Abstract: The present invention provides a medical device including: an insertion part having a longitudinal axis; a first balloon and a second balloon attached to the insertion part; and a fluid supply path through which a fluid is supplied to the first balloon and the second balloon. The first balloon can be expanded and contracted and is movable in the longitudinal-axis direction. The second balloon can be expanded and contracted and is disposed closer to a distal end side than the first balloon is. One end of the second balloon is fixed to the distal end of the insertion part, and the other end of the second balloon is fixed to the first balloon. The fluid supply path has a connecting flow path communicating between the first balloon and an inner space of the second balloon. The second balloon is expanded after the first balloon is expanded, by supplying the fluid.

Abstract: A device for performing surgical procedures, such as intracardiac procedures or neurosurgical procedures, includes a solid optical window formed of a transparent, compliant material, wherein the solid optical window includes a proximal side and a distal side, wherein a distal face of the solid optical window is configured to approach tissue during a surgical procedure; an imaging system embedded into the solid optical window and positioned to obtain an image through at least a portion of the distal face of the solid optical window; and a tool channel formed through the solid optical window from the proximal side to the distal side of the solid optical window, wherein the tool channel is configured to receive a tool for performing the surgical procedure.

Abstract: Embodiments of the present invention provide a method of treating a stricture in a nonvascular body lumen such as urethral strictures, benign prostatic hyperplasia (BPH) strictures, ureteral strictures, esophageal strictures, sinus strictures, and biliary tract strictures. Embodiments of the present invention provide a method for treating at least one of benign prostatic hyperplasia (BPH), prostate cancer, asthma, and chronic obstructive pulmonary disease (COPD). The method can include delivering, for example, via drug coated balloon catheters, anti-inflammatory and anti-proliferative drugs (e.g., rapamycin, paclitaxel, and their analogues) and one or more additives.

Abstract: In some embodiments, a system for optical tissue interrogation comprises a catheter having a plurality of electrodes disposed in an array at a distal end of the catheter, the plurality of electrodes being configured to deliver ablation energy to tissue; and one or more optical fibers extending through the catheter to deliver light from a light source to the tissue and to deliver optical information comprising nicotinamide adenine dinucleotide hydrogen (NADH) fluorescence from the tissue to a sensor, wherein each electrode of the plurality of electrodes is associated with at least one of the one or more optical fibers.

Abstract: A system for performing minimally invasive procedures in a working space within a body lumen of a patient including a flexible catheter configured to receive a working instrument therethrough. The flexible catheter has a working space expanding system positioned at the distal portion, the working space expanding system including first and second flexible elements movable from a non-expanded insertion position to an expanded position forming an expanded region to expand the working space within the body. The first and second flexible elements are connected at a distal region by a coupling structure. A stabilizing member stabilizes the distal portion of the flexible catheter.

Abstract: The present invention provides a robotic locomotive device (1) that is capable of driving itself forwards and backwards, anchoring and steering itself whilst inside a tubular structure (200), for example, the human colon, or any structure comprising two opposing walls (202, 204). In this respect, the device is made up of two or three segments (102, 104, 106) covered in an elastic material and driven by an internal actuating mechanism. All of the segments (102, 104, 106) have a concertina configuration that enable a shortening and lengthening motion. As well as contracting and extending in length, at least one of the end segments (102, 106) is capable of bending at an angle away from the longitudinal axis such that it becomes wedged or jammed between the walls (202, 204) of the tubular structure (200). That is, the end segments (102, 106) are capable of both a bending action and a contracting and extending action.

Abstract: An endoscope distal end portion includes: an imaging unit including an imaging element configured to capture a subject image, and a reinforcement frame made of metal, the reinforcement frame being configured to hold the imaging element; a distal end frame including an insulating member and having a through-hole through which the imaging unit is inserted; a conductive exterior member having a distal end side connected to a proximal end side of the distal end frame and a proximal end side connected to a ground of an external device; and a conductive member including an electroconductive member, one end thereof being electrically and mechanically connected to the reinforcement frame, a part thereof being electrically connected to the exterior member.

Abstract: One aspect of the present disclosure relates to an endoscope for facilitating a medical procedure by creating an anatomic space in or adjacent a target bodily tissue to be imaged. The endoscope can comprise a flexible, elongate tubular member defining a central lumen and an expandable dissecting member coupled to a distal end of the tubular member. The tubular member can further include at least one imaging channel extending longitudinally therethrough. The at least one imaging channel can include a visualization system for conveying an image from the distal end of the tubular member to a user. The expandable dissecting member can define a channel in fluid communication with the central lumen of the tubular member. The expandable dissecting member can extend beyond the distal end of the tubular member.

