Patent ID: 8568298

Claim:
A propellable apparatus comprising: a self-enclosed member configured to fit within and partially engage a cavity or lumen wall, the self-enclosed member including: an inner surface at least partially defining an enclosed region, and an outer surface that turns outwardly to engage the cavity or lumen wall in addition to turning inward to at least partially encompass a central region defining a longitudinal path; an internal drive mechanism engageable with the outer surface of the self-enclosed member, thereby providing relative movement between the self-enclosed member and the cavity or lumen wall such that the propellable apparatus travels in the cavity or lumen wall; and one or more wiper members including an edge in contact with the outer surface of the self-enclosed member, wherein the propellable apparatus is attached at a front-end tip portion of an endoscope, wherein the front-end tip portion is inserted into the propellable apparatus, wherein the one or more wiper members are different from the self-enclosed member, and wherein at least one edge of the one or more wiper members is in contact with the outer surface of the self-enclosed member.