05662587 is referenced by 311 patents and cites 23 patents.

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. Medical instruments and sensors can also be placed in the rear or middle segments.

Title
Robotic endoscopy
Application Number
945806
Publication Number
5662587
Application Date
August 16, 1994
Publication Date
September 2, 1997
Inventor
Andrew Brett Slatkin
Pasadena
CA, US
Joel W Burdick IV
Pasadena
CA, US
Warren Scott Grundfest
Los Angeles
CA, US
Agent
Lyon & Lyon
Assignee
California Institute of Technology
CA, US
Cedars Sinai Medical Center
CA, US
IPC
A61B 1/04
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