EXPANDABLE DEVICES, RAIL SYSTEMS, AND MOTORIZED DEVICES

• US 20130190775A1
• Filed: 10/04/2011
• Published: 07/25/2013
• Est. Priority Date: 10/04/2010
• Status: Active Grant

• Current Assignee: IND Platforms LLC
• Original Assignee: IND Platforms LLC
• Inventors: Piligian, George, Ong, Hoo Tee
• Granted Patent: US 9,358,073 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 17/0218 for minimally invasive surgery A61B17/0281, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/0281 Abdominal wall lifters
• CPC Class Codes: A61B 18/02 by cooling, e.g. cryogenic techniques devices for cooling specific reflex points of the body within cell-life limits A61H39/06
• CPC Class Codes: A61B 18/08 by means of electrically-heated probes
• CPC Class Codes: A61B 18/12 by passing a current through the tissue to be heated, e.g. high-frequency current
• CPC Class Codes: A61B 18/1442 Probes having pivoting end effectors, e.g. forceps
• CPC Class Codes: A61B 18/1492 having a flexible, catheter-like structure, e.g. for heart ablation A61B18/1477 takes precedence
• CPC Class Codes: A61B 2017/00075 Motion
• CPC Class Codes: A61B 2017/00084 Temperature
• CPC Class Codes: A61B 2017/00318 Steering mechanisms
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00557 inflatable A61B2017/22051 takes precedence
• CPC Class Codes: A61B 2017/00818 Treatment of the gastro-intestinal system
• CPC Class Codes: A61B 2017/00902 transparent or translucent
• CPC Class Codes: A61B 2017/00946 malleable
• CPC Class Codes: A61B 2017/0225 flexible, e.g. fabrics, meshes, or membranes
• CPC Class Codes: A61B 2018/00577 Ablation
• CPC Class Codes: A61B 2018/141 Snare
• CPC Class Codes: A61B 2218/001 having means for irrigation and/or aspiration of substances to and/or from the surgical site A61B2018/00029 and A61B2018/1472 take precedence
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/72 : Micromanipulators
• CPC Class Codes: A61B 90/30 : Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
• CPC Class Codes: A61B 90/50 : Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: A61M 29/02 : Dilators made of swellable material balloon catheters for angioplasty A61M25/104
• CPC Class Codes: A61N 7/02 : Localised ultrasound hyperthermia hyperthermia in general A61F7/00

Abstract

Provided herein are expandable devices, rail systems, and motorized devices. In one embodiment, an expandable device comprises an expandable sac having a tool housed therein. The expandable device is optionally configured for operation while inside a body cavity. The expandable device optionally comprises at least one rail in the sac, and at least one railed device coupled to the rail for movement there on. Movement of the railed device on the rail is provided by, for example, a motor such as an electromagnetic motor or an inch-worm type motor. Expandable devices can be used, for example, to perform minimally invasive medical procedures requiring access to a body cavity. Expandable devices can also be used, for example, to provide safe and stable transport of instruments to the body cavity.

Claims

1. An expandable device comprising:

a. a first sac, wherein the first sac is expandable;

b. a rail in the lumen of the first sac; and

c. a railed device coupled to the rail for movement there on.

2. The expandable device of claim 1, wherein the rail is mounted to the luminal wall of the first sac.

3. The expandable device of claim 1, further comprising a motor for providing said movement of the railed device.

4. The expandable device of claim 3, wherein the motor comprises at least one electromagnet.

5. The expandable device of claim 4, wherein:

a. the railed device comprises a plurality of railcars independently movable on the rail;

b. the at least one electromagnet is on at least one of said railcars.

6. The expandable device of claim 5, wherein the at least one electromagnet is plurality of electromagnets, each on an independent railcar.

7. The expandable device of claim 6, wherein the plurality of railcars comprises three railcars, a lead railcar, an intermediate railcar, and a trail railcar, wherein:

the weight of the intermediate railcar is less than the lead car and less than the trail railcar;

the weight of the lead railcar is less than the combined weight of the intermediate railcar and trail railcar; and

the weight of the trail railcar is less than the combined weight of the intermediate railcar and lead railcar.

8. The expandable device of claim 1, further comprising sensors on the first sac.

9. The expandable device of claim 1, further comprising an access tube in fluid connection with the first sac.

10. The expandable device of claim 1, wherein the first sac is configured for expansion by fluid pressure.

11. The expandable device of claim 1, wherein the railed device is tethered to the first sac, whereby the first sac or wall segments thereof can be moved by moving the railed device.

