Flexible power transmission for a robotic pull endoscope

A robotic endoscope system comprising:

• a central drive shaft comprising a first toothed gear and in mechanical communication with a flexible rotary shaft wherein rotation of the flexible rotary shaft corresponds to rotation of the central drive shaft and the first toothed gear in a first rotational direction;
• a first parallel drive shaft comprising a second toothed gear in mechanical communication with the first toothed gear, wherein rotation of the first toothed gear in the first direction corresponds to a rotation of the first parallel drive shaft in a second rotational direction;
• and
• a second parallel drive shaft comprising a third toothed gear in mechanical communication with the first toothed gear, wherein rotation of the first toothed gear in the first direction corresponds to a rotation of the second parallel drive shaft in the rotational second direction;
• wherein the first parallel drive shaft and the second parallel drive shaft each further comprising a double worm section comprising a first screw section and a second screw section, wherein a spiraling component of the first screw section is different than a spiraling component of the second screw section;
• and
• wherein the rotation of the first parallel drive shaft in the second rotational direction causes rotation of a first continuous track assembly and rotation of a second continuous track assembly.