Patent ID: 8550986

Claim:
A propellable apparatus comprising: one or more rotatable membranes, sized and shaped to fit within and engage a cavity or lumen wall, the one or more rotatable membranes comprising an inner surface at least partially defining an encircled region and a continuous outer surface that turns outward to engage the cavity or lumen wall and turns inward to at least partially encompass a central region, wherein the one or more rotatable membranes are powerable to provide movement relative to the cavity or lumen wall in at least one of a forward or reverse direction; an inflatable and deflatable support structure disposed within the encircled region, the support structure configured to inflate and bias the continuous outer surface of at least one rotatable membrane outward to engage the cavity or lumen wall at a first outer diameter, and configured to deform inward, through deflation, to provide a second outer diameter that is less than the first outer diameter; an inflation and deflation tubing used to inflate and deflate the inflatable and deflatable support structure; and a frame including a drive support structure located within the encircled region and a housing structure located within the central region, wherein the inflatable and deflatable support structure does not evert while the one or more rotatable membranes are being revolved about the drive support structure and is coupled, at least in part, to an outer surface portion of the drive support structure.