Patent ID: 7736300

Claim:
A propulsion apparatus for transport of at least one accessory device within a body cavity or canal, section of pipe, lumen, or other generally tubular space or environment, the apparatus comprising: a toroid, the toroid including an enclosed ring comprising a flexible material, the enclosed ring defining a central cavity and having an interior volume, the enclosed ring presenting an exterior surface and an interior surface which move in opposite directions when the apparatus is in motion; a frame including a support structure located within the interior volume of the enclosed ring, and a housing structure substantially concentrically and substantially coaxially located relative to the support structure and disposed substantially in the central cavity of the enclosed ring; at least one interlocking member located in association with each of the support and housing structures, the flexible material of the enclosed ring being positioned at least partially between the interlocking members of the two structures; and a worm gear located at least partially within the housing structure, the worm gear, when powered, configured to impart a motive drive force to the flexible material of the enclosed ring via the at least one interlocking member of the housing structure.