Steerable segmented endoscope and method of insertion

Abstract

A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient's body. When the endoscope body is advanced, an electronic motion controller operates the automatically controlled proximal portion to assume the selected curve of the selectively steerable distal portion. Another desired path is selected with the selectively steerable distal portion and the endoscope body is advanced again. As the endoscope body is further advanced, the selected curves propagate proximally along the endoscope body, and when the endoscope body is withdrawn proximally, the selected curves propagate distally along the endoscope body. This creates a serpentine motion in the endoscope body allowing it to negotiate tortuous curves along a desired path through or around and between organs within the body.

We claim:  
     
         1 . An apparatus for insertion into a body cavity, comprising: 
 an elongate body having a proximal end and a selectively steerable distal end and defining at least one lumen therebetween, the elongate body comprising a plurality of segments interconnected via joints; and    at least one motor attached to each of at least a majority of segments for actuating an adjacent segment and wherein each motor is independently controllable,    wherein when the distal end assumes a selected curve, the plurality of segments are configured to propagate the selected curve along the elongate body by each motor selectively actuating the adjacent segment.