Abstract: A robotic arm is inserted into a passage of a part to be examined. Operator instructions defining a tip motion for a tip of the robotic arm, sensor readings, and an environmental map are received. The operator instructions, the environmental map and sensor readings are applied to a previously trained machine learning model to produce control signals. The control signals to an actuator on the arm to control a movement of the robotic arm allowing the robotic arm to automatically gain traction in the passage and automatically move according to the movement.

Abstract: A system for treating uterine tissue comprises an elongated shaft having a proximal end, a distal end, and a longitudinal axis extending between said proximal and distal ends. An energy applicator at the distal end of the elongated shaft is actuatable between a non-expanded shape to be inserted through a patient's cervical canal and an expanded shape to conform to the walls of the patient's uterus. A handle is coupled to a proximal end of the elongated shaft. The handle may include first and second moveable grips coupled to actuate the energy applicator with an upper spring and a lower spring disposed to urge the first and second moveable grips to move apart. An inflatable seal may be located at a distal end of the elongated shaft with a thermally insulating sleeve disposed over the elongated shaft proximal to the inflatable seal.

Abstract: Various embodiments disclosed relate to drug-coated balloon catheters for treating strictures in body lumens and methods of using the same. A drug-coated balloon catheter for delivering a therapeutic agent to a target site of a body lumen stricture includes an elongated balloon having a main diameter. The balloon catheter includes a coating layer overlying an exterior surface of the balloon. The coating layer includes one or more water-soluble additives and an initial drug load of a therapeutic agent.

Abstract: Various embodiments disclosed relate to drug-coated balloon catheters for treating, preventing, or reducing the recurrence of a stricture and/or cancer, or for treating benign prostatic hyperplasia (BPH), in a non-vascular body lumen and methods of using the same. A drug-coated balloon catheter for delivering a therapeutic agent to a target site of a body lumen stricture includes an elongated balloon having a main diameter. The balloon catheter includes a coating layer overlying an exterior surface of the balloon. The coating layer includes one or more water-soluble additives and an initial drug load of a therapeutic agent. In some embodiments, the balloon catheter includes a length-control mechanism which stretches and elongates the balloon when it is in a deflated state, giving the balloon a smaller cross-sectional deflated profile for tracking through the body lumen and for removal after treatment.

Abstract: Devices and methods of use for an endoscopic accessory device that can be assembled and advanced over an endoscope positioned at a site within the body, the endoscopic accessory device including a body structure having seam structures on opposite sides of an elongate body structure, where the seam structures can be releasably joined to transform the body structure from a planar configuration to a tubular configuration.

Abstract: The devices and methods can prevent pulmonary aspiration thereby allowing for procedures, such as an endoscopic procedure, to be performed under sedation without general anesthesia. The device may include a first end, a second end, and a length therebetween. The body may have a central lumen along the length. The device may include a first base member fixedly disposed at the first end and a second base member fixedly disposed at the second end. The device may also include an expandable assembly movable along the length of the body with respect to the first base member. The expandable assembly may be configured to move between a collapsed configuration and an expanded configuration. The expandable assembly may also be configured to expand radially with respect to the body when in the expanded configuration.

Abstract: In some embodiments, endoscopy systems and/or methods of using endoscopy systems are described. In some embodiments, an endoscopy system comprises a shaft having an image sensor within a distal tip of the shaft. The shaft can have an expandable cuff disposed on an outer surface of the shaft. The expandable cuff can be moved from a contracted configuration to a deployed configuration. In the deployed configuration, an outer surface of the expandable cuff can inhibit, reduce, or prevent fluid (e.g., blood) flow in the vessel. Inhibiting or preventing the fluid flow can permit direct visualization of the interior of the vessel by the image sensor without interference from the fluid.

Abstract: A tissue visualization system comprises a flexible elongate shaft through which a lumen extends. The system also comprises a pliable visualization device coupled to a distal portion of the flexible elongate shaft. The pliable visualization device includes a chamber configured to receive a fluid. The system also comprises a piercing instrument configured to extend through the lumen and to penetrate a surface of the pliable visualization device.

