Patent ID: 9427143
Filing Date: 2016-08-30
CPC Classification: A61B,A61M,F16L

Claim Text:
1. A method of generating self-propelled motion along a lumen, comprising: providing a set of serially arranged inflatable chambers, adjacent chambers being connected by at least one connecting port providing fluid communication between said adjacent chambers, at least one of said inflatable chambers having characteristics selected to provide, subsequent to its initial inflation and prior to its anchoring on a wall of said lumen, a non-monotonous relationship between the inflation pressure within said at least one chamber and its inflated size; inserting at least a portion of said set of serially arranged inflatable chambers into said lumen; and filling said set of serially arranged inflatable chambers through a fluid supply tube attached to an end chamber of said set of serially arranged inflatable chambers, wherein said at least one connecting port is configured to have predetermined fluid flow dynamics such that combination of said predetermined fluid flow dynamics and said characteristics causes the chambers of said set of serially arranged inflatable chambers to inflate sequentially, resulting in self-propelled motion along said lumen.