Abstract: Diagnostic capsules, a variety of diagnostic capsule delivery systems for delivering a diagnostic capsule into an animal or human body cavity (e.g., into an animal or human bladder through a urethra), a variety of diagnostic capsule retrieval systems, a variety of kits that include diagnostic capsule delivery and retrieval systems and diagnostic capsules, and methods of using the same are described herein.

Abstract: A method for visualizing the interior of a bodily passageway comprising providing a visualization system comprising a tube, visualization apparatus disposed within the tube, and a deformable helical thread disposed on the exterior surface of the tube, the deformable helical thread being transformable between a first configuration wherein the deformable helical thread comprises a reduced profile and/or a reduced rigidity and a second configuration wherein the deformable helical thread comprises an expanded profile and/or increased rigidity; inserting the visualization system into the bodily passageway at a location remote from the site which is to be visualized, with the deformable helical thread being in its second configuration; rotating the tube so as to induce relative movement between the passageway and the tube, whereby to move the visualization apparatus and the site which is to be visualized closer together; and using the visualization apparatus to visualize the interior of the passageway.

Abstract: To provide a tool for safely and reliably securing a route for endermically approaching the interior of the body; more specifically, an endoscope-equipped puncture balloon that is designed to allow a balloon that does not immediately burst when punctured by a puncturing needle or the like to be used as a target, and that can be used by installing or inserting an endoscope in a tube holding such balloon. In a thin-walled main body tube 1 equipped with an endoscope-installed section at the rear end, a balloon 2 is disposed on the front surface thereof, and a branch tube 4 communicating with the interior of the balloon 2 in a gas-liquid flow manner is disposed on the main body tube 1, the branch tube 4 having a connector 5 annexed to the rear end thereof; thus it is not until the liquid in the balloon is absorbed without the balloon immediately bursting when punctured by a puncturing needle that a bore can be secured until the balloon is contracted.

Abstract: An endoscope system includes an overtube (2) and an endoscope (1), where the overtube (2) is equipped with a shape-holding section (2b) capable of shape-holding and relaxing, a balloon (2a) provided at the distal end of the shape-holding section (2b) to fix the overtube (2) to a body cavity, and an endoscope passage hole (13) serving as a conduit through which the endoscope (1) is passed and the endoscope (1) is equipped with a shape-holding section (1b) capable of shape-holding and relaxing and a balloon (1a) provided at the distal end of the shape-holding section (1b) to fix the endoscope (1) to the body cavity. When one of the endoscope (1) and overtube (2) is inserted, the shape-holding section of the other shape-holds, and the body cavity is pulled with the balloon (1a) inflated, making it possible to reduce insertion length.

Abstract: Axial visualization systems which utilize axially aligned imaging instruments for visualizing through an imaging hood purged of blood via a transparent fluid are described where an imaging element extending from a support shaft may be aligned within a working lumen defined through a deployment catheter. The imaging element may be positioned distal to the hood in its collapsed state and within the hood in its expanded state. The imaging element may be configured to seat itself securely within the catheter or to angle itself to adjust the viewing angle. Additionally, a disposable visualization sheath having a transparent lens may also be utilized to house an imaging instrument therein.

Abstract: A removable, resilient atraumatic sheath for arthroscopic instruments. The sheath covers sharp edges on the arthroscopic instrument, particularly the distal tip of the rigid cannula, and thereby protects tissue and objects near a surgical site from accidental trauma. The sheath may be provided in the form of an inflow/outflow sheath that allows a surgeon to irrigate and drain a surgical field without the use of a separate irrigation instrument.

Abstract: Laparoscopic instruments and cannulas are provided for performing laparoscopic procedures entirely through the umbilicus. Generally S-shaped laparoscopic instruments placed through the C-shaped trocar sleeves or through the cannula and instrument holder unit provide markedly improved degrees of instruments' freedom during trans-umbilical laparoscopic procedures.

Abstract: A catheter including a tube having at least one lumen, at least one elongate element, the at least one elongate element having a bendable portion at a predetermined bendable portion location therealong forward of a distal end of the tube and at least one selectably inflatable balloon communicating with at least one of the at least one lumen, the at least one selectably inflatable balloon having a forward end and a rearward end, the rearward end of the balloon being located rearwardly of the predetermined bendable portion location.

