A steerable multi-linked device. The device includes a first multi-linked mechanism and a second multi-linked mechanism. At least one of the first and second multi-linked mechanisms is steerable and includes a modular link assembly at an end thereof. The modular link assembly includes a base, and a tip...http://www.google.de/patents/US8099939?utm_source=gb-gplus-sharePatent US8099939 - Steerable multi-linked device having a modular link assembly
