CPC G01M 15/02 (2013.01) | 19 Claims |
1. A non-destructive testing device, comprising:
a tubular housing including a proximal end and a distal end, including:
a conduit section arranged at the proximal end; and
a bendable articulation section secured to the conduit section and arranged at the distal end, wherein the bendable articulation section includes a bendable neck covered in a non-porous material and a plurality of wobble washers configured to maintain a shape of the bended articulation section; and
a plurality of actuation systems, each actuation system including:
a control cable extending along the tubular housing within a sheath extending along the conduit section, the control cable arranged at a respective circumferential position within the bendable articulation section; and
an actuator disposed at the proximal end of the tubular housing and secured to the control cable, and
a force sensor configured to measure a tension of each control cable;
wherein each control cable of the plurality of actuation systems extends within channels formed between an outer wall and an inner wall of the bendable articulation section.
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