| 摘要 |
A flexible steerable device comprising a plurality of interconnected segment s configured to pivot relative to each other, each of the plurality of segment s having a cavity disposed therein. The device also includes a flexible tube disposed within t he cavities of the plurality of segments. The flexible tube includes at least one rigidizing chamber having fusible material disposed therein, wherein upon varying temperature of the fusible material, the fusible material shifts between a first state in which the flexible steerable device is flexible and a second state in which the flexible steerable device is rigidized.
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