Abstract: An insertion assisting device 60 has an insertion path 70 into which an insertion portion 12 of an endoscope 100 is inserted and has a substantially tubular shape. The insertion assisting device 60 includes a ventilation opening 90 that is formed on a distal-end surface or outer circumferential surface thereof, a ventilation duct 74 that communicates with the opening 90 and is different from the insertion path 70, and a liquid reservoir tank 116 that is connected to a base-end side of the duct 74 and stores liquid flowing out of the duct 74.

Abstract: A speculum assembly includes a tubular shaped housing having a first open end, a second end open and a peripheral wall extending between the first and second ends. A tubular shaped bladder has an open forward end, an open rear end and a perimeter wall extending between the forward and rear ends. The rear end is attached to and is coextensive with the second end so that the bladder extends forward of the second end of the housing. The bladder is inflatable and flares outwardly from the rear end to the forward end when the bladder is inflate. A pump apparatus is fluidly coupled to the bladder. The pump apparatus is adapted for inflating the bladder so that the bladder extends outwardly away from the housing. A sleeve is mounted to the housing and covers the bladder when the bladder is deflated.

Abstract: A dilator may include a substantially conical body having a tip portion at a proximal end and a base portion at a distal end thereof. A wire lock portion may be configured to lock a guide wire to the dilator. A voice prosthesis holding portion may be connected to the substantially conical body by a connecting portion. The holding portion may have a central passage configured to have a tubular body of a voice prosthesis positioned therethrough, wherein at least one flange of the prosthesis is substantially unfolded proximally of the central passage.

Abstract: A minimal invasive neurosurgery assembly including a flush assembly having flush assembly main part with a central passage extending through the main part from the distal end to the proximal end along a longitudinal axis, and having at least one tool insertion assembly. The tool insertion assembly may include a tool handling part that is detachably connectable to the flush assembly main part and that has at least one tool insertion channel that extends from the distal end to the proximal end of the tool handling part. The tool insertion assembly may also include an inner sheath that is connected to the tool handling part and has an inner sheath wall and at least one lumen extending parallel to the longitudinal axis and in which an associated one of the at least one tool insertion channel emanates. The inner sheath may be insertable through the central passage of the flush assembly main part.

Abstract: An endoscopic device for autonomous locomotion through a selected body cavity in a predetermined direction, the device comprising a hollowed, cylindrical body that extends between two, preferably, the front and rear, end portions, respectively. The body is made of a relatively elastic material and includes an anchor for temporarily and alternately attaching the end portions to a wall portion of the body cavity in synch with corresponding axial extensions and contractions of the body. The body incorporates a reinforcement structure distributed along its length that is substantially rigid in a radial direction and yields in an axial direction, the structure specifically comprising either a plurality of relatively rigid rings or at least one helical spring.

Abstract: Propellable apparatus, assemblies and related methods including a self-enclosed member are disclosed. The self-enclosed member can include an inner surface at least partially defining an enclosed region, and an outer surface that turns outwardly to engage a cavity or lumen wall in addition to turning inward to at least partially encompass a central region defining a longitudinal path. The apparatus can include an internal drive mechanism engageable with the outer surface of the self-enclosed member to provide relative movement between the self-enclosed member and the cavity or lumen wall. A tapered member, positioned on the apparatus adjacent an end of the self-enclosed member, can provide a size transition between an outer surface portion of the self-enclosed member and an outer surface of a payload insertable within the central region. In some examples, one or more reinforcing members can be integrated within the self-enclosed member for increased durability and rotational use.

Abstract: An endoscope support device is provided. The device includes a sleeve extending along a longitudinal axis between a first end and a second end. The sleeve includes an inner surface defining a passageway configured for disposal of an endoscope. An end surface of the distal end is spaced from external surroundings by a wall that defines the end surface. A center piece is disposed within the passageway. The center piece includes a first end that engages the end wall and an inner surface defining a lumen configured for disposal of an optical probe. The center piece is positioned within the passageway such that the lumen of the center piece is aligned with a lumen of the endoscope and the probe extends through the lumens. Systems, kits and methods are also provided.

Abstract: Embodiments of the invention are directed to a medical device and methods of immobilizing and retrieving material from a body. The medical device, in an embodiment, includes an elongated member having a length extending from a distal end to a proximal end, and the elongated member having a first lumen and a second lumen. The medical device further includes a first tube and a second tube extending through the first lumen and the second lumen, respectively, from the proximal end of the elongated member to the distal end of the elongated member. An expandable member is fluidly coupled to a distal portion of each of the first tube and the second tube. The first tube, the second tube, and the expandable member are axially movable relative to the elongated member, and the expandable member is configured for deployment between a collapsed configuration and an expanded configuration.

