemplary aspect of the present disclosure. DETAILED DESCRIPTION

[0109] Reference will now be made in detail to embodiments of the present invention, one or more examples of which are illustrated in the accompanying drawings. The detailed description uses numerical and letter designations to refer to features in the drawings. The same or similar designations in the drawings and description have been used to refer to the same or similar parts of the present invention.

[0110] As used herein, the terms “first,” “second,” and “third” may be used interchangeably to distinguish one component from another, and are not intended to indicate the position or importance of individual components.

[0111] The terms "front" and "rear" refer to the relative positions of components or systems and refer to the normal operating posture of the components or systems. For example, with respect to an extension tool according to one or more present embodiments, forward refers to a position closer to the distal end of the extension tool, while rearward refers to a position closer to the root end of the extension tool.

[0112] Unless otherwise specified herein, the terms "coupled," "fixed," "attached to," and the like refer to both being directly coupled, fixed, or attached, as well as being indirectly coupled, fixed, or attached via one or more intermediate components or features.

[0113] The singular forms "a," "an," and "the" include plural references unless the context clearly dictates otherwise.

[0114] Approximate language, as used in this specification and claims, is applied to modify any quantitative representation that can be permissibly varied without resulting in a change in the basic function to which it is related. Thus, values ​​modified by one or more terms such as "approximately," "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.

[0115] Here and throughout the specification and claims, range limitations are combined and interchanged, and unless context or language indicates otherwise, these ranges are identified and include all sub-ranges contained therein. For example, all ranges disclosed herein include the endpoints, and the endpoints are independently combinable with each other.

[0116] Referring now to the drawings, wherein like reference numerals refer to like elements throughout, Figure 1 is a schematic diagram of a selectively flexible extension tool 100 (or simply referred to as an "extension tool") in a relaxed position according to an exemplary embodiment of the present disclosure; Figure 2 yes Figure 1 Schematic diagram of an exemplary extension tool 100 in a tensioning position.

[0117] The extension tool 100 generally includes a base 102, a wire assembly 104, and a plurality of sequentially arranged links 106. The base 102 generally includes a first plate 108, a second plate 110, and one or more extension guides 112. For the illustrated embodiment, the one or more extension guides 112 include a pair of extension guides 112 fixedly coupled to the first plate 108 and extending in the longitudinal direction LW. The second plate 110 of the base 102 includes an opening 114 corresponding to the pair of extension guides 112, so that the second plate 110 can slide along the extension guides 112 away from the first plate 108 and toward the first plate 108 in the longitudinal direction LW.

[0118] The wire assembly 104 generally includes a root 116 coupled to the second plate 110 of the base 102 and a plurality of wires 188 extending from the root 116. The plurality of wires 118 include a first wire 118A, and the first wire 118A (and the remaining wires 118 of the illustrated embodiment) are operable with a plurality of sequentially arranged links 106 to move the wires 188 in a relaxed position ( Figure 1 ) and tension position ( Figure 2) between the plurality of sequentially arranged links 106. As will be described in more detail below, the plurality of sequentially arranged links 106 are spaced apart from each other when in the relaxed position to allow the plurality of sequentially arranged links 106 to be pivotally moved relative to each other. Conversely, the plurality of sequentially arranged links 106 are pressed against each other when in the tensioned position to securely fix the plurality of sequentially arranged links 106 to each other.

[0119] As noted, for the illustrated embodiment, each of the plurality of wires 118 is operable with the plurality of sequentially arranged links 106 to move the plurality of sequentially arranged links 106 between a relaxed position and a tensioned position. It should be appreciated that each of the wires 118 may be configured as a cable, a rope, a thread, etc. Thus, it should be appreciated that the wires 118 are generally flexible (i.e., do not prevent the plurality of sequentially arranged links 106 from pivotally moving relative to each other in the relaxed position).

[0120] In short, for the depicted embodiments, it should be understood that Figure 1 and Figure 2 The extension tool 100 shown in is a tool member that includes a tool instrument 120 coupled to one of a plurality of links 106. More specifically, the extension tool 100 defines a distal end 122, and the tool instrument 120 is coupled to the link 106 at the distal end 122. For the illustrated embodiment, the tool instrument 120 includes one or more sensors, cameras, or both, and more specifically, includes a sensor 124. The one or more sensors, cameras, or both may be operably coupled to a controller or other device (not shown) via one or more wires extending through a plurality of sequentially arranged links 106 (e.g., in a manner similar to the wires 118, or through tubes 126 of the plurality of links 106; see, e.g., Figure 3 ).

[0121] However, in other embodiments, the extension tool 100 may be configured in other suitable ways. Figure 3 , depicts a schematic partial cross-sectional view of an extension tool 100 according to another exemplary embodiment of the present disclosure. Specifically, Figure 3The exemplary extension tool 100 depicted in the figure is configured as a catheter. In this manner, the plurality of sequentially arranged links 106 of the extension tool 100 together define a hollow tube 126 extending therethrough. For the illustrated embodiment, a separate drill 128 extending through the hollow tube 126 of the extension tool 100 is shown. For the illustrated embodiment, the drill 128 is a handheld drill that includes a handle 130 for rotating the drill 128, a flexible drive shaft 132 extending through the hollow tube 126 defined by the plurality of links 106, and a drill bit 134. It is noteworthy that instead of configuring the drill bit as a drill bit for removing material / drilling, in other embodiments, the drill bit 134 can be configured as any other suitable rotatable instrument, such as a Phillips headscrewdriver bit, a flathead screwdriver bit, a Torx bit, an Allen bit, a Pozidrive, etc.

[0122] In this manner, the extend tool 100 may facilitate guiding the drill bit 134 of the drill rig 128 at a remote location or along ambiguous vectors within an environment (eg, along non-linear paths within the environment) in a manner that would not otherwise be possible.

[0123] However, it should also be understood that in other embodiments, tool implement 120 may be integrated with extension tool 100. For example, as shown in phantom, the flexible drive shaft of drill 128 may alternatively be coupled to motor 136, which is attached to base 102, or more specifically, second plate 110 of base 102. In this manner, extension tool 100 may be an integrally formed drill having a specific / dedicated function.

[0124] In addition, in still other embodiments, the extension tool 100 may not be used, for example, to drill a hole at a remote location, but may be used to provide a fluid (e.g., gas or liquid) to a remote location. For example, the hollow tube 126 may be used to provide heated gas or liquid to a remote location, may be used to provide lubricating oil to a remote location, etc.

[0125] Reference now Figure 4 , the operation of the extension tool 100 according to the exemplary embodiment of the present disclosure will be described in more detail. Figure 4 A close-up illustration of distal end 122 of extension tool 100 is provided according to an exemplary embodiment of the present disclosure. Figure 4 The extension tool 100 can be used with Figure 1 The exemplary extension tool 100 is constructed in substantially the same manner. It is noteworthy that Figure 4 The extension tool 100 is depicted in a relaxed position.

[0126] In short, reference Figure 4 , it should be understood that for the illustrated embodiment, the wire 118 extends down the length of the extension tool 100 and then loops around to extend back along another path along the length of the extension tool 100 at the distal end 151. Although not shown, in at least some exemplary embodiments, one or more of the wires 118 may include a crimp or other attachment at (or near) the distal end 151. The crimp or other attachment may not be under load during normal operation, but may be configured to prevent the entire wire 118 from being pulled out of the plurality of links 106 if the wire fails (e.g., breaks or snaps) during operation. In this case, the crimp or other attachment will be engaged so that the wire can be used to pull the plurality of links 106 out of the environment.

[0127] In addition, as will be understood, the plurality of sequentially arranged links 106 of the extension tool 100 include a first link 106A, which extends between a front end 140 and a rear end 142 along a first longitudinal direction L1. The plurality of sequentially arranged links 106 further include a second link 106B, which also extends between a front end 140 and a rear end 142 along a second longitudinal direction L2. The front end 140 of the first link 106A defines a first interface geometry, and the rear end 142 of the second link 106B defines a second interface geometry that is complementary to the first interface geometry. It should be understood that, as used herein, the term "complementary" with respect to two geometries refers to two geometries having components that are configured to fit together to limit movement of the components comprising the geometries. In short, it should also be understood that for the illustrated embodiment, the rear end 142 of the first link 106A defines an interface geometry substantially equal to the second interface geometry, and further, the front end 140 of the second link 106B defines an interface geometry substantially equal to the first interface geometry. However, in other embodiments, different complementary geometries may be provided between other adjacent links.

[0128] More specifically, reference is now also made to Figure 5 and Figure 6 , providing a first connecting rod 106A ( Figure 5 ) of the front end 140 and the second link 106B ( Figure 6), it will be appreciated that the first interface geometry and the second interface geometry together form a kinematic mount between the first link 106A and the second link 106B (when in a tensioned position) that restricts relative motion between the first link 106A and the second link 106B along at least four degrees of freedom (e.g., relative circumferential directions and radial directions; line 118 is restricted along a longitudinal / axial direction, as described below). For example, for the illustrated embodiment, the first interface geometry, or more specifically, the first link 106A, defines a first circumferential direction C1 and includes at least two notches 144 spaced apart along the first circumferential direction C1. Similarly, the second interface geometry defines a second circumferential direction C2 and includes at least two extension members 146 having a shape corresponding to the at least two notches 144. More specifically, the at least two notches 144 of the first interface geometry include three notches 144 spaced apart along a first circumferential direction C1 of the first interface geometry, and the at least two extension members 146 of the second interface geometry include three corresponding extension members 146 spaced apart along a second circumferential direction C2 of the second interface geometry. Each of the three extension members 146 of the second interface geometry is received / rested within the three notches 144 of the first interface geometry when in the tensioning position to restrict movement of the second link 106B relative to the first link 106A in all degrees of freedom (with the help of line 118; see e.g. Figure 2 ).