Abstract: An overtube system configured to introduce an endoscope into a body, includes a tubular main body formed to be insertable for the endoscope; a balloon attached to an cuter circumferential surface of the main body; a driver configured to inflate and deflate the balloon; and a controller configured to control the driver, wherein the controller is configured to: generate an operation signal for the driver, calculate a relative rotation state between the main body and the endoscope around a longitudinal axis of the endoscope, generate a correction operation signal by correcting the operation signal according to the relative rotation state, and transmit the correction operation signal to the driver to operate the driver.

Abstract: Mobile robot for inspecting a turbomachine comprising at least a measuring device and a body including an assembly of at least three rigid segments each having two opposite longitudinal ends, the longitudinal ends of each segment being equipped with a hinge including a ball joint, each ball joint comprising a motorized wheel mounted therearound, the measuring device being mounted on a ball joint located at one end of the body.

Abstract: An endoscope can comprise a proximal section, an insertion section extending longitudinally from the proximal section and comprising an elongate tubular body disposed along an insertion section longitudinal axis and a lumen extending through the elongate tubular body, and a distal section extending from the insertion section and comprising an elevator portion comprising an elevator configured to position and orient one or more endotherapy tools extending from the lumen, and a camera module comprising an illumination unit and an imaging unit. The camera module can be positioned longitudinally spaced apart from the elevator portion in an in-line configuration, such that the insertion tube longitudinal axis passes through the elevator portion and the camera module. The camera module can be user-detachable from the elevator portion. The camera module can be cleaned and sanitized for reuse and the insertion section can be disposable.

Abstract: A medical probe includes a shaft, a camera, a hollow cutting tool, and an inflatable balloon. The shaft is configured for insertion through a cut in a body of a patient, whereas the shaft includes a working vacuum channel running therethrough. The camera is fitted at a distal end of the shaft and is configured to provide images of a target tissue site in the body. The hollow cutting tool is for insertion over a guidewire in the working vacuum channel of the shaft, whereas the hollow cutting tool is configured to pierce the target tissue site under guidance of images taken by the camera. The inflatable balloon is configured to stabilize the distal end of the shaft, whereas the inflatable balloon is located proximally to the camera so as not to obstruct the images of the target tissue site.

Abstract: The present disclosure provides an apparatus for intracranial drug injection including a body unit having a through-hole extending between a first opening in a topmost surface and a second opening in a bottommost surface, a cap unit having a shape corresponding to at least a part of an inner surface of the through-hole and being inserted into the first opening to cover the first opening, and a tube unit having one end coupled to the second opening and another end extending toward an affected brain lesion.

Abstract: A front end of an endoscope includes both a lens and an image sensor. There is provided a guide wire hole. The endoscope is easily inserted along a guide wire while a diameter is reduced in the front end in an insertion direction. The endoscope includes a lens which is disposed in the front end in the insertion direction, and receives incident imaging light, an image sensor disposed in a rear portion of the lens, and on which an image of the imaging light is formed, a holder which covers the lens and the image sensor, and having the guide wire hole through which the guide wire penetrates, and a flexible tubular sheath connected to a rear end portion of the holder, and into which a cable conductively connected to the image sensor is inserted.

Abstract: A catheter that comprises a catheter configured for housing at least a portion of a catheter configured for insertion into a body lumen in proximity of a targeted anatomical site and having an imager at a distal end thereof and an adjustable chamber configured for covering the imager. The catheter is configured for introducing a wave conductive medium to the adjustable chamber to increase wave conductivity between the targeted anatomical site and the imager.

Abstract: Disclosed herein are improved methods and apparatuses for providing hemostasis within a cavity defined by an internal surface of a bleeding tissue space. A catheter comprising a proximal end and a distal end may be advanced into the cavity through a proximal opening of the tissue space into the cavity. A distal balloon coupled to the catheter may be positioned adjacent a distal opening of the tissue space, and expanded to seal the distal opening. A hemostatic agent may be applied from the catheter to the internal surface of the tissue space to inhibit bleeding of the tissue space. The hemostatic agent may be applied without occluding the proximal opening, the distal opening, and a path extending therebetween with the hemostatic agent.

