Patent ID: 8876703

Claim:
A rotary self-propelled apparatus for introducing visualization apparatus within a luminal cavity, the visualization apparatus having an imager configured to visualize an interior surface of the luminal cavity, the rotary self-propelled apparatus comprising: an outer shaft having a distal end and a proximal end, a longitudinal axis extending between the distal end and the proximal end, a lumen being configured to receive the visualization apparatus along the longitudinal axis such that when the outer shaft receives the visualization apparatus, the imager of the visualization apparatus will be disposed in a distal position to the distal end of the outer shaft, the outer shaft being configured to form a helical configuration along the longitudinal axis at least partly on an outer surface of the outer shaft; a torque transmitting member disposed within the outer shaft, the torque transmitting member comprising an inner shaft extending from a proximal side of the outer shaft to a distal end portion of the outer shaft along the longitudinal axis; and a first power drive unit for generating a power, wherein the inner shaft is configured to receive the power so as to result in a rotational motion of the inner shaft, wherein the inner shaft transmits the rotational motion from the proximal side of the outer shaft to the distal end portion of the outer shaft so as to rotate the distal end portion around the longitudinal axis.