Patent US 5,386,741

This invention reveals improvements in a flexible robotic limb which can function as a robotic snake. These improvements are particularly pertinent to miniaturization applications such as catheters or positioners for microsurgery, micro-assembly, micro-manipulation, or micro-exploration. This invention developes detailed new component designs, and it combines the basic structure with systems for sensing, control, and signal transmission. These systems include pressure sensors, length sensors, protective skins, ultrasonic imagers, cutting tools, and multiplexing schemes.