Abstract: The disclosure relates to an actuation unit (16) for a medical instrument (10) and to a medical instrument (10) with a shaft (12) which extends between a proximal end (20) and a distal end (22), wherein the instrument (10) is designed at the distal end (22) to receive an end effector (14), an actuation unit (16, 216) which is assigned to the proximal end of the shaft (12), and which has a plurality of drives (50, 52, 54, 56), and with at least two control trains (100, 102, 104, 106, 108, 110, 112, 114) which extend through the shaft (12), wherein the at least two control trains (100, 102, 104, 106, 108, 110, 112, 114) can be used for controlling at least one degree of freedom of the instrument, in particular for deflecting the end effector (14), wherein the at least two control trains (100, 102, 104, 106, 108, 110, 112, 114) comprise a first control train (100, 104, 108, 112) and a second control train (102, 106, 110, 114), and wherein the first control train (100, 104, 108, 112) is coupled to a first carrier

Abstract: One or more sensors are incorporated onto one or more of an implantable device and a surgical tool used for placement and/or adjustment of the implantable device. The implantable device includes an adjustable membrane element for controllable coaptation of a body lumen, such as coaptation of a urethra as treatment for urinary incontinence. In various embodiments, the one or more sensors can be configured to detect information indicative of at least one of a shape of the adjustable membrane element, a position of the adjustable membrane element relative to the body lumen, or a shape of the body lumen.

Abstract: Embodiments of the present invention provide a method of treating a stricture in a nonvascular body lumen such as urethral strictures, benign prostatic hyperplasia (BPH) strictures, ureteral strictures, esophageal strictures, sinus strictures, and biliary tract strictures. Embodiments of the present invention provide a method for treating at least one of benign prostatic hyperplasia (BPH), prostate cancer, asthma, and chronic obstructive pulmonary disease (COPD). The method can include delivering, for example, via drug coated balloon catheters, anti-inflammatory and anti-proliferative drugs (e.g., rapamycin, paclitaxel, and their analogues) and one or more additives.

Abstract: Various embodiments disclosed relate to drug-coated balloon catheters for treating strictures in body lumens and methods of using the same. A drug-coated balloon catheter for delivering a therapeutic agent to a target site of a body lumen stricture includes an elongated balloon having a main diameter. The balloon catheter includes a coating layer overlying an exterior surface of the balloon. The coating layer includes one or more water-soluble additives and an initial drug load of a therapeutic agent.

Abstract: Various embodiments disclosed relate to drug-coated balloon catheters for treating strictures in body lumens and methods of using the same. A drug-coated balloon catheter for delivering a therapeutic agent to a target site of a body lumen stricture includes an elongated balloon having a main diameter. The balloon catheter includes a coating layer overlying an exterior surface of the balloon. The coating layer includes one or more water-soluble additives and an initial drug load of a therapeutic agent.

Abstract: A balloon catheter is disclosed, which is capable of improving accuracy of an inspection result of a tube wall of an elongated member constituting a catheter shaft and achieving further improved product quality through the inspection, and a method of manufacturing an elongated member for a balloon catheter, which is used for the balloon catheter. In an outer tube of a balloon catheter, distal from a proximal end of a guide wire lumen is formed of a transparent material. From a distal end toward a proximal end, an inner tube of the balloon catheter has at least a first region and a second region, the second region being a transparent region that is more transparent than the first region.

Abstract: A dilation instrument includes a body, a dilation catheter, a guide member, and a force sensor. The dilation catheter has an expandable dilator. The guide member extends distally from the body and is configured to guide movement of the expandable dilator. The force sensor is operatively connected to the guide member and is configured to sense a force imparted against the guide member for monitoring engagement with an anatomy of a patient.

Abstract: Example embodiments relate to endoscopic systems. The system includes an outer assembly and main assembly. The outer assembly may include proximal and distal ends and outer anchor assembly. The outer anchor assembly may include a first expandable member and first outer pressure opening. The first expandable member may expand radially outwards. The main assembly may include proximal and distal ends and a navigation assembly. The navigation assembly may include an instrument, second expandable member, bendable section, extendible section, and first pressure opening. The extendible section may include proximal and distal ends. The proximal end of the extendible section may be secured in position relative to the distal end of the outer assembly. The extendible section may be configurable to extend and contract. The first main pressure opening may be configurable to apply a negative pressure.

Abstract: Provided is an alimentary engagement device that may be used for certain medical procedures such as colonoscopies and endoscopies. The alimentary engagement device includes a conduit that is fitted over a medical instrument such as a colonoscope or an endoscope as it is inserted within a body cavity. On the outer surface of the conduit is a balloon which may be expanded to engage the walls within the interior of the cavity. The interior of the conduit includes a seal which has an aperture for allowing a medical instrument to pass through.