Abstract: Operability in inserting an insertion part of an endoscope into a body cavity using an insertion assisting tool is improved. In an insertion assisting tool, a sidewall portion of a tube main body through which an insertion part of an endoscope is passed is provided with a sidewall opening part having a size in which the insertion part can pass through. A distal end side of the sidewall opening part is provided with a guiding valve, and the insertion part is guided by the guiding valve to be easily fed from the sidewall opening part. The guiding valve is swingably supported, and when the insertion part is fed from a distal end opening part of the tube main body, allowing the parallel state of being substantially parallel to an axial direction of the insertion part and passing the insertion part to a distal end opening part side are enabled.

Abstract: An access system includes a proximal handle, an overtube coupled to the handle, and an endoscope port extending through handle and overtube sized for receiving an endoscope therethrough. The overtube includes anatomic wall securing system that secures a distal portion of the overtube within a hole in the anatomic wall. The overtube is provided with a shaped distal portion or a controllably shapeable distal portion that aids in directing an endoscope inserted through the port to a particular location within the peritoneal cavity. The access system includes a system for insufflating/deflating the peritoneal space separately from the body cavity accessible via a natural orifice. The access system includes a closure system to cinch closed the hole made in the anatomical wall after the access system has been removed from the hole. Methods are provided for inserting the access system through the anatomical wall to perform intra-abdominal surgery.

Abstract: The present application is directed to a colonoscope closure device. The colonoscope closure device includes an inner tubular member that defines an entry way sized to accommodate a colonoscope, an intermediate tubular member surrounding the inner tubular member, and an expandable sealing member at least partially surrounding the intermediate tubular member. The colonoscope closure device serves to prevent the escape of air during a colonoscopy procedure.

Abstract: A vacuum system is described for endoscopic intracavity, intraluminal or intracorporeal vacuum therapy, for aspirating body fluids, wound secretions or gases from a hollow volume, such as a body cavity, a hollow organ, a tissue abscess or an intestinal lumen, particularly in the production of a temporary endoscopic closure of an intestinal lumen. Based on this, many embodiments of an endoscopy arrangement are described.

Abstract: A probe apparatus adapted for movement through a lumen, comprising: a linearly extendible and retractable element adapted for selective extension and retraction to provide the movement; a front balloon positioned forward of the linearly extendible and retractable element and adapted for selective inflation and deflation; a rear balloon positioned backward of the linearly extendible and retractable element and adapted for selective inflation and deflation; and, a twisting element adapted to twist at least one of the linearly extendible and retractable element, front balloon and rear balloon during inflation and deflation of the advancement balloon.

Abstract: Gastrointestinal apparatus (10) is provided, including a guiding element (16) and an inflatable mechanical device (96), adapted to pull the guiding element (16) through a colon of a patient. A gastrointestinal tool (12) is shaped to define a bore (14) therethrough, and the guiding element (16) is adapted to pass through the bore (14). Other embodiments are also described.

Abstract: A method of transluminal surgery is provided, which utilizes an endoscopic surgery apparatus having pivotable arms attached by hinges on its distal end. The arms are interchangeable with arms of various configurations. The method includes the steps of inserting an endoscopic surgery apparatus into a body cavity of a patient, making an incision in the body cavity wall to allow access to the patient's abdominal cavity, and further inserting the apparatus through the incision. Surgery is performed at the desired surgical site and the apparatus is withdrawn into the body cavity where the incision is closed. Finally, the apparatus is withdrawn from the patient's body.

Abstract: Propellable apparatus, assemblies and related methods including a self-enclosed member are disclosed. The self-enclosed member can include an inner surface at least partially defining an enclosed region, and an outer surface that turns outwardly to engage a cavity or lumen wall in addition to turning inward to at least partially encompass a central region defining a longitudinal path. The apparatus can include an internal drive mechanism engageable with the outer surface of the self-enclosed member to provide relative movement between the self-enclosed member and the cavity or lumen wall. A tapered member, positioned on the apparatus adjacent an end of the self-enclosed member, can provide a size transition between an outer surface portion of the self-enclosed member and an outer surface of a payload insertable within the central region. In some examples, one or more reinforcing members can be integrated within the self-enclosed member for increased durability and rotational use.

