Patent ID: 8517923

Claim:
A system for performing a treatment of a condition related to an electrophysiological indication within a peritoneal cavity or a thoracic cavity of a body, comprising: a system for detecting electrophysiological activity within the peritoneal cavity or thoracic cavity and localizing a position of a relative peak of the detected electrophysiological activity; a system for providing imaging of a portion of the body related to the electrophysiological indication within the peritoneal cavity or the thoracic cavity; and a steerable medical device comprising a segmented endoscope having a steerable distal end and a controllable proximal end, the proximal end comprising a plurality of segments individually and automatically under the control of a computer controller that is in communication with, and configured to receive information from, the system for detecting and localizing and the system for providing imaging, wherein in response to the received information the computer controller automatically controls the controllable proximal end within the peritoneal cavity or the thoracic cavity to minimize contact between the plurality of segments and tissue unrelated to the electrophysiological indication within the peritoneal cavity or the thoracic cavity.