12. The expandable device of claim 11, comprising a plurality of rails mounted to the first sac.

13. The expandable device of claim 12, wherein the plurality of rails comprises at least two longitudinal rails positioned laterally with respect to each other.

14. The expandable device of claim 12, wherein the plurality of rails comprises at least two longitudinal rails positioned longitudinally with respect to each other.

15. The expandable device of claim 11, further comprising a motor for providing said movement of the railed device.

16. The expandable device of claim 1, wherein the first sac is malleable.

17. The expandable device of claim 16, wherein the first sac is transparent.

18. The expandable device of claim 16, wherein the first sac comprises a plurality of wall segments with different malleability.

19. The expandable device of claim 18, wherein the first sac comprises a thermoplastic resin, wherein the first sac is malleable at a physiologically acceptable temperature.

20. The expandable device of claim 1, wherein the first sac comprises a port connecting the lumen of the first sac with the periphery of the first sac.

21. The expandable device of claim 20, wherein the port is a valve.

22. The expandable device of claim 20 or claim 21, wherein:

a. the railed device comprises a tool;

b. the port is sized and positioned to allow passage of the tool there through; and

c. optionally, the tools is a robotic tool.

23. The expandable device of claim 1, further comprising a second sac, wherein the second sac is:

a. expandable; and

b. in the lumen of the first sac.

24. The expandable device of claim 22, wherein the second sac is configured for expansion upon being filled with a fluid.

25. The expandable device of claim 24, further comprising an access tube fluidly connecting the lumen of the second sac with the exterior of the first sac.

26. The expandable device of claim 25, further comprising a fluid pump, wherein the fluid pump is a) exterior to the first sac;

and b) fluidly connected to the access tube.

27. The expandable device of claim 23, wherein the second sac is coupled to the railed device, whereby the second sac can be moved by moving the railed device.

28. The expandable device of claim 23, wherein:

a. each of the first and second sacs comprises a port; and

b. the ports can be aligned to allow passage of a tool there through.

29. The expandable device of claim 23, further comprising a third sac, wherein the third sac is:

a. expandable; and

b. in the lumen of the second sac or the first sac.

30. The expandable device of claim 1, wherein the rail is an inflatable rail.

31. The expandable device of claim 30, wherein:

a. the inflatable rail comprises a conduit made from a flexible material;

b. the conduit comprises an inlet for filling and inflating the conduit with a fluid;

c. the conduit is configured to be turgid when inflated and flaccid when not inflated;

d. when turgid, the rail provides support to the railed device for movement on the rail.

32. The expandable device of claim 31, wherein the rail comprises a fork in the conduit, wherein the fork branches a single conduit into a plurality of conduits, wherein each of the plurality of conduits can support a railed device when turgid.

33. The expandable device of claim 32, wherein the fork comprises a control circuit configured to differentially control the flow of fluid from the single conduit into the plurality of conduits.

34. The expandable device of claim 33, wherein the control circuit is a fluidic amplifier.

35. The expandable device of any of the preceding claims, wherein the first sac:

a. is malleable; and

b. comprises a port.

36. The expandable device of claim 35, further comprising one or more microrobots in the lumen of the first sac.

37. The expandable device of claim 35, wherein the one or more microrobots are railed or non-railed devices.

115. A method of performing a medical procedure comprising:

a. providing an expandable device according to any of claim 1-21, 23-34, 38-42, 51-57, or 67-79;

b. inserting the expandable device into a body cavity of a patient;

c. expanding the expandable device;

d. diagnosing or treating tissue at a target site in or in proximity to the body lumen.

116. The method of claim 115, wherein:

a. the expandable device comprises an access tube; and

b. expanding the expandable device comprises filling a sac of the expandable device with a fluid.

117. The method of claim 115, wherein the procedure requires a combination of tools selected from COMBOS 1-24.

118. The expandable device of any of claims 1-86, wherein the first sac is malleable.

119. The expandable device of claim 118, wherein the first sac is transparent.

120. The expandable device of claim 118, wherein the first sac is malleable at a physiologically acceptable temperature.

121. The expandable device of claim 118, wherein the first sac is made from a thermoplastic, a viscoplastic, a viscoelastic, or a dilatant.

