Modular device with variable functionality

Abstract

The present disclosure provides a modular device comprising a primary tube having distal and proximal ends, a secondary tube having distal and proximal ends, wherein the primary tube is positioned within the secondary tube, and a coupling mechanism configured to mechanically couple the tubes such that translation of one tube induces rotation of another tube. The coupling mechanism may comprise a helical slot in the primary tube and a coupling aperture in the secondary tube. A coupling rod may extend through the coupling aperture and be positioned within the helical slot. The primary tube may comprise a UAN pattern at the distal end. A primary tube actuation tendon may be attached to the primary tube distal end, wherein actuation causes bending of the UAN pattern.

Description

MODULAR DEVICE WITH VARIABLE FUNCTIONALITYCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of U.S. Provisional Application Serial No. 63 / 712,654, filed on 28 October 2024, which is incorporated herein by reference in its entirety as if fully set forth below.FIELD OF INVENTION

[0002] The present disclosure relates to modular mechanical devices, and more particularly to a modular device comprising multiple tubes that can be selectively combined to achieve different functionalities including bending, distal rotation, feed- forward motion, variable stiffness, and variable curvatures for applications such as minimally invasive surgery and robotic manipulation.BACKGROUND

[0003] Modular mechanical devices have found widespread application across various industries, including medical robotics, manufacturing automation, and agricultural systems. These devices typically comprise multiple interconnected components that work together to achieve specific mechanical functions such as bending, rotation, and linear motion. The ability to combine different mechanical elements in a modular fashion allows for customization of device functionality based on particular application requirements.

[0004] In the field of minimally invasive surgery, robotic instruments face the challenge of operating within highly constrained anatomical spaces while maintaining precise control over multiple degrees of freedom. Surgical robots often require the ability to navigate through narrow passages, change orientation, and perform delicate manipulations at the surgical site. Traditional rigid instruments may lack the flexibility and dexterity needed for complex procedures, while some flexible instruments may compromise precision or control.

[0005] Similarly, in industrial automation and manufacturing environments, robotic systems frequently encounter situations where multiple types of motion are needed within confined workspaces. Pick-and-place operations, assembly tasks, and quality inspection procedures may1320796232v6benefit from devices that can adapt their mechanical properties and motion capabilities based on the specific task at hand. The ability to modify stiffness characteristics, achieve complex curved trajectories, and provide precise positioning control can enhance the versatility of such systems.

[0006] Agricultural applications, such as automated fruit picking, present additional challenges where robotic devices must navigate through irregular plant structures while maintaining gentle handling capabilities. The varying sizes, shapes, and orientations of agricultural targets may require adaptive mechanical systems that can adjust their approach and manipulation strategies accordingly.

[0007] Current approaches to achieving multiple mechanical functionalities often involve separate, dedicated mechanisms for each type of motion or property variation. This can result in increased system complexity, weight, and cost. Additionally, the integration of multiple independent actuation systems may present challenges in terms of control coordination and overall device reliability.

[0008] There exists a general need for mechanical devices that can provide multiple functionalities through modular design approaches, allowing for selective combination of components to achieve desired motion characteristics while maintaining compact form factors and simplified control architectures.SUMMARY

[0009] This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

[0010] According to an aspect of the present disclosure, a modular device is provided. The modular device comprises a primary tube having a primary tube distal end and a primary tube proximal end. The modular device comprises a secondary tube having a secondary tube distal end and a secondary tube proximal end, wherein the primary tube is positioned within the secondary tube. The modular device comprises a coupling mechanism configured to mechanically couple the primary tube and the secondary tube such that translation of one tube induces rotation of another tube.2320796232v6

[0011] This configuration enables distal rotation without requiring proximal rotation, allowing for precise control of bending plane orientation while maintaining simplified actuation mechanisms. The arrangement provides a compact form factor while the coupling mechanism enables coordinated motion between tubes.

[0012] According to other aspects of the present disclosure, the modular device may include one or more of the following features. The coupling mechanism may comprise a helical slot formed in the primary tube and a coupling aperture formed in the secondary tube. The modular device may further comprise a coupling rod extending through the coupling aperture and positioned within the helical slot. The primary tube may comprise a unidirectional asymmetric notch (UAN) pattern at the primary tube distal end. The modular device may further comprise a primary tube actuation tendon attached to the primary tube distal end, wherein actuation of the primary tube actuation tendon causes bending of the UAN pattern. The primary tube may be constrained to rotate but not translate, and the secondary tube may be constrained to translate but not rotate. Translation of the secondary tube may induce rotation of the primary tube through the coupling mechanism. The modular device may further comprise a tertiary tube having a tertiary tube distal end and a tertiary tube proximal end, wherein the tertiary tube is positioned within the primary tube. The tertiary tube may comprise a T-shaped tip at the tertiary tube distal end, the T-shaped tip including at least one wing member. The wing member may be configured to selectively engage with the coupling mechanism to control coupling and decoupling between the primary tube and the secondary tube.

[0013] These features provide enhanced functionality including controlled bending motion through the UAN notch pattern, simplified actuation through tendon-based systems, and selective coupling capabilities that enable multiple operational modes within a single device architecture.

[0014] According to another aspect of the present disclosure, a modular device is provided. The modular device comprises a primary tube having a primary tube distal end, a primary tube proximal end, and a helical slot. The modular device comprises a secondary tube having a secondary tube distal end, a secondary tube proximal end, and a coupling aperture, wherein the primary tube is positioned within the secondary tube. The modular device comprises a coupling rod extending through the coupling aperture and engaging the helical slot. The modular device comprises a primary tube actuation tendon attached to the primary tube distal end, wherein3320796232v6translation of the secondary tube induces rotation of the primary tube through interaction between the coupling rod and the helical slot.

[0015] This arrangement provides a direct mechanical linkage between linear translation and rotational motion, enabling precise control of distal rotation through simple linear actuation while maintaining structural integrity through the tube configuration.

[0016] According to other aspects of the present disclosure, the modular device may include one or more of the following features. The primary tube may comprise a UAN pattern at the primary tube distal end. Actuation of the primary tube actuation tendon may cause bending of the UAN pattern. The primary tube may be constrained to rotate but not translate, and the secondary tube may be constrained to translate but not rotate. Translation of the secondary tube may cause the coupling rod to move along the helical slot, thereby inducing rotation of the primary tube. The coupling aperture may have a rectangular shape. The helical slot may comprise two helically shaped slots cut on opposite sides of the primary tube. The coupling rod may have a length greater than or equal to an outer diameter of the secondary tube. The primary tube and the secondary tube may be hollow tubes. The primary tube actuation tendon may be routed through a hollow channel of the primary tube.

[0017] These features enable controlled bending motion, secure mechanical coupling through the rectangular aperture design, balanced force distribution through dual helical slots, and efficient tendon routing through hollow tube construction.

[0018] According to another aspect of the present disclosure, a modular device is provided. The modular device comprises a primary tube having a primary tube distal end, a primary tube proximal end, and a helical slot. The modular device comprises a secondary tube having a secondary tube distal end, a secondary tube proximal end, a bidirectional symmetric notch (BSN) pattern, and a rectangular slot, wherein the primary tube is positioned within the secondary tube. The modular device comprises a tertiary tube having a tertiary tube distal end, a tertiary tube proximal end, and a T-shaped tip with wing members. The modular device comprises a primary tube actuation tendon attached to the primary tube distal end, wherein the wing members are configured to engage the helical slot and the rectangular slot to enable selective coupling and decoupling between the tubes.4320796232v6

[0019] This three-tube configuration provides variable stiffness capabilities through the BSN pattern while enabling selective engagement and disengagement of tube coupling, allowing for multiple operational modes and enhanced control flexibility.

[0020] According to other aspects of the present disclosure, the modular device may include one or more of the following features. The primary tube may comprise a UAN pattern at the primary tube distal end. Actuation of the primary tube actuation tendon may cause bending of the UAN pattern. The BSN pattern may comprise notches with different depths of cut along two different planes to provide variable stiffness characteristics. The two different planes may be orthogonal planes. The wing members may be configured to selectively engage and disengage from the helical slot and the rectangular slot through translation of the tertiary tube. Translation of the tertiary tube toward the primary tube proximal end may cause the wing members to fold inward and disengage from the helical slot and the rectangular slot. The primary tube may be constrained to rotate but not translate, the secondary tube may be constrained to translate but not rotate, and the tertiary tube may be constrained to translate but not rotate. Translation of the tertiary tube may induce rotation of the primary tube through engagement of the wing members with the helical slot. The secondary tube may be positioned as an outermost tube, the primary tube may be positioned as a middle tube, and the tertiary tube may be positioned as an innermost tube.

[0021] These features enable the ability to change the plane of bending through rotation of the primary tube.

[0022] According to another aspect of the present disclosure, a modular device is provided. The modular device comprises a primary tube having a primary tube distal end, a primary tube proximal end, and a helical slot. The modular device comprises a secondary tube having a secondary tube distal end, a secondary tube proximal end, a bidirectional asymmetric notch (BAN) pattern, and a rectangular slot, wherein the primary tube is positioned within the secondary tube. The modular device comprises a tertiary tube having a tertiary tube distal end, a tertiary tube proximal end, and a T-shaped tip with wing members. The modular device comprises a primary tube actuation tendon attached to the primary tube distal end. The modular device comprises a second tendon attached to the secondary tube distal end, wherein the wing members are configured to engage the helical slot and the rectangular slot to enable variable S-shaped curvatures.5320796232v6

[0023] This configuration enables complex curved trajectories through independent actuation of multiple tubes, with the BAN pattern providing planar motion capabilities and dual tendon systems allowing for coordinated multi-segment bending.

[0024] According to other aspects of the present disclosure, the modular device may include one or more of the following features. The primary tube may comprise a UAN pattern at the primary tube distal end. Actuation of the primary tube actuation tendon may cause bending of the UAN pattern. The BAN pattern may be configured for planar motion of the secondary tube. The second tendon may be routed between the primary tube and the secondary tube. The primary tube actuation tendon may be routed through an inner lumen of the tertiary tube and an inner lumen of the primary tube. The wing members may be configured to selectively engage and disengage from the helical slot and the rectangular slot through translation of the tertiary tube. Translation of the tertiary tube toward the primary tube proximal end may cause the wing members to fold inward and disengage from the helical slot and the rectangular slot. The secondary tube may be positioned as an outermost tube, the primary tube may be positioned as a middle tube, and the tertiary tube may be positioned as an innermost tube. The primary tube distal end and the secondary tube distal end may be initially positioned flush with respect to each other.

[0025] These features provide controlled planar motion through the BAN pattern, efficient tendon routing through separate pathways, selective coupling control, and coordinated tube positioning that enables complex motion sequences.