[0129] However, it should be understood that in other embodiments, any other suitable kinematic mounting geometry may be provided between adjacent links 106 to limit movement of adjacent links 106 when the links 106 are in the tensioned position. For example, in other embodiments, the first and / or second geometry may include a pin, a ridge, etc., and the other of the first and / or second geometry may include a corresponding opening, a valley, etc.

[0130] Still refer to Figure 5 and Figure 6 In short, it should be understood that each link of the plurality of links 106, and the hollow tube 126 defined thereby, defines an inner diameter 127. The term "inner diameter" may refer to the smallest transverse dimension of the hollow tube 126. The inner diameter 127 may indicate the size of a tool or other component that can extend through the hollow tube 126. In short, the extension tool 100, or more specifically, the plurality of links 106 further defines an outer diameter 129, which may refer to the largest transverse dimension of the plurality of links 106 of the extension tool 100.

[0131] Special References Figure 4, and as described above, the first wire 118A of the wire assembly 104, or more specifically, the plurality of wires 118 of the wire assembly 104 can operate with the plurality of links 106 to move the plurality of links 106 between a relaxed position (shown) and a tensioned position. Specifically, with reference to the first link 106A and the second link 106B, the plurality of wires 118 (including the first wire 118A) can slide relative to at least the first link 106A to move the plurality of sequentially arranged links 106 between a relaxed position and a tensioned position. More specifically, again briefly referring to Figure 5 and 6 , each link of the plurality of links 106 includes a circumferential wall 148, and the first wire 118A of the wire assembly 104 extends through the circumferential wall 148 of each link of the plurality of links 106. More specifically, as Figure 5 and Figure 6 As can be clearly seen in the drawings, for the illustrated embodiment, each link 106 of the plurality of links 106 defines an elongated opening 150 in the circumferential wall 148, and the first wire 118A of the wire assembly 104 is slidably received through the elongated opening 150 of the circumferential wall 148 of each link 106 of the plurality of links 106. Moreover, for the illustrated embodiment, each of the plurality of wires 118 of the wire assembly 104 is slidably received through a corresponding elongated opening 150 in the circumferential wall 148 of the plurality of links 106. However, it is noted that in other embodiments, more than one of the plurality of wires 118 of the wire assembly 104 may alternatively be slidably coupled to the link 106 in any other suitable manner (e.g., via an eyelet on an outer surface of the link 106, an inner surface of the circumferential wall 148, etc.).

[0132] In addition, for the illustrated embodiment, the extension tool 100 includes a cover 151 located at the distal end 122 and coupled to the link 106 at the distal end 122. The wire 118 is looped through a suitable channel in the cover 151 (i.e., is non-slidable relative to the cover 151) so that when the wire 118 is tensioned, the link 106 moves to the tensioned position. (However, in other embodiments, one or more wires 118 can be fixed to the cover 151.) As should be understood, Figure 4Depicted are the first link 106A and the second link 106B in a relaxed position. When the plurality of links 106 are in a relaxed position, the second link 106B is spaced apart from the first link 106A to allow the second link 106B to pivotally move (e.g., in a pivot direction P) relative to the first link 106A. For example, as shown, the second link 106B is connected to the first link 106A only by the plurality of lines 118 of the line assembly 104 when in a relaxed position. Assuming that the plurality of lines 118 can be relatively flexible, the second link 106B can pivot relative to the first link 106A. More particularly, the second link 106B can move relative to the first link 106A so that the angle defined between the second longitudinal direction L2 and the first longitudinal direction L1 changes, for example, changes by at least about 30 degrees, for example, at least about 60 degrees, for example, at least about 90 degrees, for example, up to about 300 degrees. In this manner, when the plurality of links 106 are in a relaxed position, the extension tool 100 may be maneuvered through, for example, a serpentine path or other non-linear path within an environment.

[0133] In contrast, still referring to the first link 106A and the second link 106B of the plurality of links 106, when the plurality of links 106 is in the tensioned position, the second link 106B is pressed against the first link 106A to press the second interface geometry of the rear end 142 of the second link 106B against the first interface geometry of the front end 140 of the second link 106B and securely fix the second link 106B to the first link 106A. In this manner, it should be appreciated that when the plurality of links 106 is in the tensioned position, the plurality of links 106 form an effectively solid / rigid arm of the extension tool 100.

[0134] To further illustrate this point, briefly refer back to Figure 1 and 2 It should be understood from the embodiments shown therein that the plurality of links 106 of the extension tool 100 can be moved from a relaxed position (ie, a slack position) to a relaxed position by tensioning the plurality of wires 118 of the wire assembly 104, and more specifically, by moving the second plate 110 of the base 102 away from the first plate 108 along the extension guide 112 of the base 102, thereby pulling the plurality of wires 118 of the wire assembly 104 at the root 116. Figure 1 ) moves to the tensioning position ( Figure 2 ). It is noteworthy that, except for the link 106 at the distal end 122 (or more precisely, the cover 151 as described above), the wire 118 can be slidably coupled to each link of the plurality of links 106. The wire 118 can be fixed to the link 106 and / or the cover 151 at the distal end 122 so that when the plurality of wires 118 are tensioned, each link 106 is pressed together to stiffen the link 106 / move the link to the tensioned position.

[0135] Further references Figure 1 and 2 It should be appreciated that by designing the links to have a particular geometry and / or orientation, the plurality of links 106 can be formed into a desired shape when in a tensioned position. In this manner, as briefly mentioned above, the plurality of links 106 in a relaxed position can be traversed, for example, through a relatively serpentine or other non-linear path within an environment, and then can be moved into a tensioned position using the plurality of wires 118 of the wire assembly 104 in a manner that effectively creates a rigid tool within the non-linear path of the environment once inserted. In this manner, the extension tool 100 can facilitate access to or inspection of components within an environment that are otherwise inaccessible or that cannot be reached without disassembling, removing, or destroying the environment.

[0136] for Figure 1 and Figure 2 as well as Figure 4 In the embodiment of the present invention, it should be understood that each link in the plurality of links 106 is specifically designed to produce a specific rigid shape when the plurality of links 106 are moved to the tensioning position. For example, with particular reference to Figure 4 , the first link 106A defines a first geometry (i.e., length, curvature, etc.), and the second link 106B defines a second geometry (i.e., link, curvature, etc.). The first geometry is different from the second geometry. In at least some exemplary embodiments, in order to form the plurality of links 106 with a specific geometry to facilitate the desired shape of the plurality of links 106, each of the plurality of links 106 can be formed by an additive manufacturing process (sometimes also referred to as 3D printing). This can facilitate forming a specifically shaped link 106 to be assembled within the plurality of links 106 of the extension tool 100, thereby producing the desired shape when moved to the tensioning position, but still retaining sufficient flexibility to adapt to the expected environment.

[0137] However, it should be understood that in other embodiments, the plurality of links 106 of the extension tool 100 may be formed in any other suitable manner and may have any other suitable shape or configuration. Figure 7 and Figure 8 , depicting a plurality of links 106 of an extension tool 100 according to another embodiment of the present disclosure. Figure 7 and Figure 8 The plurality of links 106 of the extension tool 100 may be arranged in the same manner as described above with reference to, for example, Figures 4 to 6 The exemplary plurality of connecting rods 106 described above are constructed in a similar manner. For example, Figure 7 and Figure 8 The exemplary plurality of links 106 described in the accompanying drawings include a first link 106A and a second link 106B (see Figure 7). The first link 106A defines a first geometric shape, and the second link 106B defines a second geometric shape. However, for Figure 7 and Figure 8 In an embodiment, the first geometric shape and the second geometric shape are substantially the same.

[0138] More specifically, Figure 7 and Figure 8 Each of the plurality of links 106 generally defines a longitudinal direction L3 and a circumferential direction C3 (see Figure 7 ). Each link 106 generally includes a short side 152 at a first circumferential position along the circumferential direction C3 and a long side 154 at a second circumferential position along the circumferential direction C3 (the length defined by the short side 152 along the longitudinal direction L3 is less than the length of the long side 154 along the longitudinal direction L3). In addition, each link 106 of the plurality of links 106 includes a uniform first interface geometry at a front end 140 along the longitudinal direction and a uniform second interface geometry at a rear end 142 along the longitudinal direction. The first interface geometry includes three extension members 146 evenly spaced apart along the circumferential direction C3, and the second interface geometry includes three correspondingly shaped recesses 144 (i.e., for receiving three extension members 146 of adjacent links 106) that are also evenly spaced apart along the circumferential direction C3.

[0139] In this manner, when the plurality of links 106 are moved into the tensioning position, the plurality of uniform links 106 can be arranged to define nearly any desired shape. Figure 8 It should be appreciated that by sequentially pairing the short side 152 of one link 106 with the long side 154 of an adjacent link 106, it may allow for the formation of substantially linear portions (e.g., straight portions 156), sequentially pairing the short side 152 of one link 106 with the short side 154 of an adjacent link 106 may allow for the formation of relatively tight bends (e.g., bends 158), etc. In this manner, by varying the relative orientations (e.g., circumferentially) of adjacent links 106, a plurality of links 106 may define any desired three-dimensional shape when tensioned. Further, it should be appreciated that by utilizing links 106 of uniform geometry, links 106 of uniform geometry may be stored in large quantities in situ, and specialized extension tools 100 defining unique three-dimensional shapes and lengths may be relatively quickly formed by arranging sequential links 106 in a particular manner / circumferential orientation.