122. The expandable device of claim 118, wherein the first sac is made from a metal, a polymer, a wax, a gum, a clay, or a plant hydrogel.

123. The expandable device of claim 121, wherein the first sac is made from a polymer.

124. The expandable device of claim 123, wherein the polymer is a semi-crystalline polymer or an amorphous polymer.

125. The expandable device of claim 123, wherein the polymer is a polysiloxane, a shape memory polymer, a dynamic polymer, a viscous polymer, a viscoplastic polymer, a viscoelastic polymer, or a thermoplastic resin.

126. The expandable device of claim 123, wherein the polymer is selected from:

an acrylate, a fluoropolymer, a polyester, a polyolefin, a polycarbonate, a thermoplastic elastomer, a low molecular weight thermoplastic resin, and a blend of a thermoplastic resin and a particulate material.

127. The expandable device of claim 126, wherein the polymer is selected from a PET, a PTFE, a CTFE, a PVDF, a PMMA, a LDPE, a PP, and a thermoplastic polyurethane.

128. The expandable device of claim 118, wherein the first sac is both malleable and ductile.

129. The expandable device of any of claims 1-86, wherein the first sac is pleated.

130. The expandable device of any of claims 1-86, wherein the first sac comprise a port, optionally wherein the port is a valve or a self-sealing valve.

131. The expandable device of any of claims 1-86, wherein the expandable device comprises a second sac in the lumen of the first sac, wherein the second sac is expandable.

132. The expandable device of claim 131, further comprising a rail in the lumen of the second sac.

133. The expandable device of any of claims 1-86, wherein the expandable device comprises a second sac, wherein:

a. the second sac is expandable; and

b. the first sac is in the lumen of the second sac.

134. The expandable device of claim 133, further comprising a rail in the lumen of the second sac.

135. The expandable device of any of claims 1-86, wherein the first sac comprises a plurality of ports, optionally wherein the ports are valves or self-sealing valves.

136. The expandable device of claim 135, wherein the first sac comprises at least any of:

3, 4, 5, 6, or 7 ports.

137. The expandable device of any of claims 1-86, wherein the expandable device comprises a rail in the lumen of at least one sac.

138. The expandable device of claim 137, wherein the rail is foldable, fragmented, or flexible.

139. The expandable device of claim 138, wherein the rail is embedded in or contoured along the luminal wall of the at least one sac.

140. The expandable device of claim 137, wherein the rail comprises a flexible or flaccid conduit that becomes turgid when filled with a fluid.

141. The expandable device of claim 140, wherein the rail is embedded in or contoured along the wall of the at least one sac.

142. The expandable device of claim 141, wherein the sac wall is rigid when the flexible conduit is turgid, and flexible when the conduit is flexible or flaccid.

143. The expandable device of any of claims 137-140, wherein the rail is a network of interconnected rails.

144. The expandable device of claim 137, wherein the expandable device comprises a robot or a microrobot that travels along the rail.

145. The expandable device of any of claims 1-86, wherein the expandable device comprises an access tube coupled to at least one sac lumen.

146. The expandable device of claim 145, wherein the access tube is configured to deliver a fluid to the at least one sac lumen.

147. The expandable device of claim 145, wherein the access tube is configured to deliver a robot or microrobot to the at least one sac lumen.

148. The expandable device of claim 145, wherein the at least one sac lumen comprises a rail, and the access tube is configured to deliver a robot or microrobot to the rail.

149. The expandable device of claim 145, further comprising a housekeeping robot that can fluidly connect the access tube to one or more sacs, conduits, or tools.

150. The expandable device of any of claims 1-86, wherein the expandable device comprises a combination of d/t tools, wherein the combination is selected from COMBOS 1-24.

151. The expandable device of claim 150, wherein one or more of the d/t tools are robots or microrobots.

152. The expandable device of claim 150 or claim 151, wherein the expandable device comprises a rail and one or more of the d/t tools are railed devices.

153. The expandable device of any of claims 1-86, wherein the expandable device is a multilayer device comprising two inner sacs in the lumen of the first sac.

154. The expandable device of claim 153, wherein at least of the inner sacs further comprises an additional sac in its lumen, optionally, wherein the additional sac comprises a tool, a robot, or microrobot in its lumen.

