Patent ID: 6764441
Filing Date: 2004-07-20
Classification: A61B

Abstract:
A self-propelled endoscopic device configured for locomotion through a cavity having a substrate contacted by the device, comprising:(a) a flexible conduit having a longitudinal dimension along its length, a lateral dimension at any point along the conduit length that is substantially perpendicular to the longitudinal dimension at that point, and an outer wall; and (b) a propulsive unit having a maximum laterally-extending gripping surface, the propulsive unit including: (i) a first inflatable actuator formed from a first substantially fluid-impermeable bladder, the first bladder: having a first end in a fixed longitudinal position on the conduit, having a second end opposing the first end, the second end being slidably attached to the conduit and longitudinally movable along the outer wall, and being configured to grip the substrate by longitudinally contracting while laterally expanding during propulsion of the device, and (ii) a second actuator formed from a second substantially fluid-impermeable bladder, the second bladder: having a first end slidably attached to the conduit and longitudinally movable along the outer wall, the first end having at least one point in a substantially fixed position relative to a point on the second end of the first bladder, having a second end opposing the first end of the second bladder, the second end being slidably attached to the conduit and longitudinally movable along the outer wall, and being configured to grip the substrate by longitudinally contracting while laterally expanding during propulsion of the device, wherein the maximum laterally-extending gripping surface is formable by lateral expansion of at least one of the first and second actuators.