[0140] As discussed above, when the plurality of links 106 are in a relaxed position, adjacent links 106 may be able to pivot relative to each other to allow the plurality of links 106 to be manipulated through a non-linear path through an environment. Manipulation of the plurality of links 106 through a non-linear path may be relatively easy when gravity helps keep the plurality of links 106 separated from each other. However, in certain embodiments, other features may be provided to keep the plurality of links 106 separated from each other to facilitate maneuverability of the plurality of links 106 through a non-linear path.

[0141] More specifically, referring generally to Figures 9 to 12 , various embodiments of an extension tool 100 are provided that include features for maintaining a plurality of links 106 separated from one another when in a relaxed position. Figures 9 to 12 Each of the embodiments shown and described below can be used in the same manner as those described above with reference to, for example, Figures 1 to 8 One or more of the exemplary extension tools 100 described herein are constructed in substantially the same manner. For example, Figures 9 to 12 Each exemplary extension tool 100 generally includes a plurality of links 106 (including a first link 106A and a second link 106B) and a wire assembly 104 (including a plurality of wires 118, particularly a first wire 118A). Figures 9 to 12 In the embodiment of the present invention, the extension tool 100 further includes a biasing member 160, which is operable with the first link 106A and the second link 106B to bias the second link 106B away from the first link 106A. However, the plurality of wires 118 of the wire assembly 104, including the first wire 118A of the wire assembly 104, are configured to overcome the biasing member 160 when the plurality of links 106 are moved to the tensioning position.

[0142] Special References Fig. 9 , it should be understood that the biasing member 160 is a spring attached to the first link 106A and to the second link 106B for pressing the second link 106B away from the first link 106A. For the illustrated embodiment, it should be understood that each of the plurality of links 106 includes a circumferential wall 148 defining an outer surface 162, and the biasing member 160 / spring is positioned inside the outer surface 162 of the circumferential wall 148 of the first link 106A and inside the outer surface 162 of the circumferential wall 148 of the second link 106B. More specifically, for the illustrated embodiment, the biasing member 160 / spring is positioned inside the circumferential wall 148 of the first link 106A and inside the circumferential wall 148 of the second link 106B. For example, the biasing member 160 / spring can be coupled to or otherwise attached to the inner surfaces (not shown) of the circumferential walls 148 of the first link 106A and the second link 106B.

[0143] In addition, for Fig. 9In the embodiment of the present invention, it should be understood that the extension tool 100 further includes a plurality of biasing members 160, each biasing member 160 being operable with a pair of adjacent links 160 in the plurality of links 106 to bias the adjacent links 160 away from each other. It is worth noting that when the plurality of links 106 define a hollow tube 126 extending therethrough (e.g., when the extension tool 100 is configured as a catheter; see Figure 3 ), the spring can be configured so that the opening / center of the spring is aligned with (and does not block) the hollow tube 126 extending through the plurality of links 106 .

[0144] Reference now Fig.10 , it should be appreciated that the exemplary biasing member 160 of the extension tool 100 is operable with each of the plurality of links 106 for biasing adjacent links 106 away from each other. More specifically, for the depicted embodiment, each of the plurality of links 106 defines an outer surface 162 (or more specifically, includes a circumferential wall 148 defining the outer surface 162), and the biasing member 160 is operable with the outer surface 162 of each of the plurality of links 106. More specifically, also for Fig.10 In the illustrated embodiment, the biasing member 160 is a continuous spring that is attached to the outer surface 162 of the first link 106A and the outer surface 162 of the second link 106B and the outer surfaces 162 of other links 106 of the plurality of links 106 for biasing the second link 106B away from the first link 106A and biasing the other links 106 away from adjacent links 106. In this manner, it should be understood that the spring defines a substantially constant pitch where it is attached to the outer surface 162 of the links 106, and defines a variable pitch between adjacent links 106 based on, for example, the position of the plurality of links 106 in a relaxed position or a tensioned position, the angle defined between adjacent links 106, etc.

[0145] Reference now Fig.11 However, in other embodiments, any other suitable biasing member 160 capable of operating with and coupled to the outer surface 162 of each of the plurality of links 106 may be provided. Fig.11In some embodiments, the biasing member 160 includes an elastomeric material that is attached to an outer surface 162 of each link in the plurality of links 106 and extends substantially continuously along each link in the plurality of links 106. For example, in some embodiments, the elastomeric material may be an elastomeric sleeve that extends around each link in the plurality of links 106 and is coupled to the outer surface 162 of each link in the plurality of links 106. However, in other embodiments, the elastomeric material may be a discrete strip extending along the plurality of links 106, coupled to the outer surface 162 of each link in the plurality of links 106, may be a plurality of elastomeric segments extending between adjacent pairs of links 106, and the like.

[0146] Reference now Fig.12 , again, the exemplary extension tool 100 depicted includes a plurality of individual biasing members 160. Each individual biasing member 160 is configured as an elastomeric material positioned between adjacent links 106 of the plurality of links 106. For example, one biasing member of the plurality of biasing members 160 is configured as an elastic member positioned at least partially between a first link 106A and a second link 106B. For example, each biasing member 160 can be configured as a disk configured to push adjacent links 106 away from each other, and more specifically, configured to push the notch 144 of one link 106 away from a corresponding extension member 146 in an adjacent link 106.

[0147] However, it should be understood that this is provided only as an example. Figures 9 to 12 In other embodiments, any other suitable biasing member 160 may be provided for urging a first link 106A away from an adjacent second link 106B when in a relaxed position, or for urging any adjacent links 106 away from each other, to facilitate inserting and / or removing the multiple links 106 of the extension tool 100 into a non-linear path within an environment.

[0148] In addition, in other embodiments, other configurations may be provided. Fig.13 , a schematic cross-sectional view of an extension tool 100 according to another exemplary embodiment of the present disclosure is provided. Fig.13 The exemplary extension tool 100 may be used in the same manner as described above with reference to Figures 1 to 12 The exemplary extension tool 100 described is constructed in a similar manner.

[0149] For example, Fig.13The exemplary extension tool 100 generally includes a base 102, a wire assembly 104, and a plurality of sequentially arranged links 106. The wire assembly 104 includes a first wire 118A that can operate with the plurality of sequentially arranged links 106 to move the plurality of sequentially arranged links 106 between a relaxed position and a tensioned position (shown). As should be understood from the above description, the plurality of sequentially arranged links 106 are spaced apart from each other when in the relaxed position to allow the plurality of sequentially arranged links 106 to be pivotally moved relative to each other. However, the plurality of sequentially arranged links 106 are pressed against each other in the tensioned position so that the plurality of sequentially arranged links 106 are firmly fixed to each other as shown.

[0150] However, more specifically, Fig.13 In the embodiment of the present invention, the plurality of sequentially arranged links 106 are configured as a first plurality of sequentially arranged links 106-1, which define a first conduit 126-1 extending therethrough. The extension tool 100 further includes a second plurality of sequentially arranged links 106-2, which are movably positioned at least partially within the first conduit 126-1 of the first plurality of sequentially arranged links 106-1. The second plurality of sequentially arranged links 106-2 similarly define a second conduit 126-2 extending therethrough. In addition, also for the illustrated embodiment, the extension tool 100 includes a third plurality of sequentially arranged links 106-3, which are movably positioned at least partially within the second conduit 126-2 of the second plurality of sequentially arranged links 106-2.

[0151] To operate the second plurality of links 106-2 and the third plurality of links 106-3, the wire assembly 104 further includes a second wire 118B and a third wire 118C. The second wire 118B can operate with the second plurality of links 106-2 to move the second plurality of links 106-2 in a relaxed position (e.g., similar to Figure 1 Similarly, the third wire 118C can operate with the third plurality of links 106-3 to move the third plurality of links 106-3 in a relaxed position (e.g., similar to Figure 1 The sequential arrangement of the connecting rods 106 moves between a relaxed position (shown) and a tensioned position (shown).

[0152] The second plurality of links 106-2 and the third plurality of links 106-3 are Fig.131 and 2. The embodiment of the present invention is shown in a retracted nested configuration. When the first plurality of links 106-1, the second plurality of links 106-2, and the third plurality of links 106-3 are nested with each other and each is in a relaxed position, they can move in unison through a first section of a nonlinear path through an environment. Then, the first plurality of links 106-1 can be independently moved to a tensioned position using a first line 118A (or a plurality of first lines 118A). Subsequently, the second plurality of links 106-2 and the third plurality of links 106-3 can be extended from the first conduit 126-1 through a second portion of a nonlinear path through an environment. Then, the second plurality of links 106-2 can be independently moved to a tensioned position using a second line 118B (or a plurality of second lines 118B). Finally, the third plurality of links 106-3 can be extended from the second conduit 126-2 through a third portion of a nonlinear path through an environment. Then, the third plurality of links 106-3 can be independently moved to a tensioned position using a third line 118C (or a plurality of third lines 118C).