155. The expandable device of claim 154, further comprising a gel or viscous fluid between the walls of the additional sac and the at least one of the inner sacs.

156. The expandable device of any of claims 1-86, further comprising one or more robots or microrobots tethered to the luminal wall of the first sac.

157. The expandable device of claim 156, wherein the robots or microrobots are railed or non-railed devices.

158. The expandable device of any of claims 1-86, wherein the expandable device comprises a rail system comprising one or more rails and one or more railed devices tethered to the luminal wall of the first sac.

159. The expandable device of claim 158, wherein the rail system comprises a plurality of rails arranged laterally or longitudinally.

160. The expandable device of claim 158, wherein at least about any of:

2, 4, 6, or 8 railed devices are tethered to the luminal wall of the first sac.

161. The expandable device of any of claims 1-86, wherein further comprising a flexible or flaccid conduit, wherein the conduit:

a. is embedded in or contoured along the luminal wall of the first sac;

b. is configured to be filled with a fluid; and

c. becomes turgid when filled with a fluid.

162. The expandable device of claim 161, wherein the first sac is configured to expand upon the conduit becoming turgid.

163. The expandable device of claim 161, wherein the wall or local wall segment of the first sac becomes rigid upon the conduit becoming turgid.

164. The expandable device of any of claims 1-86, comprising one or more sensors embedded in the wall of the first sac.

165. The expandable device of claim 164, wherein the sensors are selected from the group consisting of motion, tensile, light, pressure, or temperature sensors.

166. The expandable device of any of claims 1-86, comprising one or more lighting sources embedded in the wall of the first sac.

167. The expandable device of any of claims 1-86, comprising one or more cameras embedded in the wall of the first sac.

168. The expandable device of any of claims 1-86, comprising a means for moving the expandable device globally.

169. The expandable device of claim 168, wherein the means is selected from:

wall tethered motorcar, serially arranged inflatable chambers, a bracing member coupled with a linear actuator, a variable length extending segment, walking legs or appendages, a memory shape actuator, motorized wheels, a propeller, cilia/flagellae, electromagnetic pump, jet pump, membrane propulsion, appendages for crawling, linear actuator, moving coil linear actuator, moving magnet actuator, electromagnet actuator, piezoelectric actuator, electrostatic actuator, or electrothermal actuator.

170. The expandable device of any of claims 1-86, further comprising means for expansion of a segment of the wall of the first sac.

171. The expandable device of claim 170, wherein said comprising a means for means for expansion of a segment of the wall is selected from:

a memory shape polymer, a robot, an expandable inner sac, a looped or budded segment, a heating element, filaments in the wall, an expandable framework, flexible conduits in the wall, and a telescoping arm.

172. The expandable device of any of claims 1-86, wherein the expandable device is a multilayer device comprising an inner sac in the lumen of the first sac, wherein:

a. the first sac comprise a port;

b. the inner sac is configured to evaginate through the port.

173. The expandable device of claim 172, wherein the expandable device comprises an access tube.

174. The expandable device of claim 173, wherein the access tube is at the proximal end the of the device and the port is not at the proximal end of the device or adjacent to the access tube.

175. The expandable device of any of claims 1-86, wherein the first sac is:

a. transparent;

b. malleable; and

c. ported.

176. The expandable device of any of claims 1-86, wherein the first sac is a malleable sac, and the wall of the malleable sac or segment thereof is provided with a thickness such that the wall surface area can be increased by stressing the wall by at least any of:

2 fold, 3 fold, 4 fold, 6 fold, or 10 fold without breaking.

177. The expandable device of claim 176, wherein said stress is compressive stress or tensile stress.

178. The expandable device of any of claims 1-86, wherein the first sac is configured to expand upon its lumen reaching a target expansion pressure of less than about any of:

100 psi, 75 psi, 50 psi, 25 psi, 10 psi, 5 psi, 2 psi, or 1 psi.

179. The expandable device of any of claims 1-86, wherein the first sac is configured to expand upon its lumen reaching a target expansion pressure of greater than about any of:

1 psi, 2 psi, 5 psi, 10 psi, 20 psi, 30 psi, 50 psi, or 75 psi.

180. The expandable device of any of claims 176-179, wherein the first sac is malleable.

181. The expandable device of any of claims 1-86, wherein the expandable devise comprises at least three expandable sacs.