[0026] According to another aspect of the present disclosure, a modular device is provided. The modular device comprises a primary tube having a primary tube distal end, a primary tube proximal end, and a helical slot. The modular device comprises a secondary tube having a secondary tube distal end, a secondary tube proximal end, and a rectangular slot, wherein the primary tube is positioned within the secondary tube. The modular device comprises a tertiary tube having a tertiary tube distal end, a tertiary tube proximal end, and a T-shaped tip with wing members. The modular device comprises a primary tube actuation tendon attached to the primary tube distal end, wherein the wing members are configured to engage the helical slot and the rectangular slot to enable distal rotation and feed-forward motion.6320796232v6

[0027] This configuration provides combined rotational and translational capabilities, enabling both orientation control through distal rotation and extended reach through feed- forward motion within a single integrated system.

[0028] According to other aspects of the present disclosure, the modular device may include one or more of the following features. The secondary tube may comprise a BSN pattern at the secondary tube distal end. The BSN pattern may comprise notches with different depths of cut along two different planes to provide variable stiffness characteristics. The two different planes may be orthogonal planes. The wing members may be configured to selectively engage and disengage from the helical slot and the rectangular slot through translation of the tertiary tube. Translation of the tertiary tube toward the primary tube proximal end may cause the wing members to fold inward and disengage from the helical slot and the rectangular slot. The secondary tube may be constrained to rotate but not translate, and the tertiary tube may be constrained to translate and rotate. Translation of the tertiary tube may induce rotation of the secondary tube through engagement of the wing members with the rectangular slot. The secondary tube may be positioned as an outermost tube, the primary tube may be positioned as a middle tube, and the tertiary tube may be positioned as an innermost tube. The primary tube distal end and the secondary tube distal end may be initially positioned flush with respect to each other.

[0029] These features enable variable stiffness control through orthogonal notch patterns, selective coupling mechanisms, coordinated rotation control through wing member engagement, and organized tube arrangement that facilitates multiple motion modes while maintaining structural alignment.

[0030] These and other aspects of the present disclosure are described in the Detailed Description below and the accompanying drawings. Other aspects and features of embodiments will become apparent to those of ordinary skill in the art upon reviewing the following description of specific, exemplary embodiments in concert with the drawings. While features of the present disclosure may be discussed relative to certain embodiments and figures, all embodiments of the present disclosure can include one or more of the features discussed herein. Further, while one or more embodiments may be discussed as having certain advantageous features, one or more of such features may also be used with the various embodiments discussed herein. In similar fashion, while exemplary embodiments may be discussed below as device, system, or method embodiments, it is7320796232v6to be understood that such exemplary embodiments can be implemented in various devices, systems, and methods of the present disclosure.BRIEF DESCRIPTION OF FIGURES

[0031] The following detailed description of specific embodiments of the disclosure will be better understood when read in conjunction with the appended drawings. For the purpose of illustrating the disclosure, specific embodiments are shown in the drawings. It should be understood, however, that the disclosure is not limited to the precise arrangements and instrumentalities of the embodiments shown in the drawings.

[0032] FIGS. 1A-1D illustrate components and assembly of a modular device with a primary tube and a secondary tube, according to aspects of the present disclosure.

[0033] FIG. 2 depicts diagrams showing motion of the device shown in FIGS. 1A-1D, according to an embodiment.

[0034] FIGS. 3A-3E illustrate components and configurations of a modular device with a primary tube, a secondary tube, and a tertiary tube, according to aspects of the present disclosure.

[0035] FIG. 4 depicts a diagrams showing motion of the device shown in FIGS. 3A-3E, according to an embodiment.

[0036] FIG. 5 depicts a schematic showing rotation motion for changing bending plane of the device shown in FIGS. 3A-3E, according to an embodiment.

[0037] FIG. 6 illustrates a mechanism for achieving rotation motion to vary stiffness characteristics of the device shown in FIGS. 3A-3E, according to aspects of the present disclosure.

[0038] FIG. 7 depicts a sequence diagram showing feed-forward motion mechanism of the device shown in FIGS. 3A-3E, according to an embodiment.

[0039] FIGS. 8A-8E illustrate components and configurations of a modular device with a primary tube, a secondary tube, and a tertiary tube, according to aspects of the present disclosure.

[0040] FIG. 9 illustrates rotation and bending joint configurations before and after tube rotations of the device shown in FIGS. 8A-8E, according to aspects of the present disclosure.

[0041] FIG. 10 depicts a sequence diagram showing feed-forward motion and secondary tube actuation of the device shown in FIGS. 8A-8E, according to an embodiment.8320796232v6

[0042] FIG. 11 illustrates side and front views with primary and secondary tube actuation of the device shown in FIGS. 8A-8E, according to aspects of the present disclosure.

[0043] FIGS. 12A-12E illustrate components and configurations of a modular device with a primary tube, a secondary tube, and a tertiary tube, according to aspects of the present disclosure.

[0044] FIG. 13 depicts a schematic diagram ofa bending joint mechanism of the device shown in FIGS. 12A-12E, according to aspects of the present disclosure.

[0045] FIG. 14 illustrates a sequence diagram showing feed- forward motion mechanism of the device shown in FIGS. 12A-12E, according to an embodiment.DETAILED DESCRIPTION

[0046] Although preferred exemplary embodiments of the disclosure are explained in detail, it is to be understood that other exemplary embodiments are contemplated. Accordingly, it is not intended that the disclosure is limited in its scope to the details of construction and arrangement of components set forth in the following description or illustrated in the drawings. The disclosure is capable of other exemplary embodiments and of being practiced or carried out in various ways. Also, in describing the preferred exemplary embodiments, specific terminology will be resorted to for the sake of clarity.

[0047] To facilitate an understanding of the principles and features of the present disclosure, various illustrative embodiments are explained below. The components, steps, and materials described hereinafter as making up various elements of the embodiments disclosed herein are intended to be illustrative and not restrictive. Many suitable components, steps, and materials that would perform the same or similar functions as the components, steps, and materials described herein are intended to be embraced within the scope of the disclosure. Such other components, steps, and materials not described herein can include, but are not limited to, similar components or steps that are developed after development of the embodiments disclosed herein.

[0048] As used in the specification and the appended claims, the singular forms “a,” “an” and “the” include plural referents unless the context clearly dictates otherwise.

[0049] Also, in describing the preferred exemplary embodiments, terminology will be resorted to for the sake of clarity. It is intended that each term contemplates its broadest meaning9320796232v6as understood by those skilled in the art and includes all technical equivalents which operate in a similar manner to accomplish a similar purpose.

[0050] Ranges can be expressed herein as from “about” or “approximately” one particular value and / or to “about” or “approximately” another particular value. When such a range is expressed, another exemplary embodiment includes from the one particular value and / or to the other particular value.

[0051] Similarly, as used herein, “substantially free” of something, or “substantially pure”, and like characterizations, can include both being “at least substantially free” of something, or “at least substantially pure”, and being “completely free” of something, or “completely pure”.

[0052] By “comprising” or “containing” or “including” is meant that at least the named compound, member, particle, or method step is present in the composition or article or method, but does not exclude the presence of other compounds, materials, particles, method steps, even if the other such compounds, material, particles, method steps have the same function as what is named.

[0053] Mention of one or more method steps does not preclude the presence of additional method steps or intervening method steps between those steps expressly identified. Similarly, it is also to be understood that the mention of one or more components in a device or system does not preclude the presence of additional components or intervening components between those components expressly identified.

[0054] The materials described as making up the various members of the invention are intended to be illustrative and not restrictive. Many suitable materials that would perform the same or a similar function as the materials described herein are intended to be embraced within the scope of the invention. Such other materials not described herein can include, but are not limited to, for example, materials that are developed after the time of the development of the invention.

[0055] Reference will now be made in detail to exemplary embodiments of the disclosed technology, examples of which are illustrated in the accompanying drawings and disclosed herein. Wherever convenient, the same references numbers will be used throughout the drawings to refer to the same or like parts.10320796232v6

[0056] The present disclosure relates to a modular device design that may achieve various functionalities through the strategic combination of multiple tubes. The modular device may comprise a plurality of hollow tubes arranged in a nested configuration, where each tube may contribute specific functionality to the overall system. In some embodiments, the tubes may be positioned coaxially within one another, similar to a nested doll arrangement, where individual components may be selectively combined to realize desired operational characteristics.

[0057] The modular approach may enable the device to perform multiple functions including bending motions, distal rotation capabilities, feed-forward motion, variable stiffness characteristics, and variable curvature configurations. Each tube within the nested arrangement may be designed with specific structural features that contribute to the overall functionality of the assembled device. The tubes may be manufactured using various processes such as laser cutting, machining, or other suitable manufacturing techniques.

[0058] The nested tube configuration may allow for independent control of different functionalities while maintaining a compact overall form factor. The modular design principle may enable algorithmic selection of tube combinations based on intended application requirements. For applications requiring specific motion capabilities, appropriate combinations of tubes with their respective designs may be selected to realize the desired device characteristics.

[0059] The device may utilize various actuation mechanisms to achieve the desired motions. In some cases, tendon-based actuation may be employed, where tendons are routed through the hollow channels of the tubes and attached to specific locations to induce bending or other motions. The actuation system may be integrated with motorized components and control interfaces to provide intuitive and remote operation capabilities.

[0060] The modular device may find applications in various fields including minimally invasive surgery, agricultural operations such as fruit picking, manipulation tasks in constrained workspaces, pick-and-place operations, and automotive manufacturing processes. The versatility of the modular design may allow the same basic tube components to be reconfigured for different applications by selecting appropriate combinations and arrangements.

[0061] The nested tube arrangement may enable complex motion patterns that would be difficult to achieve with single-tube designs. The interaction between multiple tubes may create coupling effects where motion of one tube may induce corresponding motions in other tubes, 11320796232v6thereby enabling sophisticated control strategies and motion capabilities. The modular nature of the design may also facilitate maintenance, customization, and adaptation to specific application requirements.

[0062] Referring to FIGS. 1A-1D, a first embodiment of the modular device may comprise a two-tube configuration that enables both bending and distal rotation capabilities. As shown in FIG. 1A, a primary tube 105 may have a primary tube distal end 106 and a primary tube proximal end 107. The primary tube 105 may include a helical slot 115 and a UAN pattern 120 positioned at the primary tube distal end 106. The helical slot 115 may comprise two helically shaped slots cut on opposite sides of the primary tube 105.

[0063] As depicted in FIG. IB, a secondary tube 110 may have a secondary tube distal end 111 and a secondary tube proximal end 112. The secondary tube 110 may include a coupling aperture 125 formed therein. The coupling aperture 125 may have a rectangular shape, though the coupling aperture 125 may be of arbitrary geometry to accommodate different design requirements. The primary tube 105 may be positioned within the secondary tube 110.

