Patent ID: 6162171
Filing Date: 2000-12-19
Classification: A61B

Abstract:
A robotic endoscope for performing endoscopic procedures in a tubular organ comprising:(a) a plurality of segments, connected together by a plurality of flexible articulated joints, having a distal end;(b) a plurality of flexible linear actuators attached circumferentially around each segment, each of said linear actuators including a portion that is extendible and retractable along a longitudinal axis of that linear actuator, wherein the longitudinal axis of each linear actuator is skewed sideways with respect to the longitudinal axis and diametrical axis of each respective segment;(c) a central cavity running longitudinally through said robotic endoscope which houses a plurality of optical fibers, a water/air hose, an instrumentation channel and a plurality of electrical wires associated with an imaging means being mounted at the distal end; and(d) a network of tributary channels for the distribution of pressure to said linear actuators.