Endoscopic systems, devices, and methods for performing in vivo procedures

An endoscopic system, the endoscopic system comprising:

• a first main body, the first main body being an elongated body, the first main body including:
• a first end, the first end of the first main body located at a distal end of the first main body;
• a plurality of movement control cavities for the first main body, including a first movement control cavity and a second movement control cavity, the first movement control cavity controllable so as to cause the first end of the first main body to bend in a first direction, the second movement control cavity controllable so as to cause the first end of the first main body to bend in a second direction different from the first direction;
• a first anchor assembly at the first end of the first main body, the first anchor assembly including:
• a first expandable member secured to the first main body, the first expandable member configurable to expand radially away from the first main body;
• a second expandable member secured to the first main body, the second expandable member configurable to expand radially away from the first main body;
• and
• a first negative pressure opening provided on the first main body between the first expandable member and the second expandable member, the first negative pressure opening configurable to apply a negative pressure;
• and
• wherein the first expandable member, the second expandable member, and the first negative pressure opening are configured to cooperate to sufficiently anchor the first main body to an interior wall forming a colonic lumen so as to withstand a force of at least 0.1 N when the first and second expandable members are expanded radially away from the first main body and the first negative pressure opening applies a negative pressure;
• a second main body, the second main body being an elongated body having a main cavity, the main cavity housing at least a portion of the first main body and not housing at least a portion of the first end of the first main body, the second main body including:
• a first end, the first end of the second main body located at a distal end of the second main body;
• a plurality of movement control cavities for the second main body, including a third movement control cavity and a fourth movement control cavity, the third movement control cavity controllable so as to cause the first end of the second main body to bend in a third direction, the fourth movement control cavity controllable so as to cause the first end of the second main body to bend in a fourth direction different from the third direction, wherein the bending of the first end of the second main body is controllable independently from the bending of the first end of the first main body;
• a second anchor assembly at the first end of the second main body, the second anchor assembly including:
• a third expandable member secured to the second main body, the third expandable member configurable to expand radially away from the second main body;
• and
• a second negative pressure opening provided on the second main body, the second negative pressure opening configurable to apply a negative pressure, wherein the third expandable member is positioned between the second negative pressure opening and a most distal portion of the first end of the second main body;
• and
• a head assembly, the head assembly including:
• a first end portion and second end portion opposite to the first end portion of the head assembly, at least a portion of the first end portion of the head assembly housed within and adjacent the first end of the first main body, wherein a length of the head assembly is between about 10-100 mm. wherein the head assembly is configurable to bend in a plurality of directions, wherein the bending of the portion of the head assembly is controllable independently from the bending of the first end of the first main body.

An endoscopic system, the endoscopic system comprising:

• a first main body, the first main body being an elongated body, the first main body including:
• a first end, the first end of the first main body located at a distal end of the first main body;
• a plurality of movement control cavities for the first main body, including a first movement control cavity and a second movement control cavity, the first movement control cavity controllable so as to cause the first end of the first main body to bend in a first direction, the second movement control cavity controllable so as to cause the first end of the first main body to bend in a second direction different from the first direction;
• a first anchor assembly at the first end of the first main body, the first anchor assembly including:
• a first expandable member secured to the first main body, the first expandable member configurable to expand radially away from the first main body;
• a second expandable member secured to the first main body, the second expandable member configurable to expand radially away from the first main body;
• and
• a first negative pressure opening provided on the first main body between the first expandable member and the second expandable member, the first negative pressure opening configurable to apply a negative pressure;
• wherein the first expandable member, the second expandable member, and the first negative pressure opening are configured to cooperate to sufficiently anchor the first main body to an interior wall forming a colonic lumen so as to withstand a force of at least 0.1 N when the first and second expandable members are expanded radially away from the first main body and the first negative pressure opening applies a negative pressure:
• a second main body, the second main body being an elongated body having a main cavity, the main cavity housing at least a portion of the first main body and not housing at least a portion of the first end of the first main body, the second main body including:
• a first end, the first end of the second main body located at a distal end of the second main body, wherein at least a portion of the first end of the second main body is controllable to bend in a plurality of directions, wherein the bending of the first end of the second main body is controllable independently from the bending of the first end of the first main body;
• and
• a second anchor assembly at the first end of the second main body, the second anchor assembly including:
• a second third expandable member secured to the second main body, the second third expandable member configurable to expand radially away from the second main body;
• and
• a second negative pressure opening provided on the second main body, the second negative pressure opening configurable to apply a negative pressure, wherein the second third expandable member is positioned between the second negative pressure opening and a most distal portion of the first end of the second main body;
• and
• a head assembly, the head assembly being an elongated body, the head assembly including:
• a first end, the first end of the head assembly located at a distal end of the head assembly, at least a portion of the first end of the head assembly housed within and adjacent the first end of the first main body, wherein at least a portion of the first end of the head assembly is controllable to bend in a plurality of directions, wherein a length of the head assembly is between about 10-100 mm.