| abstract |
A mechanical transmission system, MTS ( 100 ), for a steerable tool ( 500 ) which steerable tool ( 500 ) has a proximal end ( 20 ) and distal end ( 40 ) and comprises a shaft region ( 532 ), a bendable proximal part, BPP ( 534 ) that is omnidirectionally moveable, and a bendable distal part, BDP, ( 530 ) that is omnidirectionally moveable and moves responsive to movement of the BPP ( 534 ), which MTS ( 100 ) comprises a plurality of longitudinal members, LM ( 110 ) each having a proximal ( 20 ) and distal end ( 40 ), arranged in a longitudinal direction around a fictive tube ( 120 ), and has a corresponding transmission shaft region, TSR ( 132 ), transmission bendable proximal part, TBPP ( 134 ) and transmission bendable distal part, TBDP ( 130 ), wherein a plane section ( 114 ) of at least one LM ( 110 ) demonstrates an anisotropic area moment of inertia, and the majority of the LMs ( 110 ) are each axially rotationally constrained at 1 or more constraining points along the TBDP ( 130 ) or along the TSR ( 132 ) wherein the LMs are longitudinally slidable with respect to each discrete constraining point, and the MTS ( 100 ) is configured such that the BDP ( 530 ) tip is axially rotationable in a bent position by a complementary rotation of the BPP ( 534 ). |