Patent ID: 7699771

Claim:
A method for navigating a self-propelling catheter system for exploring a body cavity, comprising: inserting a distal end of a self-propelling catheter into the body cavity, wherein the catheter comprises a distal end, a proximal end opposite the distal end, a propulsion section and a steering section; steering the catheter by pointing a distal end of the steering section in a desired direction, wherein the steering section is disposed substantially adjacent the distal end of the catheter and comprises a distal end closest to the distal end of the catheter, and a proximal end opposite the distal end and closest to an operator of the catheter; and propelling the catheter by pulling the catheter through the body cavity by slidably moving a plurality of gripping members relative to the catheter between a first axial position and a second axial position, said gripping members independently being disposed on an outer surface of the catheter and being adapted for selectively gripping tissue of an inner portion of the cavity, wherein the plurality of gripping members comprises at least one first inflatable balloon and at least one second inflatable balloon.