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AssigneeKorea Institute of Science and Technology
InventorsLouis Phee Soo Jay, Alberto Arena, Arianna Menciassi, Paola Dario
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An endoscopic device for locomotion in a body cavity according to a prefixed advancing direction (A) comprising at least a variable length intermediate section (1a, 21a) extending between a front end section (1b, 21b) and a rear end section (1c, 21c). First and second clamping means (7, 12, 27, 32) are integral to the front and rear section, for alternately grasping respective surrounding portions of wall (P) of the body cavity. Sucking means (13, 14, 37, 38) are associated to the first and second clamping means for creating a depression sufficient to cause the body cavity wall portions to collapse within the first and second clamping means while they are in an open condition. Means for actuating alternate extensions and retractions of the intermediate section and actuating means (6, 11, 26, 31) of the first and second clamping means are further provides for synchronous operation to generate a forward motion of the rear end section due to a retraction of the intermediate section, the wall portion (P) surrounding the first clamping means being firmly held therebetween, and to generate a forward motion of the front end section due to an extension of the intermediate section, the wall portion (P) surrounding the second clamping means being firmly held therebetween.
An endoscopic device for locomotion in a body cavity according to a prefixed advancing direction (A) comprising at least a variable length intermediate section (1a,21a) extending between a front end section (1b, 21b) and a rear end section (1c, 21c) with respect to said direction and characterized in that it further comprises first and second clamping means (7,12,27,32) integral to said front end section and, respectively, said rear section, for alternately grasping respective surrounding portions of wall (P) of said body cavity, and sucking means (13,14,37,38) associated to said first and second clamping means for creating a depression sufficient to cause said body cavity wall portions to collapse within said first. and second clamping means while they are in an open condition, means for actuating alternate extensions and retractions of said intermediate section and actuating means (6,11,26,31) of said first and second clamping means being further provided for synchronous operation to generate a forward motion in said prefixed direction of said rear end section due to a retraction of said intermediate section, the wall portion (P) surrounding said first clamping means being firmly held therebetween, and to generate a forward motion of said front end section in the same direction due to an extension of said intermediate section, the wall portion (P) surrounding said second clamping means being firmly held therebetween.
The endoscopic device according to any one of clamis 1,3,4 or 5, wherein said front end section (21b) comprises a front head (25) and a stem (24) integral to said head axially extending through said variable length intermediate section (21a) and said rear end section (21c), at the free end of said stem a jaw (27b) of said first clamping means (27) being fixed, the other jaw (27a) being slidably mounted on said stem (24).
The endoscopic device according to any of the previous claims, wherein said sucking means comprise pneumatic conduits (13,14,37,38) formed within said stem (8,10,24) connected to a outside vacuum and compressed air source (50) and outflowing between the jaws of said clamping means (7,12,27,32), said outside source being selectively operated to provide compressed air to be blown between said jaws when they open.
The endoscopic device according to any one of the previous claims, wherein said intermediate section (1a, 21a) is formed by a flexible and elastic bellows body (2,22) definining a chamber (3,23) and said means for actuating alternate extensions and retractions of said intermediate section (1a, 21a) comprise a pneumatic conduit (40,46) formed in said stem (10,24) and communicating with said chamber (3,23) and said outside vacuum and compressed air source (50) respectively.
The endoscopic device according to any one of the previous claims, wherein said front end section (1b, 21b) is provided with means, for blowing compressed air in said body cavity to cause the surrounding wall thereof to spread apart during the forward motion, connected through a pneumatic conduit (43,47) to said outside source (50).
Method for the locomotion of an endoscopic device through a body cavity, by means of a succession of extensions and retractions of at least one variable length intermediate section (1a, 21a) in a prefixed direction (A) defining a front end section (1b, 21b) and a rear end section (1c, 21c) of said device, first and second clamping means (7,12,27,32) being associated to said front and, respectively, rear end section, said first and second clamping means being selectively operable from the outside synchronously to said extensions and retractions of said intermediate section, said method being characterized in that a pneumatic depression is selectively induced by suction in correspondance to one of said first (7,27) or second (12,32) clamping means in their open conditions, said depression being such that the surrounding wall portion (P) of said body cavity is caused to collapse within said clamping means, said clamping means being then closed to grasp said surrounding wall portion (P) and firmly hold one respective end section (1b,1c,21b,21c) thereto, thereby allowing the free movement of the other end section in the prefixed direction due to extensions and retractions of the intermediate section.
Dependencies are inferred from the claim text.