[0064] With continued reference to FIGS. 1C and ID, a coupling rod 130 may extend through the coupling aperture 125 and may be positioned within the helical slot 115. The coupling rod 130 may have a length greater than or equal to the outer diameter of the secondary tube 110. In some cases, the coupling rod 130 may be of arbitrary geometry to achieve a desired locking feature that enables mechanical coupling between the tubes. The coupling rod 130, coupling aperture 125, and helical slot 115 may collectively form a coupling mechanism that mechanically couples the primary tube 105 and the secondary tube 110 such that translation of one tube induces rotation of another tube.

[0065] As further shown in FIGS. 1C and ID, a primary tube actuation tendon 135 may be attached to the primary tube distal end 106. The primary tube actuation tendon 135 may be routed through a hollow channel of the primary tube 105. The primary tube 105 and the secondary tube 110 may be hollow tubes to accommodate the routing of the primary tube actuation tendon 135. The primary tube actuation tendon 135 may be made from tungsten, nitinol, or any other suitable material that provides appropriate tensile strength and flexibility for the intended application.

[0066] The UAN pattern 120 may be positioned at the primary tube distal end 106 to enable bending motion when actuated. Actuation of the primary tube actuation tendon 135 may cause 12320796232v6bending of the UAN pattern 120, thereby enabling controlled bending of the device. The machining of the tubes may be achieved by laser cutting using a femtosecond laser or any other manufacturing process suitable for creating the precise geometries required for the helical slot 115, UAN pattern 120, and coupling aperture 125.

[0067] The interaction between the coupling rod 130 and the helical slot 115 may enable translation of the secondary tube 110 to induce rotation of the primary tube 105. When the secondary tube 110 undergoes translational motion, the coupling rod 130 may move along the helical path defined by the helical slot 115, thereby causing the primary tube 105 to rotate about its central axis. This coupling mechanism may enable distal rotation capabilities without requiring rotation at the proximal end of the device.

[0068] Referring to FIG. 2, the operational characteristics of the two-tube configuration may be achieved through specific constraint mechanisms applied to each tube. The primary tube 105 may be constrained to rotate but not translate, while the secondary tube 110 may be constrained to translate but not rotate. These constraints may enable the coupling mechanism to function effectively by ensuring that motion of one tube results in a corresponding but different type of motion in the other tube.

[0069] The constraint system may be implemented through various mechanical means that restrict the degrees of freedom for each tube while allowing the desired motions. For the primary tube 105, the constraint mechanism may prevent axial translation along the central axis while permitting free rotation about the central axis. Conversely, the secondary tube 110 may be constrained such that the secondary tube 110 can freely translate along the central axis but cannot rotate independently about the central axis without causing primary tube rotation.

[0070] As shown in FIG. 2, translation of the secondary tube 110 may induce rotation of the primary tube 105 through the coupling mechanism. When the secondary tube 110 undergoes translational motion, the coupling rod 130 may move along the helical slot 115, thereby causing the primary tube 105 to rotate. The helical geometry of the helical slot 115 may convert the linear translational motion of the secondary tube 110 into rotational motion of the primary tube 105. This mechanism may enable distal rotation capabilities without requiring any rotation at the proximal end of the device.13320796232v6

[0071] The coupling between the tubes may be achieved through the interaction between the coupling rod 130 and the helical slot 115. As the secondary tube 110 translates, the coupling rod 130 may slide along the helical path defined by the helical slot 115. The helical geometry may cause the primary tube 105 to rotate as the coupling rod 130 follows the helical path. The amount of rotation may be determined by the pitch and length of the helical slot 115, as well as the distance of translation of the secondary tube 110.

[0072] With continued reference to FIG. 2, the bending functionality may be achieved through actuation of the primary tube actuation tendon 135. The UAN pattern 120 at the primary tube distal end 106 may provide the structural flexibility needed for bending motion. When the primary tube actuation tendon 135 is actuated by applying tensile force, the UAN pattern 120 may deform, causing bending of the primary tube distal end 106. The degree of bending may be controlled by the amount of force applied to the primary tube actuation tendon 135.

[0073] The combination of rotational and bending capabilities may enable the device to achieve complex positioning and orientation of the primary tube distal end 106. By first rotating the primary tube 105 through translation of the secondary tube 110, the bending plane of the UAN pattern 120 may be oriented in a desired direction. Subsequently, actuation of the primary tube actuation tendon 135 may cause bending in the selected plane, thereby providing precise control over the final position and orientation of the primary tube distal end 106.

[0074] Referring to FIGS. 3A-3E, a second embodiment of the modular device may comprise a three-tube configuration that enables bending, distal rotation, feed-forward motion, and variable stiffness capabilities. As shown in FIG. 3 A, the primary tube 105 may include the helical slot 115 and the UAN pattern 120 positioned at the primary tube distal end 106, similar to the first embodiment. The helical slot 115 may comprise two helically shaped slots cut on opposite sides of the primary tube 105 to accommodate coupling mechanisms.

[0075] As depicted in FIG. 3B, the secondary tube 110 may include a BSN pattern 155 and a rectangular slot 160. The BSN pattern 155 may be positioned at the secondary tube distal end 111 and may comprise notches with different depths of cut along two different planes to provide variable stiffness characteristics. In some cases, the two different planes may be orthogonal planes, though the BSN pattern 155 may have notches machined with different depths of cut along multiple planes, not limited to two orthogonal planes. The rectangular slot 160 may be positioned14320796232v6below the BSN pattern 155 in the second embodiment and may comprise two rectangular shaped slots cut on opposite sides of the secondary tube 110. The rectangular slot 160 may be of arbitrary shape, including helical orientation, to accommodate different design requirements.

[0076] With reference to FIG. 3C, a tertiary tube 140 may have a tertiary tube distal end 141 and a tertiary tube proximal end 142. The tertiary tube 140 may comprise a T-shaped tip 145 at the tertiary tube distal end 141. The T-shaped tip 145 may include at least one wing member 150, and in some cases may comprise two wings with a flexible unibody hinge. The T-shaped tip 145 may be formed through heat treatment, machining, casting, or any other manufacturing process suitable for creating the desired geometry. The wing members 150 may be shape set through heat treatment to achieve the T-shape configuration.

[0077] As shown in FIGS. 3D and 3E, the three tubes may be arranged in a coaxial configuration where the secondary tube 110 may be positioned as an outermost tube, the primary tube 105 may be positioned as a middle tube, and the tertiary tube 140 may be positioned as an innermost tube. The tertiary tube 140 may be positioned coaxially within the primary tube 105, creating a nested arrangement that enables complex motion capabilities. The present disclosure, however, is not limited to such a coaxial arrangement.

[0078] With continued reference to FIGS. 3D and 3E, the wing members 150 may be configured to engage the helical slot 115 and the rectangular slot 160 to enable selective coupling and decoupling between the tubes. When the wing members 150 are fully engaged, the end of the wing members 150 may be flush with the secondary tube outer surface. The wing members 150 may be configured to selectively engage with the coupling mechanism to control coupling and decoupling between the primary tube 105 and the secondary tube 110.

[0079] As further shown in FIG. 3D, the primary tube actuation tendon 135 may be attached to the primary tube distal end 106 and may be routed through the hollow channels of the nested tube arrangement. The primary tube distal end 106 and the secondary tube distal end 111 may be initially positioned flush with respect to each other in the assembled configuration. Actuation of the primary tube actuation tendon 135 may cause bending of the UAN pattern 120, enabling controlled bending motion of the device.

[0080] The wing members 150 may function as a coupling mechanism that replaces the coupling rod 130 used in the first embodiment. The wing members 150 may extend through both15320796232v6the helical slot 115 of the primary tube 105 and the rectangular slot 160 of the secondary tube 110, thereby mechanically coupling the tubes together. The T-shaped configuration of the T-shaped tip 145 may provide the structural geometry needed for the wing members 150 to engage with both slots simultaneously while maintaining the hollow lumen of the tertiary tube 140.

[0081] Referring to FIG. 4, the wing members 150 may be configured to selectively engage and disengage from the helical slot 115 and the rectangular slot 160 through translation of the tertiary tube 140. The engaging and disengaging mechanism may provide selective coupling control between the primary tube 105 and the secondary tube 110, enabling the device to operate in different functional modes depending on the engagement state of the wing members 150.

[0082] During the assembly process of the three-tube configuration, the wing members 150 of the T-shaped tip 145 may be folded and may be under outward tension to form the T-shape configuration. The wing members 150 may conform to the inner dimensions of the primary tube 105 when in the folded state. The outward tension may provide the mechanical force needed for the wing members 150 to expand into the engaged position when the geometric constraints allow such expansion.

[0083] As shown in FIG. 4, translation of the tertiary tube 140 toward the primary tube proximal end 107 may cause the wing members 150 to fold inward and disengage from the helical slot 115 and the rectangular slot 160. For this operation, the primary tube 105 may be constrained such that the primary tube has no rotation or translation capability, the secondary tube 110 may be constrained such that the secondary tube 110 has no rotation or translation capability, and the tertiary tube 140 may be constrained to translate but not rotate. When the tertiary tube 140 undergoes proximal translation, the wing members 150 may be forced to fold inward due to the geometric constraints imposed by the inner lumen of the primary tube 105. In the disengaged state, the wing members 150 may occupy the inner lumen of the primary tube 105, thereby decoupling the primary tube 105 and the secondary tube 110.

[0084] Conversely, translation of the tertiary tube 140 toward the primary tube distal end 106 may result in the wing members 150 opening and engaging with the helical slot 115 and the rectangular slot 160. As the tertiary tube 140 undergoes distal translation, the wing members 150 may encounter the helical slot 115 of the primary tube 105. When there is a possibility for the wing members 150 to open up, the wing members 150 may expand into the helical slot 115 and16320796232v6correspondingly may occupy the rectangular slot 160 of the secondary tube 110, thereby achieving the engaged configuration.

[0085] With continued reference to FIG. 4, the wing members 150 may be partially engaged with the helical slot 115 and the rectangular slot 160, not necessarily fully engaged. The degree of engagement may be controlled by the relative positioning of the tertiary tube 140 and the orientation of the rectangular slot 160 with respect to the helical slot 115. In some operational scenarios, partial engagement may be desired to achieve specific coupling characteristics between the tubes.

[0086] The selective engagement and disengagement capability may enable the device to transition between different operational modes. When the wing members 150 are disengaged, the primary tube 105 and the secondary tube 110 may operate independently. When the wing members 150 are engaged, the tubes may be mechanically coupled, enabling the translation of the tertiary tube 140 to induce rotational motion in the coupled tubes. The engaging and disengaging mechanism may provide operational flexibility by allowing the device to selectively activate or deactivate coupling between specific tubes based on the desired functionality.

