Lumen network inspection robot

Abstract

A lumen network inspection robot includes at least two drive wheels configured to propel the robot in an axial direction of the lumen. At least one control wheel is configured to control roll of the robot around an axial centerline of the lumen. One or more motors are arranged to drive the at least two drive wheels. A body structure includes one or more arms supporting the at least two drive wheels and the at least one control wheel. Bias elements bias the at least two drive wheels and the at least one control wheel toward contact with at least three alternating points on a wall of the lumen. Control electronics are configured to control the one or more motors. The robot includes one or more sensors. Rotational centers of the at least two drive wheels and the at least one control wheel lie in a common plane.

Dependencies are inferred from the claim text.