Propulsion mechanism for endoscopic systems

A propulsion apparatus for transport of accessory devices, comprising:

• a toroid, the toroid being a fluid-filled, enclosed ring formed of a flexible material, the enclosed ring defining a central cavity, having an interior volume and presenting an exterior surface and an interior surface which move continuously in opposite directions when the apparatus is powered;
• a frame formed of a support structure located within the interior volume of the enclosed ring, a housing structure concentrically and coaxially located relative to the support structure and disposed in the central cavity of the enclosed ring;
• a series of at least two sets of interlocking rollers or skids located on the support and housing structures, the rollers or skids being located so as to maintain the two structures in a fixed spatial relationship with the flexible material of the enclosed ring being positioned between the two structures and the rollers or skids located thereon;
• an accessory tube, the tube having at least one pathway through which accessory devices can be inserted or connected to external supporting devices;
• at least one accessory device inserted through the accessory tube or connected through the accessory tube to at least one external supporting device;
• and
• a power source connected to the rollers which when the apparatus is powered provide a motive, directional force to the flexible material.

An endoscopic, medical procedure;

• comprising the steps of:
• introducing a self-propellable, endoscopic apparatus into the rectum and anal canal of a patient, the apparatus being equipped with at least one accessory device and connected to at least one external support device;
• powering the apparatus to propel the apparatus forward through the anal canal and into the colon up to a location in the colon at which at least one medical procedure is to be performed;
• performing the at least one medical procedure with the at least one accessory device, optionally, serially propelling the apparatus to another location in the colon at which the at least one medical procedure is to be performed and performing said at least one medical procedure;
• propelling the apparatus backward through the colon and into the anal canal;
• and
• removing the apparatus from the patient.

An endoscopic, medical procedure;

• comprising the steps of:
• introducing a self-propellable, endoscopic apparatus into the rectum and anal canal of a patient, the self-propellable endoscopic apparatus comprising:
• a toroid, the toroid being a fluid-filled, enclosed ring formed of a flexible material, the enclosed ring defining a central cavity and having an interior volume;
• a powered frame formed of a support structure located within the interior volume of the enclosed ring, a housing structure concentrically and coaxially located relative to the Support structure and disposed within the central cavity of the enclosed ring, a series of at least two sets of interlocking rollers or skids located on the support and housing structures, the rollers or skids being located so as to maintain the two structures in a fixed spatial relationship with the flexible material of the enclosed ring being positioned between the two structures and the rollers or skids located thereon, the rollers being connected to a power source and when powered providing a motive, directional force to the flexible material;
• and at least one accessory device and connected to at least one external support device;
• powering the apparatus to propel the apparatus forward through the anal canal and into the colon up to a location in the colon at which at least one medical procedure is to be performed;
• performing the at least one medical procedure with the at least one accessory device;
• optionally, serially propelling the apparatus to another location in the colon at which the at least one medical procedure is to be performed and performing said at least one medical procedure;
• propelling the apparatus backward through the colon and into the anal canal;
• and
• removing the apparatus from the patient.

An endoscopic procedure;

• comprising the steps of:
• introducing a self-propellable, endoscopic apparatus into the generally tubular space or environment, the apparatus being equipped with at least one accessory device and connected to at least one external support device;
• powering the apparatus to propel and navigate the apparatus forward in the tubular space to a location at which at least one endoscopic procedure is to be performed;
• performing the at least one endoscopic procedure with the at least one accessory device;
• optionally, serially propelling the apparatus to another location in the tubular space at which the at least one endoscopic procedure is to be performed and performing said at least one endoscopic procedure;
• propelling the apparatus backward through tubular space;
• and
• removing the apparatus from the tubular space.