182. The expandable device of any of claims 1-86, wherein the expandable devise comprises at least four expandable sacs.

183. The expandable device of claim 182, wherein the device comprises an outer sac and at least three sacs in the lumen of the outer sac.

38. An expandable device comprising a first sac and a second sac, wherein:

a. the second sac is in the lumen of the first sac;

b. each of said sacs is expandable;

c. each of said sacs comprises a port in a wall thereof; and

d. at least one of said sacs is malleable.

39. The expandable device of claim 38, wherein at least one of said sacs is configured for expansion by fluid pressure.

40. The expandable device of claim 39, wherein the at least one of said sacs comprises an access tube.

41. The expandable device of claim 38, further comprising a diagnostic or therapeutic device in the lumen of at least one of said sacs.

42. The expandable device of claim 41, further comprising:

a. a rail mounted to at least one of said sacs; and

b. a railed device coupled to the rail for movement there on.

43. The expandable device of any of claims 38-42, wherein the ports connect the lumen of the sac to the periphery of the respective sacs.

44. The expandable device of claim 43, wherein the port is a valve.

45. The expandable device of claim 44, wherein the device comprises a diagnostic or therapeutic device and the port is sized and positioned to allow passage of the tool there through.

46. The expandable device of any of claims 38-42, further comprising a motorized device in the lumen of at least one of said sac.

47. The expandable device of claim 46, further comprising a rail and one or more railed devices.

48. The expandable device of claim 46, wherein the motorized device is a robot.

49. The expandable device of claim 48, wherein the robot is a railed or non-railed device.

50. The expandable device of claim 49, wherein the robot is tethered to the sac wall for movement thereof.

51. An expandable device comprising:

a. a first sac, wherein the first sac is expandable;

b. a valve in a wall of the first sac; and

c. a diagnostic or therapeutic (d/t) device in the lumen of the first sac.

52. The expandable device of claim 51, further comprising an access tube in fluid connection with the lumen of the first sac.

53. The expandable device of claim 52, wherein the first sac is configured for expansion by filling the first sac with a fluid through the access tube.

54. The expandable device of claim 51, wherein the d/t device is a robot.

55. The expandable device of claim 54, wherein the robot is a microrobot.

56. The expandable device of claim 51, wherein the valve is sized to allow passage of the robot there through.

57. The expandable device of claim 51, wherein the first sac is a malleable sac.

58. The expandable device of any of claims 51-56, wherein the first sac is a malleable sac.

59. The expandable device of any of claims 51-57, further comprising a second sac.

60. The expandable device of claim 59, wherein the second sac is in the lumen of the first sac.

61. The expandable device of claim 60, wherein the device is configured for evagination of the second sac through said valve in the wall of the first sac.

62. The expandable device of claim 61, wherein the second sac is malleable.

63. The expandable device of claim 59, wherein the first sac is in the lumen of the second sac.

64. The expandable device of claim 63, wherein the second sac is malleable.

65. The expandable device of any of claims 51-57, further comprising a rail coupled to the first sac and a railed device coupled to the rail for movement thereon.

66. The expandable device of claim 65, wherein the rail is mounted to the luminal wall of the first sac.

67. An expandable device comprising a first sac and a robot in the lumen of first sac, wherein the first sac is expandable.

68. The expandable device of claim 67, wherein the first sac comprises a port.

69. The expandable device of claim 68, wherein the port is a valve, optionally, wherein the valve is a self-sealing valve.

70. The expandable device of claim 67, wherein the first sac comprises an access tube in fluid connection with the lumen of the first sac.

71. The expandable device of claim 70, wherein the first sac comprises a port, optionally wherein the port is sized to allow passage of the robot there through.

72. The expandable device of claim 67, wherein the first sac is configured for expansion by fluid pressure.

73. The expandable device of claim 67, further comprising a second sac, wherein the second sac is:

a. expandable; and

b. in the lumen of the first sac.

74. The expandable device of claim 73, wherein the second sac is configured for expansion upon being filled with a fluid.

75. The expandable device of claim 74, further comprising an access tube in fluid connection with the lumen of the second sac.

76. The expandable device of claim 75, further comprising a fluid pump, wherein the fluid pump is a) exterior to the first sac;

and b) in fluid connection with the access tube.

77. The expandable device of claim 73, wherein:

a. each of the first and second sacs comprises a port; and

b. the ports can be aligned to allow passage of the robot there through.

