An apparatus for capsule endoscopy, the apparatus comprising a capsule that comprises: at least one inflatable bladder configured to form a toroid having a hole and an outer periphery when inflated; a plurality of continuous tracks, each extending through the hole and around the outer periphery of the at least one inflatable bladder; and a propulsion system configured to drive the continuous tracks; wherein the capsule is configured such that the continuous tracks slip over the at least one inflatable bladder when driven by the propulsion system.

The present invention provides a robotic locomotive device (1) that is capable of driving itself forwards and backwards, anchoring and steering itself whilst inside a tubular structure (200), for example, the human colon, or any structure comprising two opposing walls (202, 204). In this respect, the device is made up of two or three segments (102, 104, 106) covered in an elastic material and driven by an internal actuating mechanism. All of the segments (102, 104, 106) have a concertina configuration that enable a shortening and lengthening motion. As well as contracting and extending in length, at least one of the end segments (102, 106) is capable of bending at an angle away from the longitudinal axis such that it becomes wedged or jammed between the walls (202, 204) of the tubular structure (200). That is, the end segments (102, 106) are capable of both a bending action and a contracting and extending action. The device (1) moves by alternately jamming a segment (102, 104, 106) between the walls (202, 204) of the tubular structure (200), and then contracting or extending the segments (102, 104, 106) to inch the device (1) forward with a more effective locomotive action. As such, the present invention provides a simplified design that is more robust to harsh or unclean environments, whilst still maintaining the level of performance required from such a device.

Introduced here is an ingestible device that can comprise a capsule, an intervention tool, and a processor configured to controllably employ the intervention tool to manipulate structures in a living body. The ingestible device may further comprise a camera that is configured to generate images of various in vivo environments as the ingestible device traverses the living body. These images may be wirelessly transmitted to an electronic device located outside of the living body to enable greater control over the intervention tool.

The present invention provides a robotic locomotive device that is capable of driving itself forwards and backwards, anchoring and steering itself whilst inside a tubular structure, for example, the human colon, or any structure comprising two opposing walls. In this respect, the device is made up of two or three segments covered in an elastic material and driven by an internal actuating mechanism. All of the segments have a concertina configuration that enable a shortening and lengthening motion. As well as contracting and extending in length, at least one of the end segments is capable of bending at an angle away from the longitudinal axis such that it becomes wedged or jammed between the walls of the tubular structure. That is, the end segments are capable of both a bending action and a contracting and extending action. The device moves by alternately jamming a segment between the walls of the tubular structure, and then contracting or extending the segments to inch the device forward with a more effective locomotive action. As such, the present invention provides a simplified design that is more robust to harsh or unclean environments, whilst still maintaining the level of performance required from such a device.

Computerized information acquisition and processing apparatus and methods. In one embodiment, the apparatus includes a sensor and processor with associate storage device(s). In one variant, the apparatus includes data relating to one or more templates associated with various physiological artifacts. The apparatus is configured in this variant to utilize the data to evaluate data collected by the sensor to enable, for example, filtering of data for transmission over a wireless interface of the apparatus.

The methods and apparatus of the present invention allow the evaluation of inflammation of the esophagus. Measurements may be utilized, for example, to diagnose a disease of the esophagus, to monitor inflammation of the esophagus, or to access the treatment of a disease of the esophagus. In one embodiment, the invention comprises a method for measuring esophageal inflammation comprising deploying a device into the esophagus of a subject, removing the device after a predetermined period of time, analyzing the device for a diagnostic indicator of esophageal inflammation and evaluating the diagnostic indicator to diagnose esophageal inflammation.

Example embodiments relate to endoscopic systems. The system includes an elongated main body having a first end. The system may further comprise an anchor assembly attached to the main body near the first end of the main body. The anchor assembly may comprise a first expandable member. The first expandable member may be configurable to expand radially away from the main body. The anchor assembly may further comprise a second expandable member provided between the first expandable member and the first end of the main body. The second expandable member may be configurable to expand radially away from the main body. The anchor assembly may be operable to secure the main body with respect to an interior wall forming the cavity of the patient.

An insertion apparatus includes: a flexible tube; an electric driving source arranged on a proximal end side of the flexible tube; a driven portion arranged on a distal end of the flexible tube; and a single driving force transmitting member inserted in the flexible tube and formed by being wound in a coil shape. For the driving force transmitting member, first torsional rigidity in a first rotating state of being rotated in a direction of being wound in the coil shape is set higher than second torsional rigidity in a second rotating state of being rotated in an opposite direction; and the driven portion performs a first motion by the first rotating state and performs a second motion requiring a larger amount of force than the first motion by the second rotating state.

An insertion device includes a rotor rotating around a first revolution axis, and an assist tool attached to an insertion section with covering the rotor from an outer peripheral side. An assist tool rotates together with the rotor around a second revolution axis when press force is applied from a first protrusion of the rotor to a second protrusion of the assist tool by rotating of the rotor. The first revolution axis of the rotor and the second revolution axis of the assist tool move closer to each other when the rotor and the assist tool are rotating together.

On an inner peripheral surface of an assistance tool of an insertion device, a sliding surface extends from an assistance tool proximal surface toward a distal side, and when the assistance tool attached to an insertion section rotates, the sliding surface slides on a supporting surface around a longitudinal axis. A flange portion of the insertion section includes an opposed surface opposed to the assistance tool proximal surface with a gap when the assistance tool is attached to the insertion section. In a part where the assistance tool proximal surface is opposed to the opposed surface, a proximal end of an outer peripheral surface of the assistance tool does not form a step relative to the flange portion.