Peristaltically Self-propelled endoscopic device
First Claim
Patent Images
1. A self-propelled endoscopic device, comprising:
- (a) a flexible conduit having a longitudinal dimension along its length, a lateral dimension at any point along the conduit length that is substantially perpendicular to the longitudinal dimension at that point, and an outer wall;
(b) a first inflatable actuator, the first inflatable actuator;
having a first end in a fixed longitudinal position on the conduit, having a second end opposing the first end, the second end being slidably attached to the conduit and longitudinally movable along the outer wall, and being configured to longitudinally contract while laterally expanding during propulsion of the device; and
(c) a second actuator, the second actuator;
having a first end slidably attached to the conduit and longitudinally movable along the outer wall, the first end having at least one point in a substantially fixed position relative to a point on the second end of the first actuator, having a second end opposing the first end of the second actuator, the second end being slidably attached to the conduit and longitudinally movable along the outer wall, and being configured to longitudinally contract while laterally expanding.
1 Assignment
0 Petitions
Accused Products
Abstract
Expandable actuators surround a central conduit. Each actuator comprises a bladder that, when fluid is introduced, expands laterally while contracting longitudinally. A restorative spring can be placed inside a bladder and between the two ends to restore the actuator to its original shape as fluid is withdrawn. Multiple actuators can be placed in series to successively inflate and deflate and generate a peristaltic motion. One or more Shape Memory Alloy (SMA) springs can be affixed to one or more restorative springs to cause bending motion.
-
Citations
35 Claims
-
1. A self-propelled endoscopic device, comprising:
-
(a) a flexible conduit having a longitudinal dimension along its length, a lateral dimension at any point along the conduit length that is substantially perpendicular to the longitudinal dimension at that point, and an outer wall;
(b) a first inflatable actuator, the first inflatable actuator;
having a first end in a fixed longitudinal position on the conduit, having a second end opposing the first end, the second end being slidably attached to the conduit and longitudinally movable along the outer wall, and being configured to longitudinally contract while laterally expanding during propulsion of the device; and
(c) a second actuator, the second actuator;
having a first end slidably attached to the conduit and longitudinally movable along the outer wall, the first end having at least one point in a substantially fixed position relative to a point on the second end of the first actuator, having a second end opposing the first end of the second actuator, the second end being slidably attached to the conduit and longitudinally movable along the outer wall, and being configured to longitudinally contract while laterally expanding. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27)
-
-
28. A self-locomoting machine for probing a confined space, comprising:
-
a hollow flexible member having a length;
a first McKibben actuator surrounding the flexible member and having opposed first and second ends, the first end being fixed to the hollow member and the second end movable lengthwise along the hollow member; and
a second McKibben actuator surrounding the flexible member, attached to the first McKibben actuator, and having two opposed ends, the two opposed ends of the second McKibben actuator being movable lengthwise along the hollow member. - View Dependent Claims (29, 30, 31, 32, 33, 34, 35)
-
Specification