Patent ID: 8602973

Claim:
A system for exploring a body cavity, the system comprising: a flexible catheter having a length extending from a distal end for introduction in the cavity to a proximal end opposite the distal end; a channel within the catheter, adapted for guiding a medical tool along the length of the catheter; a propulsion section of the catheter disposed adjacent the distal end, adapted for pulling the catheter through the cavity, wherein the propulsion section comprises: a distal gripper portion attached to the catheter at an axial position that is fixed relative to the distal end of the catheter, wherein the distal gripper portion is adapted for selectively gripping by suction and releasing tissue of an inner portion of the cavity; and a proximal gripper portion attached to the catheter at an axial position disposed further from the distal end than the distal gripper portion, and fixed relative to the proximal end of the catheter, wherein the proximal gripper portion is adapted for selectively gripping by suction and releasing the tissue of the cavity; wherein each of the proximal and distal gripper portions comprises a suction ring having an outer surface defining a plurality of suction holes, the suction ring extending circumferentially around the catheter; wherein each suction ring comprises at least one perforated sector comprising the suction holes and at least one non-perforated sector; and wherein at least one suction ring includes a perforated sector that is recessed relative to the outer surface of the suction ring; and a steering section of the catheter disposed adjacent the distal end, wherein the steering section is configured to extend and contract axially so as to move, adapted for pointing the distal end in a desired direction.