78. The expandable device of claim 77, wherein one or more of the first sac and the second sac comprises an access tube in fluid connection with the lumen of the respective sac.

79. The expandable device of claim 67, wherein the first sac is malleable.

80. The expandable device of any of claims 67-78, wherein the first sac is malleable.

81. The expandable device of any of claims 67-79, further comprising:

a. a rail; and

b. a railed device coupled to the rail for movement there on.

82. The expandable device of claim 81, wherein the railed device comprises a tool.

83. The expandable device of claim 81, wherein the first sac is a malleable sac.

84. The expandable device of any of claims 67-79, further comprising one or more diagnostic or therapeutic devices.

85. The expandable device of claim 84, wherein the one or more diagnostic or therapeutic devices comprises a lighting source, an imaging device, or both.

86. The expandable device of claim 84, wherein the one or more diagnostic or therapeutic devices comprises an ablation tool, a cutting edge, or a snare.

87. A mobile device comprising three cars, wherein:

a. each of the three cars comprises an electromagnet;

b. each of the three electromagnets is independently operable;

c. the three electromagnets are arranged in a substantially collinear configuration such that a pole on each car is oriented for interaction with the pole of another car.

88. The mobile device of claim 87, wherein:

the three cars comprise a lead car, an intermediate car, and a trail car.

89. The mobile device of claim 88, wherein:

a. the weight of the intermediate car is less than the lead car and less than the trail car;

b. the weight of the lead car is less than the combined weight of the intermediate and trail car; and

c. the weight of the trail car is less than the combined weight of the intermediate and lead car.

90. The mobile device of claim 88, wherein the mobile device is configured for inchworm movement of the three cars.

91. The mobile device of claim 87, further comprising a rail linking the three cars for movement along a path.

92. The mobile device of claim 88, further comprising a rail linking the three cars for movement along a path.

93. The mobile device of claim 89, further comprising a rail linking the three cars for movement along a path.

94. The mobile device of claim 90, further comprising a rail linking the three cars for movement along a path.

95. The mobile device of any of claims 87-94, further comprising a distance limiter for restraining the cars from moving further than a maximum distance from each other.

96. The mobile device of any of claims 87-94, wherein the mobile device is configured to move in at least two directions, a forward direction and a reverse direction.

97. The mobile device of any of claims 87-94, wherein each of the three cars can move without transient use of a breaking device.

98. The mobile device of claim 95, wherein each of the three cars can move without transient use of a breaking device.

99. The mobile device of claim 96, wherein each of the three cars can move without transient use of a breaking device.

100. The mobile device of any of claims 87-99, wherein the cars have a cross section with a diameter of less than about any of:

10 cm, 7 cm, 5 cm, 4 cm, 3 cm, 2 cm or 1 cm.

101. The mobile device of any of claims 87-99, further comprising a robot.

102. The mobile device of claim 101, wherein the robot is a microrobot.

103. The mobile device of any of claims 87-99, further comprising an imaging device.

104. The mobile device of any of claims 87-99, further comprising a diagnostic or therapeutic device.

105. An expandable device comprising an expandable sac and the mobile device of any of claims 87-104.

106. A rail system comprising an inflatable rail and a railed device, wherein:

a. the inflatable rail comprises a conduit made from a flexible material;

b. the conduit comprises an inlet for filling and inflating the conduit with a fluid;

c. the conduit is configured to be turgid when inflated and flaccid when not inflated

d. when turgid, the inflatable rail provides a support and a guide to the railed device for movement on the rail.

107. The rail system of claim 106, wherein the rail comprises a fork in the conduit, wherein the fork branches a single conduit into a plurality of conduits, wherein each of the plurality of conduits can support a railed device when turgid.

108. The rail system of claim 107, wherein the fork comprises a control circuit configured to differentially control the flow of fluid from the single conduit into the plurality of conduits.

109. The rail system of claim 108, wherein the control circuit is a fluidic amplifier.

110. The rail system of any of claims 106-109, wherein the railed device comprises a motor for said movement on the rail.

111. The rail system of claim 110, wherein the motor is an electromagnetic motor or an inchworm-type motor.

112. The rail system of any of claims 106-109, wherein the railed device is a robot.

113. The rail system of claim 112, wherein the robot is a microrobot.

114. The rail system of claim 112, wherein the robot is a d/t tool.