APPARATUS FOR SELF-GUIDED INTUBATION

摘要

An automatically operative medical insertion device (12) and method includin g an insertable element (18) which is adapted to be inserted within a living organism in vivo, a surface following element (20) , physically associated with the insertable element (18)and being arranged to follow a physical surface within the living organism in vivo, a driving subsystem (15) operati ve to at least partially automatically direct the insertable element (18) along the physical surface and a navigation subsystem (274) operative to control t he driving subsystem based at least partially on a perceived location of the surface following element(20) along a reference pathway stored in the navigation subsystem (274).