[0153] For example, refer to Fig.14 , depicting Fig.13 The exemplary extension tool 100 of the embodiment of the present invention is characterized in that the second plurality of sequentially arranged links 106-2 extend from the first conduit 126-1 of the first plurality of sequentially arranged links 106-1, and further, the third plurality of sequentially arranged links 106-3 extend from the second conduit 126-2. Fig.14 As shown, the first plurality of links 106-1 has been moved to the tensioned position, and similarly, the second plurality of links 106-2 has also been moved to the tensioned position. In contrast, the third plurality of links 106-3 is in a relaxed position. In this way, the third plurality of links can be manipulated through a nonlinear path within the environment before also moving to the tensioned position. As should be understood, this configuration can allow the extension tool 100 to position the second plurality of links 106-2 adjacent to, for example, a nonlinear path within the environment that is otherwise difficult to reach or cannot be reached using a single plurality of links 106. Similarly, this configuration can allow the extension tool to position the third plurality of links 106-3 adjacent to, for example, another nonlinear path within the environment that is otherwise difficult to reach or cannot be reached using two plurality of links.

[0154] refer to Fig.13 and Fig.14It should be understood that the first plurality of links 106-1 include a stopper 164 at a distal end extending into the first conduit 126-1, and the second plurality of links 106-2 include a flange 166 at a front end configured to catch the stopper 164 at a distal end of the first plurality of links 106-1 and prevent the second plurality of links 106-2 from being completely removed from the first conduit 126-1. Similarly, the second plurality of links 106-2 include a stopper 168 at a distal end extending into the second conduit 126-2, and the third plurality of links 106-3 include a flange 170 at a front end configured to catch the stopper 168 at a distal end of the second plurality of links 106-2 to prevent the third plurality of links 106-3 from being completely removed from the second conduit 126-2. In some embodiments, the first, second, and third pluralities of sequentially arranged links 106 may be extended by a working tool extending through the third conduit 126-3, the third conduit 126-3 extending through the third plurality of links 106-3, the working tool grasping a stopper positioned at a distal end of the third plurality of links 106-3 extending into the third conduit 126-3. However, in other embodiments, any other suitable means may be utilized to selectively extend the second plurality of links 106-2 from the first plurality of links 106-1, and further, selectively extend the third plurality of links 106-3 from the second plurality of links 106-2.

[0155] Furthermore, it should be understood that the Fig.13 and Fig.14 In other embodiments, any other suitable extension tool 100 having a plurality of sequentially arranged links 106 may be provided. For example, although in Fig.13 and Fig.14 A plurality of three sequentially arranged links 106 are provided, but in other embodiments, the extension tool may have any other suitable number of multiple links 106, such as two, four, six, etc., and each of such multiple links 106 may define any desired shape.

[0156] In addition, although for Fig.13 and Fig.14 In the illustrated embodiment, each link of the plurality of sequentially arranged links 106 is nested within one another (at least when in the retracted position), but in other embodiments any other suitable arrangement of the plurality of sequentially arranged links 106 may be provided.

[0157] For example, in other embodiments, the extension tool 100 may again include multiple, sequentially arranged links 106, but in other suitable configurations. Fig.15 , an extension tool 100 according to another exemplary embodiment of the present disclosure is provided. Fig.15 The exemplary extension tool 100 may be used with Fig.13 The exemplary extension tool 100 is constructed in a similar manner. Fig.15 The exemplary extension tool 100 may generally include a first plurality of links 106 - 1 , a second plurality of links 106 - 2 , and a third plurality of links 106 - 3 .

[0158] Notably, for the illustrated embodiment, the first plurality of links 106-1 includes a front end 174, the second plurality of links 106-2 includes a front end 176 and a rear end 178, and the third plurality of links 106-3 also includes a front end 180 and a rear end 182. For the illustrated embodiment, the second plurality of links 106-2 is coupled to the front end 174 of the first plurality of links 106-1, and further, the third plurality of links 106-3 is coupled to the front end 176 of the second plurality of links 106-2. In this manner, the first plurality of links 106-1, the second plurality of links 106-2, and the third plurality of links 106-3 are each arranged in series.

[0159] Similar to Fig.13 and Fig.14 For the embodiment of Fig.15 In an embodiment, the wire assembly 104 further includes a second wire 118B and a third wire 118C. The second wire 118B is capable of operating with the second plurality of connecting rods 106-2 to move the second plurality of connecting rods 106-2 between a relaxed position and a tensioned position. Similarly, the third wire 118C is capable of operating with the third plurality of connecting rods 106-3 to move the third plurality of connecting rods 106-3 between a relaxed position and a tensioned position. It is noteworthy that, independently of the first wire 118A being capable of operating with the first plurality of connecting rods 106-1, the second wire 118B is capable of operating with the second plurality of connecting rods 106-2, and further, independently of the first wire 118A and the second wire 118B being capable of operating with the first plurality of connecting rods 106-1 and the second plurality of connecting rods 106-2, respectively, the third wire 118C is capable of operating with the third plurality of connecting rods 106-3.

[0160] The inclusion of multiple, sequentially arranged links 106 may allow the extension tool 100 to be inserted into more complex, non-linear paths within an environment.

[0161] Furthermore, referring now to FIG. 16 , or more precisely, FIG. 16A to FIG. 16E , a tool assembly 184 according to an exemplary embodiment of the present disclosure is provided. The tool assembly 184 depicted in FIG. 16 may be combined with or otherwise utilized in the above reference Figures 1 to 15 Various aspects of one or more exemplary embodiments are described.

[0162] For example, first refer to Fig.16A, the exemplary tool assembly 184 includes a first selectively flexible extension tool 100A (or simply "extension tool"). Although not depicted individually (i.e., depicted in a simplified schematic manner), it should be understood that the first extension tool 100A can include a first plurality of sequentially arranged links 106A that can be moved between a relaxed position and a tensioned position (shown). In this manner, the first extension tool 100A can be configured to extend the length of the extension tool 100A according to, for example, Figure 1 and Figure 2 Embodiments of Figure 3 Embodiments of Figures 4 to 6 Embodiments of Figure 7 and Figure 8 or according to any other suitable embodiment. Fig.16A The first extension tool 100A.

[0163] Still reference Fig.16A , the first extension tool 100A, or more specifically, the first plurality of sequentially arranged connecting rods 106A of the first extension tool 100A, defines a first hollow tube 126A extending therethrough. The first hollow tube 126A defines a first inner diameter 127A, which may refer to the smallest transverse dimension of the first hollow tube 126A. In addition, the first extension tool 100A defines a first outer diameter 129A, which may refer to the largest transverse dimension of the first plurality of connecting rods 106A of the first extension tool 100A.

[0164] In this way, from Fig.16A It should be understood from the view of FIG. 1 that first extension tool 100A can be inserted into the environment through opening 186 in a relaxed position and then moved to a tensioned position. In the tensioned position, first extension tool 100A can define a predetermined shape so that first distal end 122A of first extension tool 100A is positioned in a desired position and orientation.

[0165] In addition, now also refer to Fig. 16B , it should be understood that the tool assembly 184 further includes a second extension tool 100B. Although still depicted in a simplified schematic manner, it should be understood that the second extension tool 100B can include a second plurality of sequentially arranged links 106B that can be moved between a relaxed position and a tensioned position (shown). It should be understood from the figures and the discussion herein that the second plurality of sequentially arranged links 106B can be moved on or through the first plurality of sequentially arranged links 106A, and more specifically, for the illustrated embodiment, the second plurality of sequentially arranged links 106B of the second extension tool 100B can be moved on the first plurality of sequentially arranged links 106A of the first extension tool 100A.

[0166] More specifically, when the second plurality of sequentially arranged connecting rods 106B are in the tensioned position, the second plurality of sequentially arranged connecting rods 106B define a second hollow tube 126B extending therethrough. The second hollow tube 126B defines a second inner diameter 127B. The first outer diameter 129A of the first plurality of sequentially arranged connecting rods 106A is smaller than the second inner diameter 127B of the second plurality of sequentially arranged connecting rods 106B to allow the second plurality of sequentially arranged connecting rods 106B to be provided on the first plurality of sequentially arranged connecting rods 106A.

[0167] Thus, for example, the second plurality of sequentially arranged links 106B may be movable on the first plurality of sequentially arranged links 106A while being in a relaxed position while the first plurality of sequentially arranged links 106A is in a tensioned position. The second plurality of sequentially arranged links 106B may then be moved to the tensioned position. In this manner, the predetermined shape of the first plurality of sequentially arranged links 106A may ensure that the second plurality of sequentially arranged links 106B allows it to, for example, pass through the first segment 188A of the nonlinear path through the environment (see FIG. 1 ) before being inserted through the second segment 188B of the nonlinear path through the environment. Fig.16D ).

[0168] Notably, the second plurality of sequentially arranged links 106B define a second total length (i.e., centerline length) when in the tensioned position, the second total length being greater than the first total length (i.e., centerline length) of the first plurality of sequentially arranged links 106A when in the tensioned position. For example, for the illustrated embodiment, the second total length is at least about 25% greater than the first total length, such as at least about 50% greater than the first total length, such as up to about 1000% greater than the first total length. In this manner, the second plurality of sequentially arranged links 106B can further reach into the environment, or more precisely, through the environment along a non-linear path.