[0087] Referring to FIG. 5, the three-tube configuration may operate in a specific constraint mode to achieve rotation of the primary tube 105 for changing the plane of bending of the device. In this operational mode, the primary tube 105 may be constrained to rotate but not translate, the secondary tube 110 may be constrained such that the secondary tube 110 has no rotation or translation capability, and the tertiary tube 140 may be constrained to translate but not rotate.

[0088] The constraint configuration may enable selective control over which tubes are permitted to move and in what manner. The primary tube 105 may be mechanically constrained to prevent axial translation while allowing free rotation about the central axis. The secondary tube 110 may be completely fixed in position, with constraints preventing both rotational and translational motion. The tertiary tube 140 may be constrained to prevent rotation while permitting axial translation along the length of the nested tube arrangement.

[0089] As shown in FIG. 5, the wing members 150 may be positioned to engage with the helical slot 115 of the primary tube 105 while not engaging with the rectangular slot 160 of the secondary tube 110. This selective engagement may be achieved by orienting the rectangular slot 160 of the secondary tube 110 out of the range of the total rotational motion of the primary tube 17320796232v6105, such that the wing members 150 never engage with the rectangular slot 160 during operation. The wing members 150 may be fully engaged with the helical slot 115 but may remain disengaged from the rectangular slot 160 throughout the operational sequence.

[0090] With continued reference to FIG. 5, translation of the tertiary tube 140 may induce rotation of the primary tube 105 through engagement of the wing members 150 with the helical slot 115. When the tertiary tube 140 undergoes axial translation, the wing members 150 may move along the helical path defined by the helical slot 115. Since the tertiary tube 140 may be constrained to translate but not rotate, and the wing members 150 may be engaged with the helical slot 115, the translational motion of the tertiary tube 140 may be converted into rotational motion of the primary tube 105.

[0091] The helical geometry of the helical slot 115 may provide the mechanical conversion mechanism between the linear motion of the tertiary tube 140 and the rotational motion of the primary tube 105. As the wing members 150 slide along the helical slot 115 due to translation of the tertiary tube 140, the helical path may force the primary tube 105 to rotate about its central axis. The amount of rotation may be determined by the pitch of the helical slot 115 and the distance of translation of the tertiary tube 140.

[0092] As further shown in FIG. 5, the rotation of the primary tube 105 may change the plane of bending of the device. Since the UAN pattern 120 may be positioned at the primary tube distal end 106, rotation of the primary tube 105 may reorient the bending plane defined by the UAN pattern 120. The primary tube 105 may dictate the bending characteristics of the overall device, and rotation of the primary tube 105 may enable the bending plane to be positioned in any desired orientation around the central axis of the device.

[0093] The mechanism may enable distal rotation capabilities without requiring any rotation at the proximal end of the device. The translation of the tertiary tube 140 may be controlled from the proximal end, but the resulting rotation may occur at the distal end through the coupling mechanism provided by the wing members 150 and the helical slot 115. This configuration may provide precise control over the bending plane orientation while maintaining the ability to actuate bending motion through the primary tube actuation tendon 135.

[0094] Additionally, the wing members 150 may be positioned to engage with the helical slot 115 of the primary tube 105 as well as the rectangular slot 160 of the secondary tube 110. As the 18320796232v6tertiary tube 140 undergoes controlled translation, the wing members 150 may slide along the helical path defined by the helical slot 115, thereby converting the linear motion into rotational motion of the primary tube 105. The wing members 150 may slide along the rectangular slot 160 without causing rotation of the secondary tube 110.

[0095] Referring to FIG. 6, the three-tube configuration may operate in an alternative constraint mode to achieve variable stiffness control of the bending joint. In this operational mode, the primary tube 105 may be completely fixed with no rotation or translation capability, the secondary tube 110 may be constrained to rotate but not translate, and the tertiary tube 140 may be free to both rotate and translate.

[0096] The constraint configuration may enable selective control over the stiffness characteristics of the device through relative rotation between the tubes. The primary tube 105 may be mechanically constrained to prevent both axial translation and rotation, maintaining a fixed position and orientation. The secondary tube 110 may be constrained to prevent axial translation while permitting free rotation about the central axis. The tertiary tube 140 may be unconstrained in both rotational and translational degrees of freedom, allowing the tertiary tube 140 to move freely along the axial direction and rotate about the central axis.

[0097] As shown in FIG. 6, the wing members 150 may be positioned to engage with both the helical slot 115 of the primary tube 105 and the rectangular slot 160 of the secondary tube 110. The wing members 150 may be fully engaged in both slots to enable mechanical coupling between all three tubes. When the wing members 150 are fully engaged, translation of the tertiary tube 140 may induce rotation of both the secondary tube 110 and the tertiary tube 140.

[0098] With continued reference to FIG. 6, translation of the tertiary tube 140 may cause the wing members 150 to move along both the helical slot 115 and the rectangular slot 160 simultaneously. Since the primary tube 105 may be completely fixed and cannot rotate, the wing members 150 may slide along the helical slot 115 while causing the secondary tube 110 to rotate through engagement with the rectangular slot 160. The tertiary tube 140 may also rotate as the wing members 150 follow the helical path defined by the helical slot 115.

[0099] The BSN pattern 155 may comprise notches with different depths of cut along two different planes to provide variable stiffness characteristics. The different depths of cut may create varying structural compliance along different planes, resulting in different stiffness values 19320796232v6depending on the orientation of the secondary tube 110. When the secondary tube 110 undergoes rotation relative to the primary tube 105, the orientation of the BSN pattern 155 may change with respect to the bending plane defined by the primary tube 105.

[0100] As further shown in FIG. 6, the rotation of the secondary tube 110 relative to the primary tube 105 may enable the device to achieve multiple stiffness configurations for the bending joint. The BSN pattern 155 may provide different resistance to bending forces depending on the rotational orientation of the secondary tube 110. When the secondary tube 110 is rotated to align the deeper cuts of the BSN pattern 155 with the bending plane, the device may exhibit lower stiffness characteristics. Conversely, when the secondary tube 110 is rotated to align the shallower cuts with the bending plane, the device may exhibit higher stiffness characteristics.

[0101] The variable stiffness capability may be achieved through the relative positioning of the BSN pattern 155 with respect to the bending forces applied through the primary tube actuation tendon 135. Since the primary tube 105 may be fixed and the UAN pattern 120 may define the primary bending plane, rotation of the secondary tube 110 may change the alignment between the BSN pattern 155 and the primary bending plane. The different depths of cut in the BSN pattern 155 may provide varying levels of structural support or compliance depending on the rotational alignment.

[0102] In some cases, the secondary tube 110 may be rotated independently from the proximal end without using the tertiary tube 140. The wing members 150 may be positioned such that the wing members 150 are not engaged with the rectangular slot 160 of the secondary tube 110, allowing the secondary tube 110 to be rotated directly through proximal actuation. This independent rotation capability may provide an alternative method for achieving stiffness tuning without requiring the complex coupling mechanism involving the tertiary tube 140.

[0103] Referring to FIG. 7, the three-tube configuration may operate in a feed-forward motion mode through a specific constraint configuration. In this operational mode, the primary tube 105 may be completely fixed with no rotation or translation capability, the tertiary tube 140 may be completely fixed with no rotation or translation capability, and the secondary tube 110 may be constrained to translate but not rotate.

[0104] The constraint configuration may enable the secondary tube 110 to undergo axial translation while maintaining the relative positions of the primary tube 105 and tertiary tube 140.20320796232v6The primary tube 105 may be mechanically constrained to prevent both axial translation and rotation, maintaining a fixed position and orientation throughout the feed-forward motion sequence. The tertiary tube 140 may be similarly constrained to prevent both rotational and translational motion, ensuring that the tertiary tube 140 remains stationary during the operation.

[0105] The secondary tube 110 may be constrained to prevent rotation about the central axis while permitting free axial translation along the length of the device. This constraint configuration may allow the secondary tube 110 to move independently of the other tubes while maintaining the arrangement of the nested tube system.

[0106] As shown in FIG. 7, translation of the secondary tube 110 beyond the primary tube distal end 106 may result in feed-forward motion of the device. The feed-forward motion may be achieved after the bending joint has been actuated through the primary tube actuation tendon 135. The secondary tube 110 may translate in the distal direction, extending beyond the primary tube distal end 106 while maintaining the actuated bending configuration established by the primary tube 105.

[0107] With continued reference to FIG. 7, the wing members 150 may slide along the rectangular slot 160 without causing rotation during the feed-forward motion. The rectangular slot 160 may be sufficiently large to accommodate the translational motion of the secondary tube 110 without constraining the wing members 150 in a manner that would induce rotational motion. The wing members 150 may remain engaged with the rectangular slot 160 but may slide freely along the length of the rectangular slot 160 as the secondary tube 110 undergoes translation.

[0108] The feed-forward motion capability may enable the device to achieve complex motion patterns that combine bending and linear extension. The device may first establish a desired bending configuration through actuation of the primary tube actuation tendon 135 and subsequently may extend the secondary tube 110 beyond the primary tube distal end 106 to achieve additional reach or positioning capabilities. The feed-forward motion may provide a straight trajectory extension beyond the bent section created by the primary tube 105.

[0109] As further shown in FIG. 7, the feed-forward motion may result in a motion pattern that includes both curved and straight segments. The primary tube 105 may provide the curved segment through the actuated UAN pattern 120, while the extended portion of the secondary tube 110 may provide a straight segment that extends beyond the curved section. This combination may 21320796232v6enable the device to navigate around obstacles while providing additional reach capabilities for accessing target locations.

[0110] The rectangular slot 160 may be designed with sufficient length and width to accommodate the range of translational motion required for the feed-forward operation. The geometry of the rectangular slot 160 may prevent binding or interference between the wing members 150 and the slot walls during translation of the secondary tube 110. The wing members 150 may maintain their engagement with the rectangular slot 160 throughout the feed-forward motion without causing unwanted coupling effects between the tubes.

[0111] Referring to FIGS. 8A-8E, a third embodiment of the modular device may comprise a three-tube configuration that enables bending, distal rotation, feed-forward motion, and variable S-shaped curvatures. As shown in FIG. 8 A, the primary tube 105 may include the helical slot 115 and the UAN pattern 120 positioned at the primary tube distal end 106, similar to the previous embodiments. The helical slot 115 may comprise two helically shaped slots cut on opposite sides of the primary tube 105 to accommodate coupling mechanisms with other tubes in the nested arrangement.