Abstract: Propellable apparatus, assemblies and related methods including a self-enclosed member are disclosed. The self-enclosed member can include an inner surface at least partially defining an enclosed region, and an outer surface that turns outwardly to engage a cavity or lumen wall in addition to turning inward to at least partially encompass a central region defining a longitudinal path. The apparatus can include an internal drive mechanism engageable with the outer surface of the self-enclosed member to provide relative movement between the self-enclosed member and the cavity or lumen wall. A tapered member, positioned on the apparatus adjacent an end of the self-enclosed member, can provide a size transition between an outer surface portion of the self-enclosed member and an outer surface of a payload insertable within the central region. In some examples, one or more reinforcing members can be integrated within the self-enclosed member for increased durability and rotational use.

Abstract: A propellable apparatus comprises one or more rotatable membranes. The rotatable membranes include an inner surface at least partially defining an encircled region and a continuous outer surface that turns outward to engage a cavity or lumen wall, for example, and turns inward to at least partially encompass a central region defining a longitudinal path. The membranes are powerable to provide movement relative to the cavity or lumen wall. The apparatus further comprises an inflatable and deflatable support structure, configured to bias the outer surface of the membranes outward to engage the cavity or lumen wall at a first outer diameter, and be deformable inward in response to a compressive force or operator command to provide a second outer diameter that is less than the first outer diameter. In some examples, the rotatable membranes include belt-like membranes, and the inflatable and deflatable support structure includes at least one impermeable bladder.

Abstract: Medical devices have material that that has a laser induced periodic surface structure (LIPSS) pattern on at least a portion thereof. The LIPSS pattern is provided by exposing a material surface to a pulsed polarized laser energy fluence below the ablation threshold. The LIPSS pattern is useful for purposes such as reducing contact areas on sliding surfaces, increasing total surface area for adhesions, providing anisotropic reinforcement of a material layer or layers, and to provide multiple channels for directing cell growth.

Abstract: A medical retainer is provided capable of independently controlling supplying air and water to a hollow organ like a stomach and a lumen of a small intestine. The medical retainer for sealing a fluid, the retainer being subject to be retained in a gastrointestinal tract of a patient, the medical retainer includes: a sealing section for sealing the fluid, the sealing section making contact with a wall of the gastrointestinal tract; a main body having passageways; and directional valves disposed in the passageways for allowing one of upward flow and downward flow of the fluid relative to the position of the retainer.

Abstract: A flexible conduit for insertion into a body lumen comprises a plurality of elements coupled end to end to define a conduit lumen. A first one of the elements includes a male portion and a female portion. A second element includes a female portion having an inner surface configured to engage a male portion of an outer surface of the first element to form a first ball joint. A third element includes a male portion, an outer surface of the male portion of the third element configured to engage an inner surface of the female portion of the first element to form a second ball joint. The male and female portions of the first element are adapted to fictionally engage the female portion of the second element and the male portion of the third element to establish a rigid connection therebetween.

Abstract: An endoscope system includes: an endoscope including an elongated insertion portion provided with a bendable bending portion, the insertion portion being inserted into a duodenum; and a first balloon to a fourth balloon for moving a one-side surface of a distal end portion located nearer to a distal end side than the bending portion in the insertion portion in parallel with respect to a field of view direction S of an objective lens which is a diameter direction of the insertion portion, separately from bending of the bending portion, the one-side surface being located in a circumferential direction along an insertion direction W of the insertion portion and parallel to a central axis P of the insertion portion.

Abstract: Instruments, systems, implants, and methods are provided for performing submucosal medical procedures in a desired area of the digestive tract using endoscopy. Instruments include a safe access needle injection instrument, a submucosal tunneling instrument, a submucosal dissection instrument, and a mucosal resection device. A submucosal implant device for diagnosing and treating disorders of the body may be implanted. A passive submucosal implant device may take the form of a drug delivery depot in which a therapeutic agent within the depot elutes from the depot according to a predetermined elution profile. An active submucosal implant device may take the form of a drug delivery device that incorporates a self-contained diagnostic system to determine the appropriate delivery time and dosage of a therapeutic agent to be administered.

Abstract: To provide a guide tube equipped with a balloon for puncture, devised to ensure a deeper level of puncture when the balloon is punctured with a puncture needle, in order to safely and reliably ensure a route for percutaneous approach to the inside of the body.

