According to some embodiments, the device comprises a tubular member with a longitudinal axis having a proximal end and a distal end, at least one partial cut located at, along or near the distal end of the tubular member, wherein the distal end of the tubular member is configured to at least partially rotate when the force imparting element is advanced relative to the tubular member so at to facilitate placement of the distal end in a particular location of a subject's intraluminal network. The device further includes a transition section intermediate to the at least one partial cut and the non-cut portion of the tubular member.

An endoscopic deployment device includes a body mountable on an endoscopic device, the body having a movable carrier couplable to an end effector device, the end effector device having an end effector shaft covered by an outer sheath and an end effector extending from a distal end of the end effector shaft, the outer sheath being sized and shaped for insertion through a working channel of the endoscopic device, the body having a carrier channel for the carrier to slide therein, wherein the end effecter is actuatable between an open position and a closed position; and a motor having a drive shaft coupled to the carrier, rotation of the drive shaft sliding the carrier in the carrier channel and actuating the end effector in response to a signal from one or more actuation buttons; wherein at least one vibration motor generates vibrations as an angular position of the motor changes.

An ingestible device comprising a capsule, a camera, an antenna, and a propulsion component id disclosed. The camera can capture images of various in vivo environments as the ingestible device traverses the gastrointestinal tract, and these images can be wirelessly transmitted to an electronic device located outside of the living body. The images may be transmitted to the electronic device for review by an operator responsible for controlling the ingestible device.

Implementations include herein are visual navigation strategies and systems for lumen center tracking comprising a high-level state machine for gross (i.e., left/right/center) region prediction and curvature estimation and multiple state-dependent controllers for center tracking, wall-avoidance and curve following. This structure allows a navigation system to navigate even under the presence of significant occlusion that occurs during turn navigation and to robustly recover from mistakes and disturbances that may occur while attempting to track the lumen center. This system comprises a high-level state machine for gross region prediction, a turn estimator for anticipating sharp turns, and several lower level controllers for heading adjustment.

Embodiments generally relate to propulsion devices, systems, or components thereof, for progressing instruments along passages, as well as associated methods of manufacture. For example, the instruments may include tools, sensors, probes and/or monitoring equipment for medical use (such as endoscopy) or industrial use (such as mining). The described embodiments may also be suitable for applications in other fields to progress an instrument along a passage. Some embodiments relate to an endoscope comprising or configured to receive a propulsion tube configured to assist in progressing the endoscope along a passage.

An ingestible device includes a cylindrical capsule having a central axis defined therethrough, a proximal end portion, and an atraumatically shaped distal end portion. A propulsion unit is disposed at the proximal end portion of the capsule for effecting movement of the capsule within an in vivo environment.

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.

A self-propelled semi- or fully-autonomous robotic colonoscope device is provided that includes multi-degrees of freedom movement and may be sensor-enabled for colonoscopy procedures. The device may include a flexible rotary shaft that transmits power to a distal tip device and ultimately outputs locomotion at the distal tip with reduced complex maneuverability from the physician. In one particular implementation, a flexible metal rotary shaft may be utilized to deliver power from an off-board motor to the distal tip device. The flexible rotary shaft may be included in a tether that connects the rotary shaft from a handle to the distal tip device. The flexible shaft may be selected to provide a particular torque, directional operation, minimum bend radius, deflection, and speed. The flexible rotary shaft provides transmission of rotary motion through bends and curves of the flexible tether without sacrificing efficiency.