An axial support structure for a flexible elongate device may comprise a plurality of rigid links coupled by pin joints. Each of the plurality of rigid links may comprise a shaft, a pair of male joint connectors, and a pair of female joint connectors. Each male joint connector may comprise a male tab including an inner surface coplanar with an inner surface of the shaft and extending axially from a first end of the shaft. Each of the male joint connectors may include a pin extending radially. Each female joint connector may comprise a female tab having an outer surface coplanar with an outer surface of the shaft and extending axially from a second end of the shaft. The pair of female joint connectors may be rotated by 90 degrees relative to the pair of male joint connectors. Each female tab may define an aperture.