Systems and methods are disclosed providing a flexible articulable device for accessing deep within tight and arbitrarily shaped channels of a body. The flexible or articulable device may employ two, independent locomotion strategies. These strategies can be combined or independently used. However, both strategies use a segmented approach that employs one or multiple embedded actuation units along the body of the device. The multiple embedded actuation units may be individually controlled, are generally connected serially, and generally uses one of the locomotion strategies. One strategy relates to propulsion while the other strategy relates to shape control.

A self-propelled endoscope apparatus includes a rotation body, a motor, a drive circuit, and a regeneration protection circuit. The rotation body is provided on an outer peripheral surface of an elongated insertion section. The rotation body is configured to be rotatable. The motor rotates the rotation body. The drive circuit drives the motor. The regeneration protection circuit performs protecting operation for protecting the drive circuit from regeneration voltage generated by regeneration of the motor.

Computerized information acquisition and processing apparatus. In one embodiment, the apparatus includes a video apparatus with image capture and digitization capability, and multiple wireless interfaces for accomplishing various purposes, including e.g., streaming the digitized video data to another device for viewing and/or storage thereon. In one variant, one of the wireless interfaces is a short range passive RFID-based interface which generates replies to interrogation signals, the replies including user-specific information.

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 apparatus includes a rotation body, a motor, a drive controller, a rotating speed detector, a rotation error determination circuit, and a filter. The rotation body is provided on an outer peripheral surface of an elongated insertion section and configured to be rotatable around a longitudinal axis. The motor rotates the rotation body. The drive controller controls driving of the motor. The rotating speed detector detects a rotating speed of the motor based on an encoder signal output from an encoder. The rotation error determination circuit determines an error in rotation of the rotation body based on the detected rotating speed. The filter passes, as the encoder signal, only a signal having a frequency, outside a frequency band of a high-frequency signal of a high-frequency treatment instrument, of signals input to the rotating speed detector.

A medical device includes a host structure that has an interior area and one or more propulsion systems linked to the host structure. The host structure and the propulsion systems are configurable into a peripheral boundary of a size adapted to fit in a lumen or cavity of a living organism such as a human being or animal. The medical device includes one or more power supplies in communication with the propulsion systems. The medical device includes a control unit in communication with the propulsion systems and the power supplies. The control unit has a computer process controller configured to control the propulsion systems to move the host structure and the propulsion systems in the lumen so that the host structure and the propulsion systems are self-maneuverable within the lumen.

A colonoscope including an egg-shaped image-capturing module and a wiring unit is disclosed. The image-capturing module includes a casing, a first image detector, a vibration motor and a control unit. The casing has first and second ends. The first end is made of a transparent material. The first image detector captures a first image. The vibration motor is configured to vibrate the casing. The control unit controls the first image detector to capture the first image. The control unit controls the vibration of the vibration motor. The wiring unit includes a vent and includes a plurality of lead wires and an air tube. Power can be transmitted to the control unit through the plurality of lead wires. The air tube is configured to convey air, and the vent is configured to output the air to a colon.

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.

An ultrasonic robotic cleaner freely movable back and forth inside a blood vessel, having an elongated shell, electrical driving mechanisms, a storage battery, and a high frequency ultrasonic vibration unit; each electrical driving mechanism is formed by propellers, an ultra-micro motor, and a gear assembly; the high frequency ultrasonic vibration unit and the storage battery are mounted inside the elongated shell; the high frequency ultrasonic vibration unit and the ultra-micro motor are electrically connected with the storage battery; the electrical driving mechanisms are disposed at two ends of the elongated shell respectively. The robotic cleaner moves inside the blood vessel and achieves blood cavitation so that blood lipids are fragmented into finer particles which are eventually burnt due to peroxidation and metabolism and transformed into energy, water and CO.sub.2.

Embodiments generally relate to propulsion tube units and propulsion devices for progressing instruments along passages, and associated methods of use. 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).

In some embodiments, the propulsion device may comprise an elongate tube defining a channel configured to accommodate a liquid and a pressure actuator in communication with the channel. The pressure actuator may be configured to selectively adjust a pressure of the liquid in the channel to alternatingly: reduce the pressure to induce cavitation and form gas bubbles in the liquid; and increase the pressure to collapse some or all of the gas bubbles back into the liquid, thereby accelerating at least part of the liquid towards the first end of the tube and transferring momentum to the tube to progress the tube along the passage.