[0112] As depicted in FIG. 8B, the secondary tube 110 may include a BAN pattern 165 and the rectangular slot 160. A BAN pattern 165 may be positioned at the secondary tube distal end 111 and may be configured for planar motion of the secondary tube 110. The BAN pattern 165 may enable controlled bending of the secondary tube 110 in a specific plane when actuated by appropriate forces. The rectangular slot 160 may be positioned below the BAN pattern 165 and may comprise two rectangular shaped slots cut on opposite sides of the secondary tube 110 to accommodate coupling mechanisms.

[0113] With reference to FIG. 8C, the tertiary tube 140 may have the tertiary tube distal end 141 and the tertiary tube proximal end 142. The tertiary tube 140 may comprise the T-shaped tip 145 at the tertiary tube distal end 141, with the T-shaped tip 145 including the wing members 150. The T-shaped tip 145 may be formed through various manufacturing processes including heat treatment, machining, or casting to achieve the desired geometry for mechanical coupling with the other tubes in the nested arrangement.

[0114] As shown in FIGS. 8D and 8E, the three tubes may be arranged in a coaxial configuration where the secondary tube 110 may be positioned as an outermost tube, the primary22320796232v6tube 105 may be positioned as a middle tube, and the tertiary tube 140 may be positioned as an innermost tube. The coaxial arrangement may enable the nested tube system to function as an integrated unit while maintaining independent control capabilities for each tube component.

[0115] With continued reference to FIGS. 8D and 8E, the wing members 150 may be configured to engage the helical slot 115 and the rectangular slot 160 to enable variable S-shaped curvatures. The wing members 150 may extend through both the helical slot 115 of the primary tube 105 and the rectangular slot 160 of the secondary tube 110, thereby mechanically coupling the tubes together when engaged. The engagement of the wing members 150 with both slots may enable coordinated motion between the tubes to achieve complex curvature patterns.

[0116] As further shown in FIG. 8D, the primary tube actuation tendon 135 may be attached to the primary tube distal end 106. The primary tube actuation tendon 135 may be routed through an inner lumen of the tertiary tube 140 and an inner lumen of the primary tube 105. This routing configuration may enable the primary tube actuation tendon 135 to actuate the UAN pattern 120 while maintaining the nested tube arrangement and avoiding interference with other components of the system.

[0117] With reference to FIG. 8D, a second tendon 170 may be attached to the secondary tube distal end 111. The second tendon 170 may be routed between the primary tube 105 and the secondary tube 110. The routing of the second tendon 170 in the annular space between the tubes may enable independent actuation of the secondary tube 110 without interfering with the primary tube actuation tendon 135 or the tertiary tube 140 components.

[0118] The second tendon 170 may be made from tungsten, nitinol, or any other suitable material that provides appropriate tensile strength and flexibility for the intended application. The material selection for the second tendon 170 may be based on factors including biocompatibility, corrosion resistance, fatigue life, and mechanical properties suitable for the specific application requirements.

[0119] As shown in FIGS. 8D and 8E, the primary tube distal end 106 and the secondary tube distal end 111 may be initially positioned flush with respect to each other in the assembled configuration. The flush positioning may provide a compact initial configuration while enabling subsequent relative motion between the tubes during operation. The flush positioning may also ensure proper alignment of the coupling mechanisms and tendon routing pathways.23320796232v6

[0120] Actuation of the primary tube actuation tendon 135 may cause bending of the UAN pattern 120, enabling controlled bending motion of the primary tube 105. The UAN pattern 120 may provide the structural flexibility needed for bending while maintaining sufficient structural integrity to support the loads applied through the primary tube actuation tendon 135. The degree of bending may be controlled by the amount of force applied to the primary tube actuation tendon 135.

[0121] The dual tendon configuration may enable independent control of both the primary tube 105 and the secondary tube 110, allowing the device to achieve variable S-shaped curvatures through coordinated actuation of both tendons. The primary tube 105 may have multiple bending joints with different notch patterns to provide additional bending capabilities along the length of the tube. Similarly, the secondary tube 110 may have multiple bending joints with different notch patterns to enable complex curvature control and enhanced flexibility in achieving desired motion patterns.

[0122] Referring to FIG. 9, the three-tube configuration may operate through a sequential rotation process that enables independent control of both the primary tube 105 and the secondary tube 110. The sequential rotation mechanism may provide enhanced flexibility in positioning and orienting multiple bending joints within the device, allowing for complex motion patterns and precise control over the final configuration of the nested tube system.

[0123] The sequential rotation process may begin with rotation of the primary tube 105 through a specific constraint configuration. In the first phase of the sequential process, the primary tube 105 may be constrained to rotate but not translate, the secondary tube 110 may be completely fixed with no rotation or translation capability, and the tertiary tube 140 may be constrained to translate but not rotate. This constraint configuration may enable selective rotation of the primary tube 105 without affecting the positions or orientations of the secondary tube in the nested arrangement.

[0124] With continued reference to FIG. 9, translation of the tertiary tube 140 during the first phase may induce rotation of the primary tube 105 through engagement of the wing members 150 with the helical slot 115. The wing members 150 may be positioned to engage with the helical slot 115 of the primary tube 105 while remaining disengaged from the rectangular slot 160 of the secondary tube 110. As the tertiary tube 140 undergoes controlled translation, the wing members24320796232v6150 may slide along the helical path defined by the helical slot 115, thereby converting the linear motion into rotational motion of the primary tube 105. Additionally, the wing members 150 may be positioned to engage with the helical slot 115 of the primary tube 105 as well as the rectangular slot 160 of the secondary tube 110. As the tertiary tube 140 undergoes controlled translation, the wing members 150 may slide along the helical path defined by the helical slot 115, thereby converting the linear motion into rotational motion of the primary tube 105. The wing members 150 may slide along the rectangular slot 160 without causing rotation of the secondary tube 110.

[0125] The rotation of the primary tube 105 may change the plane of bending for the UAN pattern 120, enabling the device to orient the primary bending joint in a desired direction. The amount of rotation may be controlled by the distance of translation of the tertiary tube 140 and the pitch characteristics of the helical slot 115. Once the desired rotational position of the primary tube 105 has been achieved, the primary tube 105 may be fixed in position to maintain the selected orientation.

[0126] As further shown in FIG. 9, the sequential rotation process may proceed to a second phase where the secondary tube 110 undergoes rotation through an alternative constraint configuration. In the second phase, the primary tube 105 may be completely constrained with no rotation or translation capability, the secondary tube 110 may be constrained to rotate but not translate, and the tertiary tube 140 may be free to both rotate and translate. This constraint configuration may enable selective rotation of the secondary tube 110 while maintaining the fixed position and orientation of the primary tube 105 established in the first phase.

[0127] During the second phase of the sequential rotation process, the wing members 150 may be positioned to engage with both the helical slot 115 of the primary tube 105 and the rectangular slot 160 of the secondary tube 110. The dual engagement may enable the tertiary tube 140 to induce rotation of the secondary tube 110 through continued translation. As the tertiary tube 140 undergoes additional translation, the wing members 150 may slide along both the helical slot 115 and the rectangular slot 160 simultaneously.

[0128] With continued reference to FIG. 9, the translation of the tertiary tube 140 with wing members 150 engaged may enable independent rotation of both tubes through the sequential process. Since the primary tube 105 may be completely fixed during the second phase, the wing members 150 may slide along the helical slot 115 without causing rotation of the primary tube25320796232v6105. However, the engagement of the wing members 150 with the rectangular slot 160 may cause the secondary tube 110 to rotate as the tertiary tube 140 undergoes translation.

[0129] The sequential rotation mechanism may enable the device to achieve independent orientation control for both the primary tube 105 and the secondary tube 110. The primary tube 105 may be rotated to a first desired orientation during the first phase, and subsequently the secondary tube 110 may be rotated to a second desired orientation during the second phase. The two orientations may be independent of each other, allowing the bending planes of the UAN pattern 120 and the BAN pattern 165 to be positioned in different orientations around the central axis of the device.

[0130] The independent rotation capability may enable the device to achieve variable S- shaped curvatures where the primary tube 105 and the secondary tube 110 bend in different planes. When the primary tube 105 and the secondary tube 110 are oriented in different rotational positions, subsequent actuation of the primary tube actuation tendon 135 and the second tendon 170 may cause bending in different planes, resulting in complex three-dimensional curvature patterns. The sequential rotation process may provide the foundation for achieving these complex motion capabilities by enabling precise control over the relative orientations of the multiple bending joints within the nested tube system.

[0131] Referring to FIG. 10, the variable S-shaped curvatures may be achieved through a sequential actuation process that combines bending motions of both the primary tube 105 and the secondary tube 110. The sequential process may enable the device to create complex curvature patterns that include bending in opposing directions, resulting in an S-shaped configuration that may provide enhanced maneuverability and positioning capabilities for various applications.

[0132] The variable S-shaped curvature sequence may begin with actuation of the primary tube actuation tendon 135 to bend the UAN pattern 120. The primary tube actuation tendon 135 may be actuated by applying tensile force, causing the UAN pattern 120 to deform and create a first bending segment at the primary tube distal end 106. The degree of bending in the first segment may be controlled by the amount of force applied to the primary tube actuation tendon 135, allowing for precise control over the curvature characteristics of the initial bend.

[0133] As shown in FIG. 10, the sequential process may proceed with feed- forward motion of the secondary tube 110 following the initial bending of the primary tube 105. The feed- forward26320796232v6motion may be achieved by translating the secondary tube 110 beyond the primary tube distal end 106 while maintaining the actuated bending configuration established by the primary tube 105. During the feed- forward motion, the secondary tube 110 may extend distally, creating a straight segment that extends beyond the curved section formed by the actuated UAN pattern 120.

[0134] With continued reference to FIG. 10, the length of the bending joint of the secondary tube 110 may be controlled by varying the amount of feed- forward translation. When the secondary tube 110 undergoes greater distal translation, a longer portion of the BAN pattern 165 may extend beyond the primary tube distal end 106, resulting in a longer bending joint for the secondary tube 110. Conversely, when the secondary tube 110 undergoes lesser distal translation, a shorter portion of the BAN pattern 165 may extend beyond the primary tube distal end 106, resulting in a shorter bending joint for the secondary tube 110.

[0135] The variable length capability of the secondary tube bending joint may provide enhanced control over the curvature characteristics of the S -shaped configuration. By adjusting the amount of feed-forward translation, the device may achieve different proportions between the primary bending segment and the secondary bending segment, enabling customization of the overall S-shaped curvature to meet specific application requirements.

[0136] As further shown in FIG. 10, the sequential process may conclude with actuation of the second tendon 170 to bend the BAN pattern 165 in an opposing direction relative to the primary tube bending. The second tendon 170 may be actuated by applying tensile force, causing the BAN pattern 165 to deform and create a second bending segment that curves in a direction opposite to the first bending segment created by the UAN pattern 120. The opposing bending directions may result in the characteristic S-shaped curvature pattern.

