An endoscopic apparatus including a probe which is introduced into, for example, the intestinal tract of a living organism and which operates therein, adapted to perform one or more functions. In one embodiment, the probe communicates wirelessly with a portable electronic device outside the organism, the portable device which acts to relay data between the probe and a remote networked entity. In one variant, the probe includes an accelerometer to, for example, wake the probe up from a sleep mode when the organism is awake or ambulatory.

A self-propelled device for locomotion through a lumen, comprising a set of serially arranged inflatable chambers, the end ones of which expand at least radially when inflated. Connecting passages provide fluid communication between each pair of adjacent chambers. A fluid source is attached to one of the end chambers. The connecting passages are such that the fluid inflates the chambers in a sequence, beginning with the chamber closest to the source, and ending with the chamber furthest from the source. The same sequence occurs when the chambers deflate, beginning with the chamber closest to the source, and ending with the chamber furthest from the source. The fluid source can either be a fluid supply tube, extending to a supply outside the lumen, or it can be built in and carried by the device. The device can crawl either along the lumen wall or on an inserted guide wire.

A system for generating a mechanical wave is disclosed. The system comprises a camshaft having plurality of rotatable cams, serially mounted on a shaft along an axis of an elastic tubular shell to form a varying phase angle along the shaft. The system further comprises a plurality of cam followers arranged circumferentially about each cam, such that a rotary motion of the cams generates a linear motion of the cam followers to radially bias in internal wall the shell. The variation of the phase angle is selected to generate a three-dimensional traveling wave along the shell.

Biological navigation devices and methods are disclosed. The devices can be used as or to support colonoscopies or endoscopes. The devices can have longitudinally extensible cells that can be selectively inflated. The devices can have articulable links. The devices can be removably attached to elongated elements, such as colonoscopes or other endoscopes.

In an endoscopic device insertable into a body cavity attachable elements are moved over one another to move forwardly of each other and to leave each other behind, and to move along different paths so as not to be attached to the same areas of a wall of the body cavity.

Example embodiments relate generally to endoscopic systems, devices, and methods. The system may include a main body, actuation control members, navigation section, and anchor assembly. Navigation section includes distal termination points for receiving actuation control members. Navigation section is selectively controllable to bend. Anchor assembly includes first expandable member, second expandable member, and pressure openings. First expandable member transitions between an expanded and non-expanded configuration. Distal side wall of first expandable member includes first protrusions. Second expandable member transitions between an expanded and non-expanded configuration. Proximal side wall of second expandable member includes second protrusions. First and second protrusions are configurable to cooperatively form a sieve portion. Connector assembly includes connector assembly body and connector interface portion. Connector assembly body includes proximal termination points to receive actuation control members. Connector interface portion includes main port, pressure source port, and actuation control port.

A closed-loop endoscopic capsule including a sensor recording biological information reflecting the inner condition of a gastrointestinal tract, an expander which is inflatable and holds the endoscopic capsule in the gastrointestinal tract, a medication releaser releasing medication for treatment, and a controller for processing the recorded biological information to generate control signals for the expander and the releaser. An endoscopic system that includes the endoscopic capsule, an external station for data processing, and a mobile device for human-machine interaction.

An insertion device includes a long and thin insertion section, a rotating housing that is provided to be rotatable about a longitudinal axis, a drive shaft that is connected to a motor rotating the rotating housing, and that transmits a rotation of the motor, a rotor that is provided at a distal-end side of the drive shaft and that is provided to be movable in relation to the rotating housing in axial direction of the insertion section, and that transmits the rotation to the rotating housing via a coating of the insertion section, a sensor that detects that the rotor moves a predetermined amount in either forward or backward direction relative to the axial direction of the insertion section, and a control unit that controls, according to the detection by the sensor, a state of the motor including a positive rotation, a negative rotation, and rotation halt.

An insertion apparatus includes an inserting section, a rotary cylinder, a motor, motor control section, a moving average calculating section, and a torque limit determining section. The inserting section is formed along a longitudinal axis. The rotary cylinder is provided to be rotatable around a longitudinal axis of the inserting section. The motor rotates the rotary cylinder. The motor control section supplies a motor current to drive the motor. The moving average calculating section calculates an average of the motor current within a predetermined period, after the motor starts up. The torque limit determining section determines whether torque of the motor is in a limit state by comparing a calculating result by the moving average calculating section with a predetermined torque limit set value, at timing except startup of the motor.

A motion control system includes a first capsule robot, which includes a first housing, a first shaft configured to be movable bi-directionally, the first shaft having a first permanent magnet at an outer end, a first leg unit configured to protrude outwards from the first housing, and a first control unit; and a second capsule robot, which includes a second housing, a second shaft configured to be movable bi-directionally, the second shaft having a second permanent magnet at an outer end, a second leg unit, and a second control unit, wherein the first capsule robot is fixed with respect to an the internal organ wall by protruding the first leg unit to the internal organ, and wherein the second capsule robot is connected to the first capsule robot as the first permanent magnet comes into contact with the second permanent magnet by an attractive force.