Robotic endoscopy

Details Robotic endoscopy Robotic endoscopy

1992-09-16

1994-08-16

Apley, Richard J.

Surgery

Truss

Perineal

604 95, A61B 100

Patent

active

053377320

ABSTRACT:
A robot for performing endoscopic procedures includes a plurality of segments attached to each other through an articulated joint. Actuators can move the segments together and apart and change their angular orientation to allow the robot to move in an inchworm or snake-like fashion through a cavity or lumen within a patient. Inflatable balloons around the segments inflate to brace a temporarily stationary segment against the lumen walls while other segments move. A compressed gas line attached to the back segment provides compressed gas to inflate the balloons and optionally to drive the actuators. The lead segment includes a television camera and biopsy arm or other sensors and surgical instruments.

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