[0137] The BAN pattern 165 may be configured for planar motion of the secondary tube 110, enabling controlled bending in a specific plane when actuated by the second tendon 170. The plane of bending for the BAN pattern 165 may be independent of the plane of bending for the UAN pattern 120, allowing the device to achieve S-shaped curvatures in different planes. When the secondary tube 110 has been rotated to a different orientation than the primary tube 105, the resulting S-shaped curvature may have three-dimensional characteristics rather than being confined to a single plane.27320796232v6

[0138] The modular device may include N tubes nested within one another, not limited to two or three tubes. Additional tubes may be incorporated into the nested arrangement to provide additional bending segments and enhanced curvature control capabilities. Each additional tube may include its own notch pattern and actuation tendon, enabling the device to achieve more complex curvature patterns beyond the S-shaped configuration. The modular design principle may allow for algorithmic selection of the number of tubes and their respective configurations based on the specific curvature requirements of the intended application.

[0139] The wing members 150 may be configured to selectively engage and disengage from the helical slot 115 and the rectangular slot 160 through translation of the tertiary tube 140. The selective engagement capability may enable the device to transition between different operational modes during the variable S-shaped curvature sequence. The wing members 150 may be engaged during phases of the sequence that require coupling between tubes and may be disengaged during phases that require independent motion of specific tubes.

[0140] Translation of the tertiary tube 140 toward the primary tube proximal end 107 may cause the wing members 150 to fold inward and disengage from the helical slot 115 and the rectangular slot 160. The disengagement capability may provide operational flexibility during the variable S-shaped curvature sequence by allowing selective decoupling of the tubes when independent motion is required. The wing members 150 may be disengaged during specific phases of the sequence to prevent unwanted coupling effects that could interfere with the desired motion patterns.

[0141] Referring to FIG. 11 , the modular device may achieve multi -plane bending configurations through independent orientation control of the secondary tube 110 relative to the primary tube 105. The secondary tube 110 may be rotated to position the BAN pattern 165 at any arbitrary angle with respect to the plane of bending defined by the UAN pattern 120 of the primary tube 105. This independent rotational positioning capability may enable the device to create complex three-dimensional curvature patterns that extend beyond single-plane bending motions.

[0142] As shown in FIG. 11 , the device may achieve bending configurations where the primary tube 105 and the secondary tube 110 bend in different planes relative to each other. The side view and the front view may show the device configuration when viewed from two28320796232v6perpendicular orientations, revealing the three-dimensional nature of the curvature when the tubes bend in different planes.

[0143] The independent plane positioning may be achieved through the sequential rotation process where the secondary tube 110 undergoes rotation after the primary tube 105 has been positioned in a desired orientation. The secondary tube 110 may be rotated through any angle from 0 degrees to 360 degrees relative to the primary tube 105, enabling the plane of bending for the BAN pattern 165 to be oriented in any desired direction around the central axis of the device. The arbitrary angle positioning capability may provide enhanced flexibility in trajectory planning and obstacle navigation for various applications.

[0144] With continued reference to FIG. 11, the multi-plane bending configuration may enable the device to achieve complex three-dimensional trajectories that would not be possible with single-plane bending systems. When the primary tube 105 bends in a first plane and the secondary tube 110 bends in a second plane that is oriented at an arbitrary angle relative to the first plane, the resulting trajectory may have three-dimensional characteristics that enable the device to navigate around obstacles or access target locations that require complex spatial positioning.

[0145] The arbitrary angle positioning between the bending planes may be particularly beneficial for applications requiring precise spatial control, such as minimally invasive surgical procedures where the device may need to navigate through complex anatomical pathways. The ability to orient the secondary tube bending plane independently of the primary tube bending plane may enable the device to follow curved pathways that change direction in three-dimensional space, providing enhanced maneuverability compared to devices limited to single-plane bending motions.

[0146] The multi-plane bending capability may be combined with the variable S -shaped curvature functionality to create even more complex trajectory patterns. The primary tube 105 may bend in a first plane to create an initial curved segment, the secondary tube 110 may undergo feedforward motion to create a straight segment, and subsequently the secondary tube 110 may bend in a second plane oriented at an arbitrary angle relative to the first plane to create a final curved segment. The resulting trajectory may have S-shaped characteristics in three-dimensional space rather than being confined to a single plane.

[0147] The independent orientation control may be maintained throughout the operational sequence, allowing the relative angle between the bending planes to be adjusted as needed during29320796232v6operation. The secondary tube 110 may be rotated to different angular positions relative to the primary tube 105 at various stages of the motion sequence, enabling dynamic adjustment of the three-dimensional trajectory characteristics based on real-time requirements or changing environmental conditions.

[0148] Referring to FIGS. 12A-12E, a fourth embodiment of the modular device may comprise a three-tube configuration that enables bending, distal rotation, and feed-forward motion through an alternative structural arrangement. As shown in FIG. 12A, a primary tube 105 may have a primary tube distal end 106 and a primary tube proximal end 107. The primary tube 105 may include a helical slot 115 that may be omnidirectional, allowing bending in any direction. The omnidirectional characteristics of the helical slot 115 may enable the primary tube 105 to accommodate bending forces applied in multiple planes without structural constraints that would limit the bending direction.

[0149] The omnidirectional helical slot 115 may comprise helically shaped cuts that extend around the circumference of the primary tube 105 in a manner that provides structural flexibility in all radial directions. The omnidirectional design may enable the primary tube 105 to bend in response to forces applied from any angular orientation around the central axis of the tube. The helical slot 115 may be machined using laser cutting, femtosecond laser processing, or other suitable manufacturing techniques that can create the precise geometries required for omnidirectional flexibility.

[0150] As depicted in FIG. 12B, a secondary tube 110 may have a secondary tube distal end 111 and a secondary tube proximal end 112. The secondary tube 110 may comprise a BSN pattern 155 at the secondary tube distal end 111. The BSN pattern 155 may comprise notches along a single plane.

[0151] With continued reference to FIG. 12B, the secondary tube 110 may include a rectangular slot 160 positioned at the same location as the BSN pattern 155. The rectangular slot 160 may be co-located with the BSN pattern 155, creating an integrated structural arrangement where the coupling mechanism and the bending joint occupy the same axial position along the secondary tube 110. The co-location of the rectangular slot 160 and the BSN pattern 155 may provide a compact design that maximizes the functional capabilities within a minimal axial length.30320796232v6

[0152] The rectangular slot 160 may comprise two rectangular shaped slots cut on opposite sides of the secondary tube 110 at the location of the BSN pattern 155. The integration of the rectangular slot 160 with the BSN pattern 155 may enable the coupling mechanism to function while maintaining the bending capabilities provided by the notch pattern. The rectangular slot 160 may be sized and positioned to accommodate the wing members while not compromising the structural integrity of the BSN pattern 155.

[0153] As shown in FIG. 12C, a tertiary tube 140 may have a tertiary tube distal end 141 and a tertiary tube proximal end 142. The tertiary tube 140 may comprise a T-shaped tip 145 at the tertiary tube distal end 141. The T-shaped tip 145 may include wing members 150 that may be configured to engage the helical slot 115 and the rectangular slot 160 to enable distal rotation and feed- forward motion. The wing members 150 may be formed through various manufacturing processes including heat treatment, machining, or casting to achieve the desired geometry for mechanical coupling.

[0154] With reference to FIGS. 12D and 12E, the three tubes may be arranged in a coaxial arrangement where the secondary tube 110 may be positioned as an outermost tube, the primary tube 105 may be positioned as a middle tube, and the tertiary tube 140 may be positioned as an innermost tube. The coaxial arrangement may enable the nested tube system to function as an integrated unit while maintaining the structural relationships required for the coupling mechanisms to operate effectively.

[0155] As further shown in FIGS. 12D and 12E, a primary tube actuation tendon 135 may be attached to the primary tube distal end 106. The primary tube actuation tendon 135 may be routed through the hollow channels of the nested tube arrangement to enable actuation of the primary tube 105. The primary tube actuation tendon 135 may be made from tungsten, nitinol, or other suitable materials that provide appropriate tensile strength and flexibility for the intended application.

[0156] The primary tube distal end 106 and the secondary tube distal end 111 may be initially positioned flush with respect to each other in the assembled configuration. The flush positioning may provide a compact initial configuration while enabling subsequent relative motion between the tubes during operation. The flush positioning may ensure proper alignment of the coupling mechanisms and maintain the coaxial relationship between the tubes.31320796232v6

[0157] The primary tube 105 may have lower stiffness compared to the secondary tube 110 when the helical slot 115 is omnidirectional. The omnidirectional helical slot 115 may reduce the overall structural stiffness of the primary tube 105 by creating flexibility in multiple directions, while the secondary tube 110 may maintain higher stiffness characteristics through the selective design of the BSN pattern 155. The stiffness differential between the tubes may enable the secondary tube 110 to provide directional bending control while the primary tube 105 accommodates the bending forces through the omnidirectional helical slot 115.

[0158] The BSN pattern 155 may provide directional bending control by constraining the bending motion of the secondary tube 110 to specific planes defined by the notch geometry. The depths of cut in the BSN pattern 155 may create preferential bending directions that guide the overall bending behavior of the device. When the primary tube actuation tendon 135 applies force to the primary tube distal end 106, the omnidirectional helical slot 115 may allow the primary tube 105 to conform to the bending constraints imposed by the BSN pattern 155 of the secondary tube 110.

[0159] The wing members 150 may be configured to selectively engage and disengage from the helical slot 115 and the rectangular slot 160 through translation of the tertiary tube 140. The selective engagement capability may enable the device to transition between different operational modes, including coupled motion for distal rotation and independent motion for feed- forward capabilities. The wing members 150 may extend through both the omnidirectional helical slot 115 of the primary tube 105 and the rectangular slot 160 of the secondary tube 110 when engaged, thereby mechanically coupling the tubes together for coordinated motion.

[0160] Referring to FIG. 13, the fourth embodiment may operate in a specific constraint configuration to achieve rotation control of the secondary tube 110 for changing the plane of bending of the device. In this operational mode, the primary tube 105 may be completely fixed with no rotation or translation capability, the secondary tube 110 may be constrained to rotate but not translate, and the tertiary tube 140 may be constrained to translate and rotate.

[0161] The constraint configuration may enable selective control over the bending plane orientation through rotation of the secondary tube 110. The primary tube 105 may be mechanically constrained to prevent both axial translation and rotation, maintaining a fixed position and orientation throughout the operational sequence. The secondary tube 110 may be constrained to32320796232v6prevent axial translation while permitting free rotation about the central axis. The tertiary tube 140 may be free to both translate axially and rotate about the central axis, providing the mechanical input for inducing rotation of the secondary tube 110.

