Abstract: A robot for performing endoscopic procedures in flexible and curved human or animal lumens. A plurality of segments are attached to each other. Traction segments embrace the lumen walls. Other segments include actuators that cause the endoscope to locally deform its shape via bending, extending, or some combination of bending and extension. A method is provided to sequence the action of the segments to cause inchworm-like or snake-like locomotion, or a combination of them through a curved and flexible lumen. The method of movement can be adapted to the lumen characteristics, or to obviate a component failure. A compressed gas line attached to the back segment provides compressed gas for insufflation of the lumen, and can optionally be used to drive the actuators that control the operation of the endoscope segments. The lead segment may include television cameras, ultrasound transducers, biopsy arms, drug delivery systems, or other sensors, diagnostic aids, therapeutic devices, and surgical tools.

Abstract: A robot for performing endoscopic procedures includes a plurality of segments attached to each other through an articulated joint. Actuators can move the segments together and apart and change their angular orientation to allow the robot to move in an inchworm or snake-like fashion through a cavity or lumen within a patient. Inflatable balloons around the segments inflate to brace a temporarily stationary segment against the lumen walls while other segments move. A compressed gas line attached to the back segment provides compressed gas to inflate the balloons and optionally to drive the actuators. The lead segment includes a television camera and biopsy arm or other sensors and surgical instruments.