[0169] In short, now with special reference to Fig. 16C , it should be understood that the first plurality of sequentially arranged links 106A can then be moved back to the relaxed position and removed from the environment, while the second plurality of sequentially arranged links 106B remain in the tensioned position. In this manner, the second distal end 122B of the second plurality of sequentially arranged links 106B can be positioned at a desired position and orientation within the environment and can be retained there without holding the first extension tool 100A in place. In the event that such a position and orientation within the environment is a desired endpoint, the second plurality of sequentially arranged links 106B of the second extension tool 100B can be used to perform a desired operation (e.g., an inspection, repair, or maintenance operation).

[0170] However, it should further be appreciated that in certain exemplary embodiments, further extension tools 100 may be utilized to reach more remote locations and / or orientations within an environment.

[0171] Specifically, with particular reference Fig.16D It should be understood that the exemplary tool assembly 184 further includes a third extension tool 100C. The third extension tool 100C can be constructed in substantially the same manner as the first extension tool 100A. For example, the third extension tool 100C can include a third plurality of sequentially arranged connecting rods 106C defining a third outer diameter 129C. The third outer diameter 129C can be substantially equal to the first outer diameter 129A. Therefore, the third outer diameter 129C can be smaller than the second inner diameter 127B (of the second hollow tube 126B of the second plurality of sequentially arranged connecting rods 106B), so that the third plurality of sequentially arranged connecting rods 106C can move through the second hollow tube 126B of the second plurality of sequentially arranged connecting rods 106B when in a relaxed position.

[0172] However, it is noteworthy that for the illustrated embodiment, the third total length (i.e., centerline length) of the third plurality of sequentially arranged links 106C of the third extension tool 100C (when in the tensioned position) is greater than the second total length, and further greater than the first total length. In this manner, the third extension tool 100C can reach further into the environment to position the third distal end 122C further into the environment, or more specifically, further along a non-linear path through the environment. As should be appreciated, this configuration can ensure that the third plurality of sequentially arranged links 106C can navigate through the first and second segments 188A, 188B of the environment before being inserted into the third segment 188C of the environment in a non-guided manner in a relaxed position.

[0173] Further, briefly refer to Fig.16E It should be understood that once the third plurality of sequentially arranged links 106C of the third extension tool 100C are moved to the tensioning position, the second extension tool 100B can be removed from the environment. Therefore, the tool assembly 184 of FIG. 16 can allow various operations to be performed at the third distal end 122C of the third extension tool 100C.

[0174] However, it should be understood that FIG. 16A to FIG. 16E The exemplary tool assembly 184 shown is provided as an example only. For example, although FIG. 16A to FIG. 16EThe exemplary tool assembly 184 in the embodiment includes a second extension tool 100B that can move on the first extension tool 100A, but in other embodiments, the second extension tool 100B can alternatively be able to move through the first hollow tube 126A of the first extension tool 100A (and the second outer diameter of the second plurality of links 106B of the second extension tool 100B can be less than the first inner diameter 127A). Further, although three extension tools 100A, 100B, 100C are depicted, in other embodiments, the tool assembly 184 can include only two extension tools, or can include any other suitable number of extension tools (e.g., 4, 5, 6, etc.).

[0175] Furthermore, although FIG. 16A to FIG. 16B The exemplary tool assembly 184 shown in FIG. 1 is discussed above as including an extension tool 100 having a predetermined shape when moved to a tensioning position, such as the one shown above with reference to FIG. Figures 1 to 15 The exemplary extension tool described herein, however, in other embodiments, FIG. 16A to FIG. 16B The one or more extension tools of the tool assembly 184 may have any other suitable configuration. For example, in other embodiments, the one or more extension tools 100 of the tool assembly 184 may not have a predetermined shape when moved to the tensioning position. For example, now referring to Fig.17 and Fig.18 , Fig.17 A selectively flexible tool (or "extension tool") 100 according to another exemplary embodiment of the present disclosure is depicted in a relaxed position, and Fig.18 Depicted in tension position Fig.17 An exemplary extension tool 100 is provided.

[0176] Fig.17 and Fig.18 The exemplary extension tool 100 shown generally includes a Fig.17 ) and tension position ( Fig.18) are arranged in sequence. More specifically, for the embodiment shown, the plurality of sequentially arranged links 106 include a plurality of engagement members 190 and a plurality of link members 191. Each engagement member 190 is positioned between adjacent link members 191. The engagement member 190 is configured to allow the link members 191 to define any suitable orientation relative to each other while being in a relaxed position, and further to maintain a specific shape when moving to a tensioned position. More specifically, for the embodiment shown, the engagement members 190 each extend between a first end 192 and a second end 193 along a first longitudinal direction L1 (i.e., the longitudinal direction of each engagement member 190). For the embodiment shown, the first end 192 and the second end 193 of each engagement member 190 define a convex surface. Similarly, each link member 191 in the plurality of link members 191 extends between a first end 194 and a second end 195 along a second longitudinal direction L2 (i.e., the longitudinal direction of each link member 191). The first and second ends 194, 195 of each link member 191 define a concave opening 186 that can mate with a convex surface of an adjacent engagement member 190. For example, the concave opening 186 of the first end 194 of a particular link member 191 can mate with a convex surface of the second end 193 of an adjacent engagement member 190.

[0177] More specifically, for the illustrated embodiment, the first end 192 and the second end 193 of the engagement member 190 each define a complementary shape to the first end 194 and the second end 195 of each link member 191. For the illustrated embodiment, the first end 192 and the second end 193 of the engagement member 190 each define a circular surface, and the first end 194 and the second end 195 of the link member 191 each define a circular opening 186. Still more specifically, each of the plurality of engagement members 190 in the illustrated embodiment defines a substantially spherical shape, and each of the plurality of link members 191 of the illustrated embodiment defines a substantially cylindrical shape.

[0178] In addition, each of the plurality of engagement members 190 defines a first longitudinal opening 196, and each of the plurality of link members 191 defines a second longitudinal opening 197. It is noteworthy that, for the illustrated embodiment, the first longitudinal opening 196 of each engagement member 190 extends through the engagement member centerline of the respective engagement member 190 (for the illustrated embodiment, it extends along the first longitudinal direction L1), and the second longitudinal opening 197 of each link member 191 extends through the link member centerline of the respective link member 191 (for the illustrated embodiment, it extends along the second longitudinal direction L2). However, in other embodiments, the first longitudinal opening 196 and / or the second longitudinal opening 197 may be positioned in any other suitable manner.

[0179] Furthermore, it should be understood that Fig.17 and Fig.18 The extension tool 100 may include a wire assembly, and more specifically, a wire 118. The wire 118 of the wire assembly extends through the first longitudinal opening 196 of each of the plurality of engagement members 190, and further extends through the second longitudinal opening 197 of each of the plurality of link members 191. The wire 118 of the wire assembly may be configured to extend between the plurality of sequentially arranged links 106 by tensioning (e.g., shortening) and pressing against each other. Fig.17 The relaxed position and Fig.18 It is worth noting that it should be understood that although the multiple connecting rods 106 are in the relaxed position ( Fig.17 ), but the plurality of engagement members 190 and / or the plurality of link members 191 define a relatively high coefficient of friction at the joints / locations where they contact each other. In this way, the plurality of sequentially arranged links 106 of the extension tool 100 can define a relatively rigid configuration when moved to the tensioned position, so that they retain the three-dimensional shape they adapted to when in the relaxed position.

[0180] Therefore, it should be understood that although Fig.17 and Fig.18 The exemplary extension tool 100 may be used in a tool assembly 184 according to one or more exemplary aspects of the present disclosure, but Fig.17 and Fig.18 The exemplary extension tool 100 does not define a predefined shape that it must conform to when moving to the tensioning position.

[0181] Regardless, however, referring now to FIG. 19 , a tool assembly 184 is provided according to another exemplary embodiment that may utilize an extension tool that does not define a predefined shape (eg, Fig.17 and Fig.18 More specifically, FIG. 19A to FIG. 19I Various exemplary aspects of tool assembly 184 are depicted.

[0182] It should be understood that FIG. 19A to FIG. 19I The exemplary tool assembly 184 shown may be similar to the one described above with reference to FIG. 16A to FIG. 16E The exemplary tool assembly 184 described above operates in a similar manner. Fig.19AAs shown, the exemplary tool assembly 184 includes a first extension tool 100A that is movable between a relaxed position and a tensioned position (shown). Although shown in a simplified and schematic manner, the first extension tool 100A can include a first plurality of sequentially arranged links 106A. The first plurality of sequentially arranged links 106A of the first extension tool 100A are arranged in a tensioned position ( Fig.19A The predetermined shape is defined when (as shown in FIG. 1 ).

[0183] refer to Fig.19B , the tool assembly 184 further includes a second extension tool 100B. The second extension tool 100B can similarly include a second plurality of sequentially arranged links 106B that can be moved between a relaxed position and a tensioned position (shown). The second plurality of sequentially arranged links 106B can be moved on or through the first plurality of sequentially arranged links 106A, and more specifically, can be moved through the first plurality of sequentially arranged links 106A. In this manner, the second plurality of sequentially arranged links 106B can define a second outer diameter 129B that is smaller than the first inner diameter 127A of the first hollow tube 126A of the first plurality of links 106A.

[0184] It is worth noting that the second extension tool 100B can be used with Fig.17 and Fig.18 Thus, while the second extension tool 100B may not define a predetermined shape when in the tensioning position, it may adopt the shape of the first hollow tube 126A of the first extension tool 100A.

[0185] Thus, second extension tool 100B may be inserted through first hollow tube 126A of first plurality of sequentially arranged links 106A of first extension tool 100A such that second distal end 122B of second extension tool 100B is positioned adjacent first distal end 122A of first extension tool 100A. Second extension tool 100B may then be moved to a tensioning position, maintaining the shape of first extension tool 100A, and first extension tool 100A may then be removed. This is done in Fig.19C Depicted in.