[0162] As shown in FIG. 13, the wing members 150 may be positioned to engage with both the helical slot 115 of the primary tube 105 and the rectangular slot 160 of the secondary tube 110. The wing members 150 may be fully engaged in both slots to enable mechanical coupling between the tertiary tube 140 and the secondary tube 110. When the wing members 150 are fully engaged, translation of the tertiary tube 140 may induce rotation of the secondary tube 110 through engagement of the wing members 150 with the rectangular slot 160.

[0163] With continued reference to FIG. 13, translation of the tertiary tube 140 may cause the wing members 150 to move along both the helical slot 115 and the rectangular slot 160 simultaneously. Since the primary tube 105 may be completely fixed and cannot rotate, the wing members 150 may slide along the helical slot 115 without causing rotation of the primary tube 105. However, the engagement of the wing members 150 with the rectangular slot 160 may cause the secondary tube 110 to rotate as the tertiary tube 140 undergoes translation.

[0164] The secondary tube 110 may dictate the plane of bending of the device because the primary tube 105 may have lower stiffness characteristics due to the omnidirectional helical slot 115. The omnidirectional helical slot 115 may provide structural flexibility in multiple directions, allowing the primary tube 105 to accommodate bending forces without imposing directional constraints. The BSN pattern 155 of the secondary tube 110 may provide directional bending control by constraining the bending motion to specific planes defined by the notch geometry.

[0165] As further shown in FIG. 13, when the primary tube actuation tendon 135 applies force to the primary tube distal end 106, the omnidirectional helical slot 115 may allow the primary tube 105 to conform to the bending constraints imposed by the BSN pattern 155 of the secondary tube 110. The rotation of the secondary tube 110 may change the orientation of the BSN pattern 155, thereby changing the plane in which the device bends when the primary tube actuation tendon 135 is actuated.

[0166] The wing members 150 may be configured to selectively engage and disengage from the helical slot 115 and the rectangular slot 160 through translation of the tertiary tube 140. Translation of the tertiary tube 140 toward the primary tube proximal end 107 may cause the wing 33320796232v6members 150 to fold inward and disengage from the helical slot 115 and the rectangular slot 160. The disengagement capability may provide operational flexibility by allowing the device to transition between coupled and decoupled operational modes based on the positioning of the tertiary tube 140.

[0167] The rotation control mechanism may enable the device to achieve precise orientation of the bending plane without requiring rotation at the proximal end of the device. The translation of the tertiary tube 140 may be controlled from the proximal end, but the resulting rotation may occur at the distal end through the coupling mechanism provided by the wing members 150 and the rectangular slot 160. This configuration may provide precise control over the bending plane orientation while maintaining the ability to actuate bending motion through the primary tube actuation tendon 135.

[0168] Referring to FIG. 14, the fourth embodiment may operate in a feed-forward motion mode through a specific constraint configuration that enables linear extension capabilities. In this operational mode, the secondary tube 110 may be constrained to translate but not rotate, while the tertiary tube 140 may be completely fixed with no rotation or translation capability. The primary tube 105 may remain fixed in position to maintain the established bending configuration throughout the feed- forward motion sequence.

[0169] The constraint configuration may enable the secondary tube 110 to undergo independent axial translation while maintaining the relative positions of the primary tube 105 and tertiary tube 140. The secondary tube 110 may be mechanically constrained to prevent rotation about the central axis while permitting free axial translation along the length of the device. The tertiary tube 140 may be completely constrained to prevent both rotational and translational motion, ensuring that the tertiary tube 140 remains stationary during the feed- forward operation.

[0170] As shown in FIG. 14, the feed-forward motion may be achieved after the bending joint has been actuated through the primary tube actuation tendon 135. The device may first establish a desired bending configuration by actuating the primary tube actuation tendon 135, causing the primary tube 105 to bend according to the directional constraints imposed by the BSN pattern 155 of the secondary tube 110. Once the bending configuration has been established, the secondary tube 110 may undergo translation to achieve the feed-forward motion.34320796232v6

[0171] With continued reference to FIG. 14, translation of the secondary tube 110 beyond the primary tube distal end 106 may result in feed-forward motion that extends the device forward while maintaining the actuated bending configuration. The secondary tube 110 may translate in the distal direction, extending beyond the primary tube distal end 106 and creating additional reach capabilities for the device. The feed-forward motion may provide a straight trajectory extension beyond the bent section created by the actuated primary tube 105.

[0172] The wing members 150 may slide along the rectangular slot 160 without causing rotation during the feed- forward motion. The rectangular slot 160 may be sufficiently large to accommodate the translational motion of the secondary tube 110 without constraining the wing members 150 in a manner that would induce rotational motion. Since the tertiary tube 140 may be completely fixed during the feed- forward operation, the wing members 150 may remain stationary while the rectangular slot 160 moves relative to the wing members 150 as the secondary tube 110 undergoes translation.

[0173] As further shown in FIG. 14, the feed-forward motion capability may enable the device to achieve motion patterns that combine bending and linear extension in a sequential manner. The device may first establish a curved segment through actuation of the primary tube actuation tendon 135, and subsequently may extend the secondary tube 110 beyond the primary tube distal end 106 to provide additional reach or positioning capabilities. The combination of bending and feedforward motion may enable the device to navigate around obstacles while providing extended reach for accessing target locations.

[0174] The feed-forward motion may result in a configuration where the device includes both curved and straight segments. The primary tube 105 may provide the curved segment through the actuated bending joint, while the extended portion of the secondary tube 110 may provide a straight segment that extends beyond the curved section. This configuration may be particularly beneficial for applications requiring the device to reach around obstacles or access confined spaces where both directional changes and linear extension are needed.

[0175] The rectangular slot 160 may be designed with sufficient length to accommodate the range of translational motion required for the feed-forward operation. The geometry of the rectangular slot 160 may prevent binding or interference between the wing members 150 and the slot walls during translation of the secondary tube 110. The co-location of the rectangular slot 16035320796232v6with the BSN pattern 155 may enable the feed- forward motion to occur at the same axial location as the bending joint, providing a compact design that maximizes functional capabilities within a minimal axial length.

[0176] The modular device may find applications across various industries where precise manipulation and control capabilities are required in challenging environments. The versatility of the nested tube configuration and the multiple degrees of freedom provided by the modular design may enable the device to perform complex tasks that would be difficult or impossible to achieve with conventional rigid tools or single-function devices.

[0177] In minimally invasive surgery applications, the modular device may provide surgeons with enhanced dexterity and precision for performing procedures through small incisions or natural body openings. The variable stiffness capabilities may enable the device to provide appropriate structural support when needed while maintaining flexibility for navigation through tortuous anatomical pathways. The distal rotation functionality may allow surgeons to orient surgical instruments or imaging devices in optimal positions without requiring rotation of the entire device from the proximal end. The feed-forward motion capabilities may enable the device to extend beyond curved sections to reach target anatomical locations that would otherwise be inaccessible.

[0178] The S-shaped curvature capabilities may be particularly beneficial for minimally invasive surgical procedures where the device may need to navigate around anatomical structures while maintaining precise control over the distal end position and orientation. The ability to achieve bending in multiple planes may enable the device to follow complex anatomical pathways while avoiding contact with sensitive tissues or organs. The modular design may allow surgical teams to select appropriate tube combinations based on the specific requirements of each procedure, providing customized functionality for different surgical applications.

[0179] For fruit picking applications in the agricultural industry, the modular device may provide automated harvesting systems with the ability to navigate through dense foliage and reach fruits located in challenging positions within tree canopies. The variable curvature capabilities may enable the device to approach fruits from optimal angles while avoiding damage to branches, leaves, or other fruits. The feed-forward motion functionality may allow the device to extend through gaps in foliage to reach fruits that are located deep within the tree structure.36320796232v6

[0180] The bending and rotation capabilities may enable the device to orient harvesting tools or grippers in appropriate positions for gentle fruit removal without causing damage to the fruit or the tree. The variable stiffness functionality may provide the device with the ability to apply appropriate forces for fruit detachment while maintaining sufficient structural integrity to support the weight of harvested fruits during transport. The modular design may allow agricultural systems to adapt the device configuration based on different fruit types, tree structures, or harvesting requirements.

[0181] In constrained workspace applications for pick-and-place tasks, the modular device may provide robotic systems with enhanced maneuverability for handling objects in confined spaces or complex environments. The nested tube configuration may enable the device to navigate through narrow openings or around obstacles while maintaining precise control over the end effector position and orientation. The multiple degrees of freedom provided by the modular design may allow the device to approach target objects from various angles and orientations that would be inaccessible to conventional rigid manipulators.

[0182] The variable curvature capabilities may enable the device to follow complex trajectories through cluttered environments while avoiding collisions with surrounding objects or structures. The distal rotation functionality may allow the device to orient grippers or tools in optimal positions for object manipulation without requiring repositioning of the entire robotic system. The feed-forward motion capabilities may provide additional reach for accessing objects located in deep recesses or confined spaces.

[0183] For automotive manufacturing applications, the modular device may provide assembly systems with the ability to install components or perform operations in locations that are difficult to access with conventional tools. The variable stiffness capabilities may enable the device to provide appropriate structural support for applying assembly forces while maintaining flexibility for navigation through complex automotive structures. The multiple bending joints may allow the device to follow curved pathways around existing components to reach target assembly locations.

[0184] The distal rotation functionality may enable the device to orient assembly tools or fasteners in appropriate positions without requiring complex repositioning of manufacturing equipment. The modular design may allow automotive manufacturers to customize the device37320796232v6configuration for different vehicle models or assembly operations, providing optimized functionality for specific manufacturing requirements.

[0185] The modular device may be integrated with a motorized actuation system to provide automated control over the various degrees of freedom and functional capabilities. The motorized actuation system may include servo motors, stepper motors, or other suitable actuators that can provide precise control over the translation and rotation of individual tubes within the nested arrangement. The motorized system may also control the actuation of tendons to achieve desired bending motions and curvature patterns.

[0186] The integration with a motorized actuation system may enable the device to achieve repeatable and precise motions that are suitable for automated applications. The motorized system may provide closed-loop control capabilities through the use of position sensors, force sensors, or other feedback mechanisms that monitor the device state and provide real-time control adjustments. The motorized actuation may enable the device to perform complex motion sequences that combine multiple degrees of freedom in coordinated patterns.

[0187] A joystick interface may be integrated with the motorized actuation system to provide intuitive control capabilities for human operators. The joystick may enable operators to control the device motions through natural hand movements that correspond to the desired device motions. The joystick interface may provide multi-axis control capabilities that allow simultaneous control of multiple degrees of freedom, enabling operators to achieve complex device motions through coordinated joystick inputs.

