An articulated segmented instrument comprises an elongate body in the longitudinal direction with a plurality of interconnected links (11). Each link (11) has a central working channel (30) and comprises at least three angulation wire thru holes (22) to accommodate angulation wires to direct a distal tip segment of the instrument in a predetermined direction. Each link (11) comprises two radially opposite protrusions (15) and two opposite receptions (25) in the cylindrical sleeve opposite to the direction of the protrusions (15) and having pivot concave contact surfaces (28) complementary to convex pivot contact surfaces (18). The reception adjacent surface (26) of the cylindrical sleeve creates an articulating angle with the protrusion adjacent surface (16) of the cylindrical sleeve of the adjacent interconnected link (11) through inclination of at least one of the reception adjacent surface (26) or the protrusion adjacent surface (16) of the adjacent interconnected link (11) in the longitudinal direction towards the body of the interconnected link (11) or the adjacent interconnected link (11), respectively.