[0186] Afterwards, refer to Fig.19D, the third extension tool 100C of the tool assembly 184 is capable of moving over the second extension tool 100B (i.e., when in a relaxed position). The third extension tool 100C can be constructed in a similar manner to the first extension tool 100A (i.e., defining a third hollow tube 126C, the third hollow tube 126C defining a third inner diameter 127C, the third inner diameter 127C being substantially equal to the first inner diameter 126A), but can define a greater overall length. In this manner, the second extension tool 100B can guide the third extension tool 100C through the environment at least to the second distal end 122B of the second extension tool 100B. The third plurality of links 106C can then be further extended into the environment, and the third extension tool 100C can then be moved to a tensioned position. Now also refer to Fig.19E , second extension tool 100B can thereafter be moved back to the relaxed position and removed from within third extension tool 100C and from the environment. Third distal end 122C of third extension tool 100C can be in a desired position and orientation within the environment. Thus, exemplary tool assembly 184 can facilitate inspection, repair, or maintenance operations at a location within the environment proximate third distal end 122C.

[0187] However, in still other embodiments, tool assembly 184 may further include an extension tool to further reach more remote locations within an environment. FIG. 19F to FIG. 19I , tool assembly 184 may further include a fourth extension tool 100D (constructed in a manner similar to second extension tool 100B, but defining a greater overall length, or more particularly, defining a total length substantially equal to the overall length of third extension tool 100C), and a fifth extension tool 100E (constructed in a manner similar to first extension tool 100A and third extension tool 100C, but defining a total length greater than each of first extension tool 100A and third extension tool 100C).

[0188] For example, Fig.19F As shown, during operation of the exemplary tool assembly 184, the fourth extension tool 100D can be inserted through the third extension tool 100C while in a relaxed position. Then, the fourth extension tool 100D can be moved to a tensioned position, whereby the fourth extension tool 100 maintains the shape of the third extension tool 100C. Figure 19G As shown, the third extension tool 100C can then be moved to a relaxed position and removed from the environment. Fig.19H As shown, the fifth extension tool 100E can be moved on the fourth extension tool 100 while in the relaxed position. Then, the fifth extension tool 100E can be moved to the tensioned position. Fig.19I, fourth extension tool 100D can be moved back to the relaxed position and removed from fifth extension tool 100E. Fifth distal end 122E of fifth extension tool 100E is positioned in a desired location and / or orientation within the environment to facilitate, for example, inspection, repair and / or maintenance of one or more components within the environment adjacent to fifth distal end 122E.

[0189] Further, now refer to Fig. 20 , an exemplary application of various extension tools 100 and / or tool assemblies 184 of the present disclosure will be described. It is worth noting that although in Fig. 20 184, but it should be understood that in some embodiments, a separate extension tool 100 / selective flexible tool may be used. Fig. 20 A tool assembly 184 according to an exemplary embodiment of the present disclosure is depicted for navigating through a non-linear path within an environment, which for the illustrated embodiment is a gas turbine engine 200 .

[0190] Specifically, for Fig. 20 In the embodiment of the present invention, the gas turbine engine 200 is configured as a turbofan engine. The turbofan engine generally includes a fan section 204 and a turbine 206.

[0191] The turbine 206 generally includes a compressor section having a low pressure (“LP”) compressor 208 and a high pressure (“HP”) compressor 210; a combustion section 212; a turbine section including an HP compressor 214 and an LP compressor 216; and an exhaust section (not shown). The compressor section, combustion section 212, turbine section, and exhaust section are each arranged in a series flow sequence. The LP compressor 208 and the LP turbine 216 are coupled via an LP shaft 218, and similarly, the HP compressor 210 and the HP turbine 214 are coupled to an HP shaft 220. In addition, the turbine 26 includes a casing 221 that at least partially encloses the above-mentioned components of the turbine 26. Further, for the illustrated embodiment, the fan section 204 includes a fan having a plurality of fan blades 222, wherein the fan and the plurality of fan blades 222 are driven by the LP shaft 218.

[0192] In the labeled circle A, a close-up schematic diagram of a compressor of the compressor section of the turbine 206 is depicted, and more specifically, a close-up schematic diagram of the HP compressor 210 is depicted. As shown, the HP compressor 210 includes a plurality of rotating compressor rotor blades 224 (which may be coupled to and driven by the HP shaft 220) and a plurality of stationary guide vanes 226, which are at least partially positioned within the flow path liner 225. For the illustrated embodiment, the radially inner end of one of the rotating compressor rotor blades 224 includes a fastener 228, such as a locking lug, which may be a bolt, screw, etc. As part of a maintenance or repair operation of the gas turbine engine 200, it may be necessary to tighten or loosen the fastener 228.

[0193] Still reference Fig. 20 , an exemplary liner 225 defines an opening 230, which may be a borescope opening. Given the proximity of the fastener 228, it is difficult to effectively tighten or loosen the fastener 228 through the opening 230 in the liner 225 using conventional tools. However, utilizing the tool assembly 184, a non-linear path may be defined by one or more extension tools 100 to facilitate inspection, repair, or maintenance operations at a remote location of the fastener 228. For example, a plurality of sequentially arranged links 106 of the extension tool 100 may be inserted through the opening 230 in a relaxed position and moved to a tensioned position using the wire assembly 104. Once in the tensioned position, and within the environment, or more specifically, within the liner 225 of the turbine 206, the conduit 126 defined by the links 106 may allow for the insertion of a flexible tool 232 (e.g., a screwdriver, Torx wrench, Allen drill bit, etc.), which may be used to tighten or loosen the fastener 228 (see, e.g., Figures 1 to 12 Additionally or alternatively, multiple links 106 may be provided with the extension tool 100 (see, e.g. Figures 13 to 15 ), the tool assembly 184 may include a plurality of extension tools 100 (see, for example, FIGS. 16 to 19 ), or both. This facilitates inspection, repair, and / or maintenance actions on the gas turbine engine 200 without removing the liner 225 of the turbine 206.

[0194] It is worth noting that in Fig. 20 The exemplary environment shown in is provided as an example only. In other embodiments, tool assembly 184 can be used to perform actions in any other suitable environment, such as other suitable locations within a gas turbine engine, other suitable engines, hazardous environments, complex machines, etc.

[0195] Reference now Fig.21, a method 300 for operating a selective flexible extension tool within an environment defining a nonlinear path is provided. The method can utilize the above reference Figures 1 to 10 One or more exemplary selectively flexible extension tools are described. However, in other embodiments, any other suitable selectively flexible extension tool may be used.

[0196] The method 300 generally includes, at ( 302 ), at least partially inserting a plurality of sequentially arranged links of a selectively flexible extension tool into a non-linear path of an environment while the plurality of sequentially arranged links of the selectively flexible extension tool are in a relaxed position.

[0197] The method 300 further includes tensioning a wire assembly operable with the plurality of sequentially arranged links to stiffen the plurality of sequentially arranged links to move the plurality of sequentially arranged links to a tensioned position at (304). For example, in certain exemplary aspects, tensioning the wire assembly at (304) may include tensioning a plurality of wires of the wire assembly at (306), such as tensioning the plurality of wires of the wire assembly in unison.

[0198] Additionally, exemplary method 300 includes inserting a tool apparatus through a catheter defined by a plurality of sequentially arranged links in a tensioned position at (308) to access an environment. Inserting the tool apparatus through a catheter defined by a plurality of sequentially arranged links at (308) may include using the tool apparatus to perform a maintenance operation or a repair operation on a component within the environment.

[0199] More specifically, for Fig.21 In the exemplary aspect depicted in , the plurality of sequentially arranged links of the extension tool is a first plurality of sequentially arranged links, and the extension tool further includes a second plurality of sequentially arranged links. Like the first plurality of links, the second plurality of links are capable of moving between a relaxed position and a tensioned position. Further, the second plurality of links are capable of moving between a retracted position and an extended position, in which the second plurality of links are substantially nested within the first plurality of links, and in which the second plurality of links are substantially extended from the first plurality of links. In the context of the retracted position and the extended position, the term "substantially" refers to more than half of the links.

[0200] Thus, it should be understood that inserting the plurality of links at (302) includes inserting the first plurality of sequentially arranged links into a non-linear path of the environment at (310) while the second plurality of sequentially arranged links are in a retracted position and a relaxed position. For the depicted exemplary method 300, tensioning the wire assembly at (304) includes tensioning the first wire of the wire assembly at (312), and the method 300 further includes, at (314), after tensioning the first wire of the wire assembly at (312), moving the second plurality of sequentially arranged links to an extended position. At this stage, the first plurality of sequentially arranged links are inserted into the environment and are in a tensioned position. The second plurality of sequentially arranged links have been extended from the first plurality of sequentially arranged links and may be in a relaxed position to facilitate further insertion of the second plurality of links or insertion through the non-linear path within the environment and / or an extension tube of the first plurality of links.

[0201] Still reference Fig.21 , method 300 further includes tensioning a second wire of the wire assembly operable with the second plurality of sequentially arranged links at (316) to move the second plurality of sequentially arranged links to a tensioned position to securely secure the second plurality of sequentially arranged links to one another. In this manner, it should be appreciated that tensioning the second wire of the wire assembly at (316) may include tensioning the second wire of the wire assembly at (318) independently of tensioning the first wire of the wire assembly at (312).

