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Robotic endoscope and an autonomous pipe robot for performing endoscopic procedures

  • US 6,162,171 A
  • Filed: 12/07/1998
  • Issued: 12/19/2000
  • Est. Priority Date: 12/07/1998
  • Status: Expired due to Fees
First Claim
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1. A robotic endoscope for performing endoscopic procedures in a tubular organ comprising:

  • (a) a plurality of segments, connected together by a plurality of flexible articulated joints, having a distal end;

    (b) a plurality of flexible linear actuators attached circumferentially around each segment, each of said linear actuators including a portion that is extendible and retractable along a longitudinal axis of that linear actuator, wherein the longitudinal axis of each linear actuator is skewed sideways with respect to the longitudinal axis and diametrical axis of each respective segment;

    (c) a central cavity running longitudinally through said robotic endoscope which houses a plurality of optical fibers, a water/air hose, an instrumentation channel and a plurality of electrical wires associated with an imaging means being mounted at the distal end; and

    (d) a network of tributary channels for the distribution of pressure to said linear actuators.

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