Patent ID: 9265582
Filing Date: 2016-02-23
CPC Classification: A61B

Claim Text:
1. A robot system for moving along an organ in a loosely bounded body cavity comprising: a robot configured to move along an organ surface, the organ surface being covered by a loosely bound material, said robot including a prehension device on only a first side of the robot, at least first and second body sections interconnected by an interconnection device such that the body sections are configured to undergo relative movement; a streamlined shell covering a second side of each body section that is opposite the first side of the robot having the prehension device and not covering the first side of the robot, wherein the streamlined shell is configured to prevent interaction with the loosely bound material during movement of the body sections; and a control system configured to control said robot, wherein the prehension device comprises a first suction pad associated with the first body section and a second suction pad associated with the second body section, the first and second suction pads being under operative control of the control system to enable selective attachment of the respective body section to the organ surface and to control lateral movement of the first body section relative to the second body section in order to steer the robot in at least three different selectable directions across the organ surface.