[0202] It is worth noting that although Fig.21 The exemplary method 300 depicted in FIG. 1 is discussed as being operable with an extension tool including two multiple sequentially arranged links, but in other exemplary aspects, the method 300 can be operated with an extension tool including more than three multiple sequentially arranged links or a single multiple sequentially arranged link (see, e.g., FIG. 1 ). Figures 1 to 6 ) extension tool. In addition, although Fig.21 The exemplary method 300 depicted in is discussed as being operable with an extension tool including a nested plurality of sequentially arranged connecting rods, but in still other exemplary aspects, the method 300 can be used with an extension tool including a plurality of sequentially arranged connecting rods arranged, for example, in series. With such exemplary aspects, the rear end of the second plurality of sequentially arranged connecting rods can be coupled to the front end of the first plurality of sequentially arranged connecting rods (see, e.g., Fig.15 ).

[0203] However, it should be understood that in still other exemplary aspects of the present disclosure, other methods may be utilized to operate various tool assemblies according to various exemplary aspects of the present disclosure. Fig. 22, a method 400 for operating a tool assembly within an environment according to an exemplary aspect of the present disclosure is provided. The exemplary tool assembly may be used in the same manner as described above with reference to FIGS. 16 to 17. Fig. 20 However, in other embodiments, the tool assembly operated by method 400 may be configured according to any other suitable exemplary embodiment.

[0204] Method 400 includes inserting a first selectively flexible tool into an environment while the first selectively flexible tool is in a relaxed position at (402). More specifically, inserting the first selectively flexible tool into an environment at (402) includes inserting a first plurality of links of the first selectively flexible tool while the first plurality of links are in a relaxed position at (404).

[0205] The method 400 further includes moving the first selectively flexible tool to a tensioned position at (406). More specifically, moving the first selectively flexible tool to a tensioned position at (406) includes moving a plurality of links of the first selectively flexible tool to a tensioned position at (408), and although not shown, may further include moving the plurality of links of the first selectively flexible tool to a tensioned position using a wire assembly of the first selectively flexible tool.

[0206] Additionally, method 400 includes positioning the second selective flexible tool at least partially on or through the first selective flexible tool while the second selective flexible tool is in the relaxed position at (410), and moving the second selective flexible tool to the tensioned position at (412). Thus, it should be appreciated that in at least some exemplary aspects, positioning the second selective flexible tool at least partially on or through the first selective flexible tool at (410) may include positioning the second selective flexible tool at least partially through a hollow tube of a first plurality of links of the first selective flexible tool at (414). However, in other exemplary aspects, positioning the second selective flexible tool at least partially on or through the first selective flexible tool at (410) may include positioning the second selective flexible tool at least partially on the first plurality of links of the first selective flexible tool at (416) such that the first plurality of links of the first selective flexible tool are positioned within a second hollow tube of the second selective flexible tool.

[0207] Still reference Fig. 22In the exemplary aspects depicted in , it should be understood that exemplary method 400 further includes, at (418), after moving the second selectively flexible tool to the tensioned position at (412), moving the first selectively flexible tool to the relaxed position, and further includes, at (420), removing the first selectively flexible tool from the environment. In addition, it should be understood that at least some exemplary aspects of the present disclosure may utilize additional selectively flexible tools to allow the tool assembly to reach more remote locations within the environment. Thus, Fig. 22 The exemplary aspects of the method 400 depicted in further include, at (422), positioning the third selective flexible tool at least partially over or through the second selective flexible tool while the third selective flexible tool is in the relaxed position, and moving the third selective flexible tool to the tensioned position at (424). Still further, the exemplary method 400 includes, at (426), moving the second selective flexible tool to the relaxed position after moving the third selective flexible tool to the tensioned position at (424), and removing the second selective flexible tool from the environment at (428).

[0208] Although not shown, additional selectively compliant tools may be utilized in additional exemplary aspects of the present disclosure. Alternatively, the method 400 may use fewer selectively compliant tools.

[0209] Further aspects of the invention are provided by the subject matter of the following clauses:

[0210] A selectively flexible extension tool, comprising: a wire assembly; and a plurality of sequentially arranged links, the wire assembly being operable with the plurality of sequentially arranged links to move the plurality of sequentially arranged links between a relaxed position and a tensioned position, the plurality of sequentially arranged links being spaced apart from each other when in the relaxed position to allow the plurality of sequentially arranged links to pivotally move relative to each other, and the plurality of sequentially arranged links being pressed against each other when in the tensioned position to securely fix the plurality of sequentially arranged links to each other

[0211] A selectively flexible extension tool according to any of the preceding clauses, wherein the plurality of sequentially arranged links include a first link extending between a front end and a rear end, and a second link extending between a front end and a rear end, wherein the front end of the first link defines a first interface geometry, and the rear end of the second link defines a second interface geometry complementary to the first interface geometry.

[0212] A selectively flexible extension tool according to any preceding clause, wherein the wire assembly comprises a first wire slidable relative to at least the first link to move the plurality of sequentially arranged links between the relaxed position and the tensioned position.

[0213] A selectively flexible extension tool as claimed in any preceding clause, wherein the first link defines a first geometric shape, wherein the second link defines a second geometric shape, and wherein the first geometric shape and the second geometric shape are substantially identical.

[0214] A selectively flexible extension tool as claimed in any preceding clause, wherein the first link defines a first geometry, wherein the second link defines a second geometry, and wherein the first geometry is different from the second geometry.

[0215] A selectively flexible extension tool according to any of the preceding clauses, wherein the first interface geometry defines a perimeter and includes at least two extension members spaced apart along the perimeter, wherein the second interface geometry also defines a perimeter and includes at least two recesses corresponding in shape to the at least two extension members.

[0216] A selectively flexible extension tool as claimed in any preceding clause, wherein the at least two extension members of the first interface geometry comprise three extension members, and wherein the at least two notches of the second interface geometry comprise three corresponding notches.

[0217] A selectively flexible extension tool as claimed in any preceding clause, wherein when the plurality of links are in the tensioned position, the at least two extension members of the first interface geometry are pressed into the at least two recesses of the second interface geometry.

[0218] The selective flexible extension tool according to any of the preceding items further comprises: a biasing member capable of operating together with the first link and the second link to bias the second link away from the first link, and wherein the wire assembly is configured to overcome the biasing member when moving the multiple links to the tensioning position.

[0219] A selectively flexible extension tool according to any preceding clause, wherein the biasing member is a resilient member positioned at least partially between the first link and the second link.

[0220] A selectively flexible extension tool according to any of the preceding clauses, wherein each of the plurality of links defines an outer surface, and wherein the biasing member is a spring attached to the outer surface of the first link and the outer surface of the second link for biasing the second link away from the first link.

[0221] A selectively flexible extension tool according to any of the preceding clauses, wherein each link of the plurality of links defines an outer surface, and wherein the biasing member is a spring positioned inboard of the outer surface of the first link and inboard of the outer surface of the second link.

[0222] A selectively flexible extension tool according to any preceding clause, further comprising: a plurality of biasing members, wherein each biasing member is operable with a pair of adjacent links of the plurality of links to bias the adjacent links away from each other.

[0223] The selective flexible extension tool according to any of the preceding items further comprises: a biasing member capable of operating together with each of the plurality of links for biasing adjacent links away from each other, wherein each of the plurality of links defines an outer surface, and wherein the biasing member is capable of operating together with the outer surface of each of the plurality of links.

[0224] A selectively flexible extension tool as claimed in any preceding clause, wherein the biasing member comprises an elastomeric material attached to the outer surface of each link of the plurality of links.

[0225] A selectively flexible extension tool as claimed in any preceding clause, wherein the biasing member comprises a continuous spring member attached to the outer surface of each link of the plurality of links.

[0226] A selectively flexible extension tool as claimed in any preceding clause, wherein each link of the plurality of links defines a substantially similar geometry.

[0227] A selectively flexible extension tool as claimed in any preceding clause, wherein each link of the plurality of links is formed by an additive manufacturing process.

[0228] A selectively flexible extension tool as claimed in any preceding clause wherein the selectively flexible extension tool is a catheter and wherein the plurality of links together define a hollow tube extending therethrough.

[0229] A selectively flexibly extendable tool as claimed in any preceding clause, wherein the selectively flexibly extendable tool is a tool member, the tool member further comprising a tool implement coupled to one of the plurality of links.

[0230] A selectively flexible extension tool as claimed in any preceding clause wherein the tool implement comprises a drill and wherein the selectively flexible extension tool comprises a flexible drive shaft extending through the plurality of links.

[0231] A selectively flexible extension tool according to any preceding clause, wherein the tool implement comprises one or more sensors, cameras or both.

[0232] A selectively flexible extension tool according to any of the preceding clauses, wherein each link of the plurality of links comprises a circumferential wall, wherein the wire assembly comprises a first wire, and wherein the first wire of the wire assembly extends through the circumferential wall of each link of the plurality of links.

[0233] A selectively flexible extension tool according to any of the preceding clauses, wherein each of the plurality of links defines an elongated opening in the circumferential wall, and wherein the first wire of the wire assembly is slidably received through the elongated opening in the circumferential wall of each of the plurality of links.

[0234] A selectively flexible extension tool as claimed in any preceding clause wherein the wire assembly comprises a plurality of wires operable with the plurality of links.

