Propellable apparatus and related methods
Propellable apparatus, assemblies and related methods including a self-enclosed member are disclosed. The self-enclosed member can include an inner surface at least partially defining an enclosed region, and an outer surface that turns outwardly to engage a cavity or lumen wall in addition to turning inward to at least partially encompass a central region defining a longitudinal path. The apparatus can include an internal drive mechanism engageable with the outer surface of the self-enclosed member to provide relative movement between the self-enclosed member and the cavity or lumen wall. A tapered member, positioned on the apparatus adjacent an end of the self-enclosed member, can provide a size transition between an outer surface portion of the self-enclosed member and an outer surface of a payload insertable within the central region. In some examples, one or more reinforcing members can be integrated within the self-enclosed member for increased durability and rotational use.
1. A propellable apparatus comprising:
a self-enclosed member configured to fit within and partially engage a cavity or lumen wall, the self-enclosed member including:
an inner surface at least partially defining an enclosed region, and
an outer surface that turns outwardly to engage the cavity or lumen wall in addition to turning inward to at least partially encompass a central region defining a longitudinal path;
an internal drive mechanism engageable with the outer surface of the self-enclosed member, thereby providing relative movement between the self-enclosed member and the cavity or lumen wall such that the propellable apparatus travels in the cavity or lumen wall; and
one or more wiper members including an edge in contact with the outer surface of the self-enclosed member,
wherein the propellable apparatus is attached at a front-end tip portion of an endoscope, wherein the front-end tip portion is inserted into the propellable apparatus,
wherein the one or more wiper members are different from the self-enclosed member, and
wherein at least one edge of the one or more wiper members is in contact with the outer surface of the self-enclosed member.
2. The propellable apparatus of claim 1 , wherein
the self-enclosed member includes a front-end portion and a back-end portion in a travel direction of the propellable apparatus, and
at least one edge of the wiper member is in contact with the outer surface of the self-enclosed member at the back-end portion of the self-enclosed member.
3. The propellable apparatus of claim 2 , wherein
the travel direction of the propellable apparatus includes an insert direction in which the propellable apparatus is inserted to the cavity or lumen wall and a remove direction in which the propellable apparatus is removed from the cavity or lumen wall,
the self-enclosed member includes a front-end portion and a back-end portion in the insert direction of the propellable apparatus, and
at least one edge of the wiper member is in contact with the outer surface of the propellable apparatus at the back-end portion of the insert direction in the insert direction.
4. The propellable apparatus of claim 3 , wherein the wiper member is provided only on a back-end portion.
5. The propellable apparatus of claim 1 , wherein
the self-enclosed member includes a front-end portion and a back-end portion in a travel direction of the propellable apparatus,
the wiper members include a first wiper member and a second wiper member,
an edge of the first wiper member is in contact with the outer surface of the self-enclosed member at the front-end portion of the self-enclosed member, and
an edge of the second wiper member is in contact with the outer surface of the self-enclosed member at the back-end portion of the self-enclosed member.
6. The propellable apparatus of claim 1 , wherein
the outer surface of the self-enclosed member rotates so as to turn inward to the central region from a surface which engages the cavity or lumen wall through one portion and so as to turn outward to the surface which engages the cavity or lumen wall from the central region through the other portion, the outer surface of the self-enclosed member includes a region where forms a maximum outer diameter of the self-enclosed member and where engages the cavity or lumen wall when the outer surface passes through the region, and the wiper member is in contact with the outer surface in other regions except for the region.
7. The propellable apparatus of claim 1 , wherein
the self-enclosed member includes a toroidial membrane.
8. The propellable apparatus of claim 1 , wherein
the self-enclosed member includes at least one self-enclosed stripe.
9. The propellable apparatus of claim 1 , wherein
the outer surface of the self-enclosed member rotates so as to turn inward to the central region from a surface which engages the cavity or lumen wall and so as to turn outward to the surface which engages the cavity or lumen wall from the central region,
the edge of the wiper member includes a wiper surface, and
an angle between the wiper surface and a tangent plane is an acute angle in a downstream side of a rotation direction of the outer surface of the self-enclosed member, the tangent plane including a contact line on which the edge of the wiper member is in contact with the outer surface.
10. The propellable apparatus of claim 1 , wherein a material of the wiper members has shore A hardness which ranges from 60 to 70.
11. The propellable apparatus of claim 1 , wherein the edge of the wiper member touches the outer surface of the self-enclosed member along an entire circumference of the longitudinal path.