Abstract: An enhanced flexibility auxiliary endoscope assembly for use with an endoscope, the assembly including at least one flexible elongate element and a flexible sleeve having a first lumen for accommodating a distal portion of an endoscope capable of assuming at least a first curvature and a second lumen for accommodating the at least one flexible elongate element, the second lumen being configured to allow the at least one flexible elongate element to assume the at least first curvature as well as at least a second curvature about the first curvature, thereby to enhance flexibility of the auxiliary endoscope assembly.

Abstract: The present invention provides a balloon unit for an endoscope apparatus comprising: a balloon for an endoscope apparatus having an opening formed in a cylindrical shape in which an insert part of an endoscope or an insert supporter having the insert part inserted therein is inserted and fixed; and a cylinder body having an inner diameter larger than an outer diameter of the insert part or the insert supporter; wherein the opening of the balloon is fitted over and fixed to the cylinder body to form a unit and the unit is attached to the insert part or the insert supporter or detached from the insert part or the insert supporter.

Abstract: A system for minimizing leakage of fluid distending media by the sides of the endoscopic instrument in endoscopic procedures such as arthroscopy, hysteroscopy or laparoscopy. A double-wall flexible tubular sheath having walls containing pressurized fluid is mounted over an endoscopic instrument. The double-wall flexible tubular sheath moves in and out of a natural opening of a tissue cavity or through an incision made in the cavity wall.

Abstract: An endoscopic overtube assembly comprises: an inflatable overtube; and a subassembly configured for insertion into an orifice of a patient, said subassembly defining a central passageway, and said subassembly including an internal cassette for receiving and securing the inflatable overtube, wherein the internal cassette of said subassembly can be manipulated from a closed position to an open position in which the inflatable overtube can be readily extended and deployed from said subassembly. The inflatable overtube travels with the endoscopic device. Once appropriately positioned, the inflatable overtube is detached from the endoscopic device and inflated to become a substantially rigid conduit defining an instrument channel that provides ready access to a particular body cavity.

Abstract: Apparatus and methods for locating morphological features within a body cavity using a catheter including proximal and distal ends, a transparent balloon carried on the distal end, and an optical imaging assembly carried on the distal end for imaging through the balloon. The balloon includes a channel extending therethrough to a lumen extending through the catheter. A guidewire or other localization member is received in the lumen that is extendable through the channel. During use, the catheter is inserted into a right atrium of a heart, and the balloon is expanded and placed against the wall of the heart to locate the coronary sinus. Sufficient force is applied to clear blood between the surface and the wall and clear the field of view of the imaging assembly. The catheter is manipulated to locate the coronary sinus, whereupon the localization member is advanced into the coronary sinus.

Abstract: An anchored working channel includes an elongated shaft with a proximal end and a distal end, and at least one inflatable balloon positioned at the distal end of the elongated shaft and having an outer wall having an outer surface for contacting surrounding tissue, wherein the elongated shaft has a first lumen through which fluid is supplied to inflate the at least one inflatable balloon such that the balloon anchors the shaft to surrounding tissue, wherein the elongated shaft has a second lumen that accommodates at least one medical instrument and/or device inserted therein, and wherein the outer surface of the at least one inflatable balloon comprises a textured surface for preventing slippage of the outer surface on surrounding tissue.

Abstract: Apparatus for use in a body lumen is provided including an introducer tube configured to be advanced into a gastrointestinal tract of a subject. A guide member is coupled to a distal end of the introducer tube and is configured to be mounted in a vicinity of a valve of the subject. The apparatus also includes a capsule removably coupled to a distal portion of the introducer tube, and configured to be decoupled from the introducer tube and propelled through a small intestine of the subject once the guide member has been mounted in the vicinity of the valve. The apparatus also includes a gas supply configured to propel the capsule distally through the small intestine by generating positive gas pressure proximal to the capsule. Other embodiments are also described.

Abstract: A reusable temperature sensing probe assembly comprises a temperature sensor strip extending from one end of a handle. The temperature sensor strip carries at least one temperature sensor for measuring temperature within a body cavity of a person, such as the rectum. The handle/temperature sensor strip is reversibly positionable within a unitary balloon/sleeve assembly comprised of a balloon portion and a sleeve portion. The balloon portion is comprised of a first interior space configured to hold the temperature sensor stip and a second interior space separate from the first interior space that is configured for inflation. An inflation tube has one portion sealed within the second interior space of the balloon portion and a second portion which extends through the sleeve portion for connection to a fluid source.

