Biological navigation device

Abstract

A biological navigation device that can be attached or integrated with an elongated tool, such as an endoscope, is disclosed. The device can be used for propulsive advance through a biological lumen. The device can anchor to the biological lumen. The device can subsequently or concurrently propel the endoscope and anchor the device to the biological lumen. Methods for using the same are also disclosed.

1 . A device for navigation through a biological lumen comprising:
 a propulsion device comprising an extendable actuator and an anchor, wherein the actuator is distal to the anchor,   an endoluminal tool attached to the actuator; and   wherein the actuator has an actuator outer wall and an actuator inner wall.   
     
     
         2 . The device of  claim 1 , wherein the anchor is radially expandable. 
     
     
         3 . The device of  claim 1 , wherein the anchor is inflatable. 
     
     
         4 . The device of  claim 1 , wherein the actuator comprises a bellows. 
     
     
         5 . The device of  claim 1 , wherein the actuator has an inner diameter defining an actuator lumen, and wherein the endoluminal tool is located inside the actuator lumen. 
     
     
         6 . The device of  claim 1 , wherein the actuator comprises a fiber-reinforced laminate. 
     
     
         7 . A device for navigation through a biological lumen comprising:
 an endoluminal tool having an articulatible section; and   a bellows attached to the endoluminal tool distal to the articulatible section.   
     
     
         8 . The device of  claim 7 , wherein the bellows has an annular configuration. 
     
     
         9 . The device of  claim 7 , wherein the bellows comprises an outer wall comprising a fiber-reinforced laminate. 
     
     
         10 . The device of  claim 7 , wherein the bellows comprises a spring. 
     
     
         11 . A device for navigating through a biological lumen comprising:
 a propulsion device comprising an actuator and an overtube, the actuator distal to the overtube; and   an endoluminal tool attached to the actuator.   
     
     
         12 . The device of  claim 11 , wherein the endoluminal tool is removably attached to the actuator.