Titan Medical Inc (TMDIF)

[Bristol19]

The SPORT can move like a snake in that can bend and "twist". The Choset devive can extend/retract along its own path. SPORT does not and does not need to do that for its intended function at this time.

I seem to recall however something in the SPORT IP that suggests they could potentially do the expand/retract path thing. You need to control actuators between every link, not just exert differential tension in the snake from the tail actuators.
That is where there may be IP friction.
I'm also sure neither group were the first to think about it. Many mechanical engineers and robotics groups have thought about this idea and probably have patents of sorts. Think devices to inspect pipes and sewers. Think the cellar scene in the Tom Cruise "War of the Worlds" movie.