| 摘要 |
<p>An endoscopic device for locomotion in a body cavity according to a prefixed advancing direction (A) comprising at least a variable length intermediate section ( 1 a, 21 a) extending between a front end section ( 1 b, 21 b) and a rear end section ( 1 c, 21 c). First and second clamping means ( 7, 12, 27, 32 ) are integral to the front and rear section, for alternately grasping respective surrounding portions of wall (P) of the body cavity. Sucking means ( 13, 14, 37, 38 ) are associated to the first and second clamping means for creating a depression sufficient to cause the body cavity wall portions to collapse within the first and second clamping means while they are in an open condition. Means for actuating alternate extensions and retractions of the intermediate section and actuating means ( 6, 11, 26, 31 ) of the first and second clamping means are further provides for synchronous operation to generate a forward motion of the rear end section due to a retraction of the intermediate section, the wall portion (P) surrounding the first clamping means being firmly held therebetween, and to generate a forward motion of the front end section due to an extension of the intermediate section, the wall portion (P) surrounding the second clamping means being firmly held therebetween.</p> |
