Robotic endoscopy

A robotic endoscope comprising:

• a first traction module;
• an extensor module attached to the first traction module, within a plurality of inflatable balloons circumferentially arranged with the extensor module;
• a second traction module attached to the extensor module;
• a traction surface on the outside of each of the traction modules;
• and
• means for moving the traction surface outwardly from the traction modules to engage a lumen around the traction modules.

A robotic endoscope comprising:

• a first traction module;
• an extensor module attached to the first traction module and having means for increasing and decreasing its length;
• a second traction module attached to the extensor module;
• the first and second traction modules each having at least two oar-like protuberances pivotably attached thereto;
• each oar-like protuberance having a traction surface for engaging a lumen;
• means for pivoting the oar-like protuberances.

An endoscope comprising:

• a plurality of modules linked together, with at least one of the modules including:
• a central core;
• a multiplicity of inflatable sacs circumferentially located around the central core;
• and
• a balloon overlying the central core and inflatable sacs.

A robotic endoscope comprising:

• a first traction module;
• an extensor module attached to the first traction module;
• a second traction module attached to the extensor module;
• traction surfaces on the first and second traction modules;
• the traction modules having means for moving their traction surfaces outwardly to engage a lumen around the module;
• the extensor module including a bellows forming the outside surface of the extensor module, and forming a central chamber and a spring within the bellows extending laterally entirely across the central chamber.

An endoscope comprising:

• a plurality of modules linked together, with at least one of the modules including:
• a module body;
• a balloon around the outside of the module body;
• a high pressure valve in the module body, positioned between a high pressure source line extending through the module body, and the balloon;
• and
• a low pressure valve in the module body, positioned between a low pressure source line extending through the module body, and the balloon.

An endoscope comprising:

• first and second traction modules;
• an extensor module attached to the first and second traction module, the extensor module having means for increasing and decreasing its length;
• and
• bow wires on the traction modules, the bow wires displaceable from a relaxed position generally alongside the traction module, to an extended position wherein the bow wires are bowed out in arc.

A robotic endoscope comprising:

• a first traction module having a traction surface;
• an extensor module attached to the first module and having means for increasing and decreasing its length;
• a second traction module having a traction surface and attached to the extensor module;
• the traction modules having means for moving their traction surfaces outwardly to engage a lumen;
• and
• an outer sheath substantially continuously overlying and covering the traction modules and the extensor module.