Abstract: An endoscope of the invention includes: an insertion portion; a distal end portion; a pair of first observation image acquiring sections; a second observation image acquiring section; a pair of nozzles, each of which includes a spouting port for spouting fluid toward each of the pair of first observation image acquiring sections; a pair of first protruding portions, each of which is located close to the front surface of the distal end portion and has a maximum dimension in the radial direction larger than a dimension in the radial direction of each of the nozzles, and a pair of second protruding portions, each of which is located farther from the front surface of the distal end portion and has a maximum dimension in the radial direction larger than the dimension in the radial direction of each of the nozzles.

Abstract: A method of inhibiting flow of a purging fluid from a device comprises positioning an imaging hood in proximity to a tissue region to be visualized. The imaging hood includes a distal membrane which defines a main aperture. The imaging hood and the distal membrane define an open area. The method also comprises introducing the purging fluid into a proximal portion of the open area. The proximal portion is bounded by a proximal membrane including a plurality of apertures. The method also comprises pressurizing the proximal membrane with the purging fluid to a partially extended state in which the purging fluid flows through the plurality of apertures and through the main aperture. The method also comprises pressurizing the proximal membrane with the purging fluid to a blocking extended state in which the proximal membrane obstructs the main aperture to block the flow of the purging fluid through the main aperture.

Abstract: A flexible tube insertion apparatus includes an insertion section including a bending portion and a flexible tube portion, variable stiffness sections which causes a change in a level of a bending stiffness of the flexible tube portion, a variable stiffness control section which controls the change in the bending stiffness of the flexible tube portion by the variable stiffness sections, an image sensor which images a subject in a forward direction of the bending portion, a cavity detection section which detects a presence of a cavity in the forward direction based on an image from the image sensor, and a time setting section that sets a time period. The bending stiffness is switched each time period set by the time setting section when the cavity detection section has detected the presence of the cavity in the forward direction.

Abstract: A direct visualization catheter includes an elongate shaft defining a lumen and having a distal end portion and a proximal end portion and a transparent balloon attached to the distal end portion of the shaft. The balloon includes a first layer comprising a thermoset polymer and a plurality of polymeric fibers at least partially embedded in the thermoset polymer and a second layer disposed on the first layer and comprising a hydrogel.

Abstract: The present invention relates to a trans-platform apparatus including a main platform and an operating device. The trans-platform apparatus of the present invention has the advantage of performing complex and various operations by inserting a maximum number/size of operating devices through a minimal number of openings within an operating space. In addition, since the trans-platform apparatus of the present invention does not use an additional connecting member for a spin shaft, the configuration thereof is further simplified, the operation thereof is easier, and power can be efficiently transmitted to an operating means. The trans-platform apparatus of the present invention is applicable to various fields including medical devices, and an engine room or a device for operating the inside of a radiator.

Abstract: The overtube includes a slider within an overtube body, which guides an endoscope and a treatment tool into a body cavity. An endoscope-coupled part and a treatment tool-coupled part are provided inside the slider, and the slider has a dead zone where the forward and backward movement of either the endoscope or the treatment tool does not interlock with the movement of the other and a sensing zone where the forward and backward movement of either the endoscope or the treatment tool interlocks with the movement of the other. A contact surface of the overtube body with a body wall is constituted of a wall surface member that serves as a rotation-preventing wall surface for preventing rotation in a rotational direction with an axial direction of the overtube body as a center.

Abstract: A system and method are disclosed for coating surfaces of expandable medical devices with composite coatings. Coatings are composed of various materials including, e.g., polymers and drugs. Transfer of the coatings within a patient or other host forms a drug-eluting coating that delivers time-released drugs over time for treatment of a medical condition.

Abstract: A method of treatment comprises intravascularly securing an anchor extending from an anchor member at least partially within a vessel lumen such that blood flows unobstructed through or past the anchor. While the anchor is secured, a distance of the anchor member, between the anchor and a barrier or membrane projecting distally from a deployment catheter, is adjusted such that an open area defined by the barrier or membrane is placed against or adjacent to a portion of a patient tissue. Adjusting the distance of the anchor member comprises moving the deployment catheter distally with respect to the anchor member. The method also comprises displacing blood with a transparent fluid from the open area, and while the anchor is secured, articulating the barrier or membrane circumferentially around the anchor. The method also includes treating the tissue while visualizing through the transparent fluid.

