Control of robotic dynamically rigidizing composite medical structures

This invention describes a robotic system designed to help move medical instruments, like endoscopes, through the body. It uses two nested tubes that can be made stiff or flexible by applying pressure or vacuum. To advance, the inner tube becomes rigid, and the outer, flexible tube slides over it to a new position. A user steers and moves the system, and a computer coordinates the stiffening and flexing of the tubes.