[0235] A selective flexible extension tool according to any of the preceding items, wherein the plurality of sequentially arranged links is a first plurality of sequentially arranged links, the first plurality of sequentially arranged links defining a first conduit extending therethrough, and wherein the selective flexible extension tool further comprises: a second plurality of sequentially arranged links, the second plurality of sequentially arranged links being at least partially movably positioned within the first conduit of the first plurality of sequentially arranged links.

[0236] A selective flexible extension tool according to any of the preceding items, wherein the wire assembly comprises a first wire and a second wire, the first wire being operable together with the first plurality of sequentially arranged links to move the first plurality of sequentially arranged links between a relaxed position and a tensioned position, and the second wire being operable together with the second plurality of sequentially arranged links to move the second plurality of sequentially arranged links between a relaxed position and a tensioned position.

[0237] A selective flexible extension tool according to any of the preceding clauses, wherein the second plurality of sequentially arranged links together define a second conduit extending therethrough, and wherein the selective flexible extension tool further comprises: a third plurality of sequentially arranged links, the third plurality of sequentially arranged links being at least partially movably positioned within the second conduit of the second plurality of sequentially arranged links.

[0238] A selective flexible extension tool according to any of the preceding items, wherein the plurality of sequentially arranged links defines a first plurality of sequentially arranged links, the first plurality of sequentially arranged links defines a front end, and wherein the selective flexible extension tool further comprises: a second plurality of sequentially arranged links, the second plurality of sequentially arranged links being connected to the front end of the first plurality of sequentially arranged links.

[0239] A selective flexible extension tool according to any of the preceding items, wherein the wire assembly comprises a first wire and a second wire, the first wire being operable together with the first plurality of sequentially arranged links to move the first plurality of sequentially arranged links between a relaxed position and a tensioned position, the second wire being operable together with the second plurality of sequentially arranged links to move the second plurality of sequentially arranged links between a relaxed position and a tensioned position, and wherein the second wire being operable together with the second plurality of sequentially arranged links independently of the first wire.

[0240] A method for operating a selective flexible extension tool within an environment defining a nonlinear path, comprising: inserting the plurality of sequentially arranged links of the selective flexible extension tool at least partially into the nonlinear path of the environment while the plurality of sequentially arranged links of the selective flexible extension tool are in a relaxed position; and tensioning a wire of a wire assembly capable of operating with the plurality of sequentially arranged links to move the plurality of sequentially arranged links to a tensioned position, thereby firmly fixing the plurality of sequentially arranged links to each other.

[0241] A method according to any preceding clause, further comprising inserting a tool implement through a conduit defined by said plurality of sequentially arranged links in said tensioned position to access said environment.

[0242] A method according to any of the preceding items, wherein the plurality of sequentially arranged links of the extension tool is a first plurality of sequentially arranged links, wherein the extension tool further includes a second plurality of sequentially arranged links, wherein the second plurality of sequentially arranged links are capable of moving between a retracted position and an extended position, in which the second plurality of sequentially arranged links are substantially nested within the first plurality of sequentially arranged links, and in which the second plurality of sequentially arranged links are substantially extended from within the first plurality of sequentially arranged links, and wherein the second plurality of sequentially arranged links are capable of further moving between a relaxed position and a tensioned position.

[0243] A method according to any of the preceding items, wherein inserting the plurality of sequentially arranged links of the selectively flexible extension tool comprises inserting the first plurality of sequentially arranged links into the non-linear path of the environment while the second plurality of sequentially arranged links are in the retracted position and the relaxed position.

[0244] A method according to any of the preceding clauses, wherein tensioning the wire of the wire assembly comprises tensioning a first wire of the wire assembly, and wherein the method further comprises: after tensioning the first wire of the wire assembly, moving the second plurality of sequentially arranged links to the extended position.

[0245] A method according to any of the preceding clauses, wherein the method further comprises tensioning a second wire of the wire assembly operable with the second plurality of sequentially arranged links to stiffen the second plurality of sequentially arranged links and to securely fix the second plurality of sequentially arranged links to each other.

[0246] A method according to any of the preceding items, wherein the plurality of sequentially arranged links of the extension tool is a first plurality of sequentially arranged links, wherein the extension tool further includes a second plurality of sequentially arranged links, wherein the wire of the wire assembly is a first wire of the wire assembly, wherein the wire assembly further includes a second wire capable of operating together with the second plurality of sequentially arranged links, and wherein the method further includes: independently of the tensioning of the first wire of the wire assembly, tensioning the second wire of the wire assembly to move the second plurality of sequentially arranged links to a tensioned position, thereby making the second plurality of sequentially arranged links rigid and firmly fixing the second plurality of sequentially arranged links to each other.

[0247] A method according to any of the preceding items, wherein the first plurality of sequentially arranged connecting rods defines a front end, wherein the second plurality of sequentially arranged connecting rods defines a rear end, and wherein the rear end of the second plurality of sequentially arranged connecting rods is connected to the front end of the first plurality of sequentially arranged connecting rods.

[0248] A method according to any preceding clause, wherein the environment is a gas turbine engine, and wherein the non-linear path is a non-linear path from a borescope opening of the gas turbine engine to a radially inner end of a gas turbine engine component.

[0249] A method according to any preceding clause, wherein the gas turbine engine component is a compressor rotor blade or a turbine rotor blade.

[0250] This written description uses examples to disclose the invention, including the best mode, and also to enable any person skilled in the art to practice the invention, including making and using any device or system, and performing any combined methods. The patentable scope of the invention is defined by the claims, and may include other examples that occur to a person skilled in the art. If these other examples include structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements that are insubstantially different from the literal language of the claims, these other examples are intended to be within the scope of the claims.

Claims

1. A selective flexible extension tool, characterized in that: include: Line components; a base including a first body and a second body, the second body being directly coupled to the wire assembly, the base being operable to tension the wire assembly by moving the second body toward or away from the first body; as well as A plurality of sequentially arranged links, the plurality of sequentially arranged links forming an arm, the wire assembly being operable together with the plurality of sequentially arranged links to move the plurality of sequentially arranged links between a relaxed position and a tensioned position, the plurality of sequentially arranged links being spaced apart from each other when in the relaxed position to allow the plurality of sequentially arranged links to pivotally move relative to each other, the plurality of sequentially arranged links each including an outer circumferential wall defining an outer edge at each end of each link, the plurality of sequentially arranged links being pressed against each other so that the outer outer edges of adjacent links are aligned and in direct contact, and the surfaces of adjacent interface geometries are fully engaged in the tensioned position to securely fix the plurality of sequentially arranged links to each other.

2. The selective flexible extension tool according to claim 1, characterized in that: Wherein the first body is a first plate, and wherein the second body is a second plate.

3. The selective flexible extension tool according to claim 1, characterized in that: Wherein the base further comprises at least one extension guide fixedly coupled to the first body, and wherein the second body is slidable along the at least one extension guide.

4. The selective flexible extension tool according to claim 1, characterized in that: The plurality of sequentially arranged links include a first link and a second link extending between a front end and a rear end, wherein the front end of the first link defines a first interface geometry and the rear end of the second link defines a second interface geometry.

5. The selective flexible extension tool according to claim 4, characterized in that: in, The plurality of sequentially arranged links are pressed against each other when in the tensioned position to rigidly fix the plurality of sequentially arranged links together, so that the first interface geometry and the second interface geometry are pressed together to form a kinematic mounting member, which constrains the first link and the second link in all degrees of freedom.

6. The selective flexible extension tool according to claim 4, characterized in that: The plurality of sequentially arranged links are configured to present only a single predetermined shape over the entire length of the arm when the arm reaches the tensioning position, and the single predetermined shape is pre-selected by a user, so that the selective engagement of the plurality of sequentially arranged links, including the front end of the first link engaging with the rear end of the second link, forms the final geometry and orientation of the plurality of sequentially arranged links when the plurality of sequentially arranged links reach the tensioning position.

7. The selective flexible extension tool according to claim 4, characterized in that: Wherein the first interface geometry defines a perimeter and includes at least two extension members spaced apart along the perimeter, wherein the second interface geometry also defines a perimeter and includes at least two recesses corresponding in shape to the at least two extension members.

8. The selective flexible extension tool according to claim 7, characterized in that: Wherein when the plurality of sequentially arranged links are in the tensioned position, the at least two extension members of the first interface geometry are pressed into the at least two recesses of the second interface geometry.

9. The selective flexible extension tool according to claim 4, characterized in that: Wherein the first interface geometry comprises at least one extension member and the second interface geometry comprises at least one recess, the at least one extension member being received by the at least one recess to form a kinematic mount.

10. A selective flexible extension tool, characterized in that: include: Line components; a base operable to tension the wire assembly; and A plurality of sequentially arranged links forming an arm, the wire assembly being operable together with the plurality of sequentially arranged links to move the plurality of sequentially arranged links between a relaxed position and a tensioned position, the plurality of sequentially arranged links being spaced apart from each other when in the relaxed position to allow the plurality of sequentially arranged links to pivotally move relative to each other, the plurality of sequentially arranged links being pressed against each other when in the tensioned position to rigidly fix the plurality of sequentially arranged links together, the plurality of sequentially arranged links presenting a predefined shape over the entire length of the arm, wherein two adjacent links of the plurality of sequentially arranged links include a short side at a first circumferential position and a long side at a second circumferential position, and wherein the two adjacent links are paired with each other at the first position to form a first predefined shape, and the two adjacent links are paired with each other at the second position to form a second predefined shape.

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