Abstract: An endoscope includes: an insert portion having a bending portion for bending operation and a flexible soft portion connected to the proximal end of the bending portion; an inflatable/deflatable balloon attached on the proximal side from the bending portion; and a supplying/sucking opening provided in the outer surface of a ring that connects the bending portion to the soft portion, the supplying/sucking opening supplying and sucking fluid to and from the balloon.

Abstract: An endoscopic insertion aid includes a tube member, a pipeline and a plurality of balloons. The tube member allows an insertion section of an endoscope to be inserted therethrough, and guides the longitudinal movement of the insertion section. The pipeline is provided in the tube member, and communicates with a supply/discharge unit to supply a fluid to or discharge the fluid from the distal end of the tube member. The balloons are disposed on the outer periphery of the distal end of the tube member longitudinally along the tube member, communicate with the pipeline, and inflate/deflate in accordance with the supply/discharge of the fluid via the pipeline. The balloon disposed on the distal side of the tube member is inflated to have an outside diameter larger than that of the balloon disposed closer to the proximal side than the balloon disposed on the distal side when the balloons are inflated.

Abstract: A self propelled, endoscopic apparatus formed of a flexible, fluid-filled toroid and a motorized or powerable frame. The apparatus may be used to advance a variety of accessory devices into generally tubular spaces and environments for medical and non-medical applications. The apparatus when inserted into a tubular space or environment, such as the colon of a patient undergoing a colonoscopy, is advanced by the motion of the toroid. The toroid's surface circulates around itself in a continuous motion from inside its central cavity along its central axis to the outside where its surface travels in the opposite direction until it again rotates into its central cavity. As the device advances within the varying sizes, shapes and contours of body lumens, the toroid compresses and expands to accommodate and navigate the environment. The motion of the toroid can be powered or unpowered and the direction and speed may be controlled.

Abstract: A thin sheath of flexible, flaccid material is introduced through openings in the body of an animal or human patient to permit surgical tools or fluids to be inserted and removed, or debris removed, during surgeries anywhere in the body to protect the tissue of the body from the instruments used. The sheath is inserted by an obturator which holds the sheath thereon by suction through an aperture in the obturator at its distal end. Once the sheath is inserted, suction is removed to release the sheath. Then a balloon on the distal end of the sheath is expanded to hold the sheath in place in the body while the obturator is removed. The sheath then remains in place with the balloon holding the distal end in the open position to enable fluids to flow through the sheath. After a procedure, the balloon is deflated and the sheath removed.

Abstract: A surgical device including a seal anchor that includes leading and trailing portions. A plurality of ports longitudinally extends between the leading and trailing portions. The ports are adapted and configured to receive surgical objects therein. At least one of the surgical objects is a viewing instrument including a viewing portion. During a surgical procedure, surgical objects inserted in the other ports are selectively positionable with respect to the viewing instrument.

Abstract: A method of producing a balloon of a balloon catheter includes the following method steps: providing a balloon body coupled to a proximal sleeve and a distal sleeve by transitional sections extending between the balloon body and the sleeves; creating folds in at least the distal sleeve; and stabilizing at least a distal section of the folds of the distal sleeve.

Abstract: There is provided an endoscopic system. The system comprises a flexible endoscope insertable into a first tubular organ from a natural opening of a human body. The system further comprises an opening member which forms on a wall part of the first tubular organ an opening used to insert the endoscope into an abdominal cavity from the first tubular organ in the body, an anastomosing member which is able to anastomoses the first tubular organ with a second tubular organ in the abdominal cavity, and a cutting member with which the second tubular organ is able to be cut.

Abstract: Methods and devices for diagnosing, monitoring, and/or treating tissue through an opening or port through an airway wall are provided herein.

Abstract: An apparatus is presented for use with a biologically-compatible-fluid pressure source.

Abstract: A self-propelled robotic device moves through bodily and other passageways by inflating regions of an overlying bladder along the length of the robotic device in a sequence that imparts motion to the device. The regions of the overlying bladder are inflated by energizing a plurality of coils, which are surrounded by a ferrofluid, in a sequence. The ferrofluid responds to the magnetic field created by an energized coil by creating a bulge in the side wall of the overlying bladder.