[0188] The joystick integration may enable remote operation capabilities where operators can control the device from locations that are separated from the device workspace. Remote operation may be particularly beneficial for applications in hazardous environments, sterile surgical settings, or locations where direct operator access is impractical or impossible. The joystick interface may provide tactile feedback to operators, enabling them to sense forces or resistance encountered by the device during operation.

[0189] The combination of motorized actuation and joystick control may enable agile multitasking capabilities where the device can rapidly transition between different operational modes or perform multiple functions simultaneously. The agile control capabilities may allow operators to dynamically adjust device behavior based on real-time requirements or changing environmental 38320796232v6conditions. The multi-tasking functionality may enable the device to perform complex operations that require coordination of multiple degrees of freedom and functional capabilities in real-time.

[0190] The integrated control system may include programmable functionality that allows operators to define custom motion sequences or operational patterns that can be executed automatically. The programmable capabilities may enable the device to perform repetitive tasks with high precision and consistency while reducing operator workload. The control system may also include safety features that monitor device operation and provide automatic shutdown or protective responses when potentially hazardous conditions are detected.

[0191] ft is to be understood that the embodiments and claims disclosed herein are not limited in their application to the details of construction and arrangement of the components set forth in the description and illustrated in the drawings. Rather, the description and the drawings provide examples of the embodiments envisioned. The embodiments and claims disclosed herein are further capable of other embodiments and of being practiced and carried out in various ways. Also, it is to be understood that the phraseology and terminology employed herein are for the purposes of description and should not be regarded as limiting the claims.

[0192] Accordingly, those skilled in the art will appreciate that the conception upon which the application and claims are based may be readily utilized as a basis for the design of other structures, methods, and systems for carrying out the several purposes of the embodiments and claims presented in this application, ft is important, therefore, that the claims be regarded as including such equivalent constructions.

[0193] Furthermore, the purpose of the foregoing Abstract is to enable the United States Patent and Trademark Office and the public generally, and especially including the practitioners in the art who are not familiar with patent and legal terms or phraseology, to determine quickly from a cursory inspection the nature and essence of the technical disclosure of the application. The Abstract is neither intended to define the claims of the application, nor is it intended to be limiting to the scope of the claims in any way.39320796232v6

Claims

CLAIMS1. A modular device, comprising: a primary tube having a primary tube distal end and a primary tube proximal end; a secondary tube having a secondary tube distal end and a secondary tube proximal end, wherein the primary tube is positioned within the secondary tube; and a coupling mechanism configured to mechanically couple the primary tube and the secondary tube such that translation of one tube induces rotation of another tube.

2. The modular device of claim 1 , wherein the coupling mechanism comprises a helical slot formed in the primary tube and a coupling aperture formed in the secondary tube.

3. The modular device of claim 2, further comprising a coupling rod extending through the coupling aperture and positioned within the helical slot.

4. The modular device of claim 1 , wherein the primary tube comprises a unidirectional asymmetric notch (UAN) pattern at the primary tube distal end.

5. The modular device of claim 4, further comprising a primary tube actuation tendon attached to the primary tube distal end, wherein actuation of the primary tube actuation tendon causes bending of the UAN pattern.

6. The modular device of claim 1, wherein the primary tube is constrained to rotate but not translate, and the secondary tube is constrained to translate but not rotate.

7. The modular device of claim 6, wherein translation of the secondary tube induces rotation of the primary tube through the coupling mechanism.

8. The modular device of claim 1, further comprising a tertiary tube having a tertiary tube distal end and a tertiary tube proximal end, wherein the tertiary tube is positioned within the primary tube.

9. The modular device of claim 8, wherein the tertiary tube comprises a T-shaped tip at the tertiary tube distal end, the T-shaped tip including at least one wing member.40320796232v610. The modular device of claim 9, wherein the wing member is configured to selectively engage with the coupling mechanism to control coupling and decoupling between the primary tube and the secondary tube.

11. A modular device, comprising: a primary tube having a primary tube distal end, a primary tube proximal end, and a helical slot; a secondary tube having a secondary tube distal end, a secondary tube proximal end, and a coupling aperture, wherein the primary tube is positioned within the secondary tube; a coupling rod extending through the coupling aperture and engaging the helical slot; and a primary tube actuation tendon attached to the primary tube distal end, wherein translation of the secondary tube induces rotation of the primary tube through interaction between the coupling rod and the helical slot.

12. The modular device of claim 11, wherein the primary tube comprises a UAN pattern at the primary tube distal end.

13. The modular device of claim 12, wherein actuation of the primary tube actuation tendon causes bending of the UAN pattern.

14. The modular device of claim 11, wherein the primary tube is constrained to rotate but not translate, and the secondary tube is constrained to translate but not rotate.

15. The modular device of claim 14, wherein translation of the secondary tube causes the coupling rod to move along the helical slot, thereby inducing rotation of the primary tube.

16. The modular device of claim 11, wherein the coupling aperture has a rectangular shape.

17. The modular device of claim 11, wherein the helical slot comprises two helically shaped slots cut on opposite sides of the primary tube.

18. The modular device of claim 11, wherein the coupling rod has a length greater than or equal to an outer diameter of the secondary tube.

19. The modular device of claim 11, wherein the primary tube and the secondary tube are hollow tubes.41320796232v620. The modular device of claim 19, wherein the primary tube actuation tendon is routed through a hollow channel of the primary tube.

21. A modular device, comprising: a primary tube having a primary tube distal end, a primary tube proximal end, and a helical slot; a secondary tube having a secondary tube distal end, a secondary tube proximal end, a bidirectional symmetric notch (BSN) pattern, and a rectangular slot, wherein the primary tube is positioned within the secondary tube; a tertiary tube having a tertiary tube distal end, a tertiary tube proximal end, and a T-shaped tip with wing members; and a primary tube actuation tendon attached to the primary tube distal end, wherein the wing members are configured to engage the helical slot and the rectangular slot to enable selective coupling and decoupling between the tubes.

22. The modular device of claim 21, wherein the primary tube comprises a UAN pattern at the primary tube distal end.

23. The modular device of claim 22, wherein actuation of the primary tube actuation tendon causes bending of the UAN pattern.

24. The modular device of claim 21, wherein the BSN pattern comprises notches with different depths of cut along two different planes to provide variable stiffness characteristics.

25. The modular device of claim 24, wherein the two different planes are orthogonal planes.

26. The modular device of claim 21, wherein the wing members are configured to selectively engage and disengage from the helical slot and the rectangular slot through translation of the tertiary tube.

27. The modular device of claim 26, wherein translation of the tertiary tube toward the primary tube proximal end causes the wing members to fold inward and disengage from the helical slot and the rectangular slot.42320796232v628. The modular device of claim 21, wherein the primary tube is constrained to rotate but not translate, the secondary tube is constrained to translate but not rotate, and the tertiary tube is constrained to translate but not rotate.

29. The modular device of claim 28, wherein translation of the tertiary tube induces rotation of the primary tube through engagement of the wing members with the helical slot.

30. The modular device of claim 21, wherein the secondary tube is positioned as an outermost tube, the primary tube is positioned as a middle tube, and the tertiary tube is positioned as an innermost tube.

31. A modular device, comprising: a primary tube having a primary tube distal end, a primary tube proximal end, and a helical slot; a secondary tube having a secondary tube distal end, a secondary tube proximal end, a bidirectional asymmetric notch (BAN) pattern, and a rectangular slot, wherein the primary tube is positioned within the secondary tube; a tertiary tube having a tertiary tube distal end, a tertiary tube proximal end, and a T-shaped tip with wing members; a primary tube actuation tendon attached to the primary tube distal end; and a second tendon attached to the secondary tube distal end, wherein the wing members are configured to engage the helical slot and the rectangular slot to enable variable S-shaped curvatures.

32. The modular device of claim 31 , wherein the primary tube comprises a UAN pattern at the primary tube distal end.

33. The modular device of claim 32, wherein actuation of the primary tube actuation tendon causes bending of the UAN pattern.

34. The modular device of claim 31, wherein the BAN pattern is configured for planar motion of the secondary tube.

35. The modular device of claim 31 , wherein the second tendon is routed between the primary tube and the secondary tube.43320796232v636. The modular device of claim 35, wherein the primary tube actuation tendon is routed through an inner lumen of the tertiary tube and an inner lumen of the primary tube.

37. The modular device of claim 31, wherein the wing members are configured to selectively engage and disengage from the helical slot and the rectangular slot through translation of the tertiary tube.

38. The modular device of claim 37, wherein translation of the tertiary tube toward the primary tube proximal end causes the wing members to fold inward and disengage from the helical slot and the rectangular slot.

39. The modular device of claim 31, wherein the secondary tube is positioned as an outermost tube, the primary tube is positioned as a middle tube, and the tertiary tube is positioned as an innermost tube.

40. The modular device of claim 39, wherein the primary tube distal end and the secondary tube distal end are initially positioned flush with respect to each other.

41. A modular device, comprising: a primary tube having a primary tube distal end, a primary tube proximal end, and a helical slot; a secondary tube having a secondary tube distal end, a secondary tube proximal end, and a rectangular slot, wherein the primary tube is positioned within the secondary tube; a tertiary tube having a tertiary tube distal end, a tertiary tube proximal end, and a T-shaped tip with wing members; and a primary tube actuation tendon attached to the primary tube distal end, wherein the wing members are configured to engage the helical slot and the rectangular slot to enable distal rotation and feed- forward motion.

42. The modular device of claim 41, wherein the secondary tube comprises a BSN pattern at the secondary tube distal end.

43. The modular device of claim 42, wherein the BSN pattern comprises notches with different depths of cut along two different planes to provide variable stiffness characteristics.

44. The modular device of claim 43, wherein the two different planes are orthogonal planes.44320796232v645. The modular device of claim 41, wherein the wing members are configured to selectively engage and disengage from the helical slot and the rectangular slot through translation of the tertiary tube.

46. The modular device of claim 45, wherein translation of the tertiary tube toward the primary tube proximal end causes the wing members to fold inward and disengage from the helical slot and the rectangular slot.

47. The modular device of claim 41, wherein the secondary tube is constrained to rotate but not translate, and the tertiary tube is constrained to translate and rotate.

48. The modular device of claim 47, wherein translation of the tertiary tube induces rotation of the secondary tube through engagement of the wing members with the rectangular slot.

49. The modular device of claim 41, wherein the secondary tube is positioned as an outermost tube, the primary tube is positioned as a middle tube, and the tertiary tube is positioned as an innermost tube.

50. The modular device of claim 49, wherein the primary tube distal end and the secondary tube distal end are initially positioned flush with respect to each other.45320796232v6

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