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Robotic endoscopy

  • US 5,337,732 A
  • Filed: 09/16/1992
  • Issued: 08/16/1994
  • Est. Priority Date: 09/16/1992
  • Status: Expired due to Fees
First Claim
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1. An endoscopic robot comprising:

  • a plurality of segments, including a lead segment and an end segment;

    a plurality of pivoting joints each positioned in between and connecting adjacent segments;

    at least one actuator link extending through substantially through each pivoting joint and connecting to an adjacent segment;

    means for advancing and retracting the actuator links, to move the links together and apart for locomotion of the robot;

    an inflatable balloon supported around substantially each segment; and

    means for selectively inflating and deflating the balloons.

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