Microrobotic unit for propulsion movement and positioning in organic cavities

A microrobotic unit for propulsion movement and positioning in organic cavities, comprising:

• a front spreadable module and a rear spreadable module,
• each spreadable module having at least one outer balloon envelope the volume of which expands at least partially when the supply medium is supplied, a surface structure being provided on the outside of the balloon envelope and, in the expanded state, the balloon envelope to be anchored in the surrounding tissue;
• a pushing module which is arranged between the two spreadable modules and connected to them, wherein
• he pushing module has a bellows structure which causes an axial expansion of the pushing module when the supply medium is supplied and an axial contraction of the pushing module when the supply medium is removed, wherein the bellows structure has an outer, axially extending support structure to prevent or limit a change in its dimensions in the radial direction;
• a supply connection which is axially connected to the rear spreadable module and serves to supply at least one supply medium;
• wherein the surface structure of the balloon envelope has a plurality of domes which can be expanded in the radial direction of the balloon envelope and on which bristles are formed which can also be expanded in the radial direction of the balloon envelope;
• the axially extending support structure of the bellows structure is shaped like a plurality of toggle lever structures arranged in a row.