Abstract: Methods related to delivery of various heart valve implants are described. The implant may be delivered using an ultrasound imaging delivery system. The ultrasound imaging delivery system may be used to deliver a variety of different devices, including mitral valve reshaping devices, mitral valve replacement valves, and others. A deployment catheter carrying an implant having a tissue anchor is advanced to a deployment site in a heart. An imaging element is positioned adjacent the implant and a relationship between the tissue anchor and an anatomical landmark in the heart is visualized. The implant is then attached by driving the tissue anchor into tissue in the heart.

Abstract: A method of inhibiting tissue migration comprises positioning an open area of a hood against or adjacent to a tissue region. The method also comprises displacing an opaque fluid with a transparent fluid from the open area. The method includes engaging a portion of the tissue region within the open area via an end effector advanced through the open area and which grasps onto the portion. The end effector includes a tapered section, tapered along its entire length, through which a lumen extends. The tapered section includes threads extending from a surface of the tapered section in a direction orthogonal to the longitudinal axis. The tissue region is pierced while displacing the opaque fluid with the transparent fluid through the distal opening of the hood and while maintaining engagement of the portion of the tissue region such that distal movement of the tissue is inhibited.

Abstract: A direct visualization catheter includes an elongate shaft defining a lumen and having a distal end portion and a proximal end portion and a transparent balloon attached to the distal end portion of the shaft. The balloon includes a first layer comprising a thermoset polymer and a plurality of polymeric fibers at least partially embedded in the thermoset polymer and a second layer disposed on the first layer and comprising a hydrogel.

Abstract: The present invention relates to an imaging apparatus comprising an elongated carrier adapted to be inserted through a proximal opening of a gastrointestinal (GI) tract lumen; a piston head, coupled to a distal portion of the carrier, and configured to: be inflated so as to form and maintain a pressure seal with a wall of the GI tract lumen, and be advanced distally through the GI tract in response to pressure from a fluid pressure source; a distal balloon coupled to the carrier distal to the piston head and configured and operable to be inflated so as to dilate the lumen thereby creating a working space; and a control unit, configured and operable to control simultaneously a pressure level within the piston head and a pressure level within the distal balloon.

Abstract: A direct visualization catheter includes an elongate shaft defining a lumen and having a distal end portion and a proximal end portion and a transparent balloon attached to the distal end portion of the shaft. The balloon includes a first layer comprising a thermoset polymer and a plurality of polymeric fibers at least partially embedded in the thermoset polymer and a second layer disposed on the first layer and comprising a hydrogel.

Abstract: An endoscopy capsule having an image collecting capacity includes a deformable member configured to inflate when exposed to body liquid. The deformable member includes an effervescent material. When the effervescent reacts with water the resulting Carbon-Dioxide gas reduces the specific gravity of the endoscopy capsule. The capsule is contained within a shell or dome when swallowed. The shell or dome is configured dissolve in either a low or high pH environment.

Abstract: A drug coated balloon catheter has a balloon and a drug coating covering the surface of the balloon; the drug coating comprises an active drug and a carrier; the active drug is paclitaxel, rapamycin, a paclitaxel derivative or rapamycin derivative; the carrier comprises an organic acid salt and polyalcohol; a mass ratio of the active drug to the carrier in the drug coating is 0.2 to 100, and a mass ratio of the organic acid salt to the polyalcohol is (0.2 to 5):1. The organic acid salt and the polyalcohol in the drug coating jointly take effect to prevent the premature release of drugs before the balloon catheter is positioned at a target site, and to promote the drugs being quickly released from the surface of the balloon and absorbed by the target tissue, thus reducing drug loss during transmission, and also having a better drug transfer effect.

Abstract: A method for sterilely recovering amniotic fluid is provided. The amniotic fluid is used for regenerative medicine purposes. The method utilizes a suction device that does not harm the infant.

Abstract: A self-propelled device for locomotion through a lumen, comprising a set of serially arranged inflatable chambers, the end ones of which expand at least radially when inflated. Connecting passages provide fluid communication between each pair of adjacent chambers. A fluid source is attached to one of the end chambers. The connecting passages are such that the fluid inflates the chambers in a sequence, beginning with the chamber closest to the source, and ending with the chamber furthest from the source. The same sequence occurs when the chambers deflate, beginning with the chamber closest to the source, and ending with the chamber furthest from the source. The fluid source can either be a fluid supply tube, extending to a supply outside the lumen, or it can be built-in and carried by the device. The device can crawl either along the lumen wall or on an inserted guide wire.