A self-propelled colonoscope (1) includes an insertion tube (5) having a distal section (11), a bending section (13) and a flexible section (15), an operation unit (7) and driving unit. A plurality of endless belts (17) are arranged at the surface of the flexible section (15). Each endless belt (17) passes out to the surface of the flexible section (15) through a guide hole near the tip of the flexible section (15) by driving a driving unit mounted at a driving casing. The colonoscope is self-propelled into the colon by driving the endless belt (17). A length of the endless belt is 102 to 104% of the length of such as endless belt, when the endless belt tensely turns around, from the guide hole near the tip of the flexible section to the same hole, through the driving unit, while the flexible section (15) is maintained straight.

The self-propelled colonoscope (1) is self-inserted into a colon by driving endless belts (17) mounted on the outside of the bending section (15) of the insertion tube (9). The cross section of the endless belt (17) is substantially circular and a rack gear teeth having a circular cross section are formed on the outside of the endless belts (17). A recess having a circular cross section and pinion gear teeth which correspond to the shape of the endless belt and the rack gear teeth. Since the endless belt (17) has a circular cross section, it can easily bend in all radial directions. Upon insertion of the insertion tube (9) into the colon, the endless belt (17) can easily follow the movement of the insertion tube (9).

The present invention includes systems and methods for decreasing the pain and discomfort commonly associated with endoscopic procedures, where such procedures may be performed with lower dosage levels of sedative and analgesic drugs. The invention includes use of an anesthetic collar coupled to an endoscope with a flexible shaft. The anesthetic collar allows lubricants, local anesthetics, dyes, and/or other desirable fluids to be passed through the existing lumen of the flexible shaft into an annulus, where the fluid may be distributed through expulsion pores into the gastrointestinal tract. Utilizing the existing lumens found in endoscopes, the present invention allows those fluids that may reduce the pain and discomfort associated with endoscopies such as, for example, local anesthetics and lubricants, to be distributed in an even fashion throughout the gastrointestinal tract or throughout the length and circumference of the endoscope, where such fluids may reduce the drug level requirements for sedative and analgesic agents. Alternatively, the endoscope may be redesigned for streamlined integration with the anesthetic collar or to accomplish the same function of distributing local anesthetics and lubricants, in an even fashion throughout the gastrointestinal tract or throughout the length and circumference of the endoscope, The invention can also be used with endoscopes without existing lumens.

A method is provided for site specific delivering therapeutic or diagnostic agents to a region in a fluid-filled cavity, vessel or tissue using an agent-loaded microbubble population. The population has controlled fragility characterized by a uniform wall thickness to diameter ratio which defines the discrete threshold intensity value of ultrasonic power where microbubble rupture occurs in the population. The location of the microbubble population may be monitored by ultrasound to determine its presence at the region prior to application of the ultrasonic power to rupture to microbubbles.

A self propelled, endoscopic apparatus formed of a flexible, fluid-filled toroid and a motorized or powerable frame. The apparatus may be used to advance a variety of accessory devices into generally tubular spaces and environments for medical and non-medical applications. The apparatus when inserted into a tubular space or environment, such as the colon of a patient undergoing a colonoscopy, is advanced by the motion of the toroid. The toroid's surface circulates around itself in a continuous motion from inside its central cavity along its central axis to the outside where its surface travels in the opposite direction until it again rotates into its central cavity. As the device advances within the varying sizes, shapes and contours of body lumens, the toroid compresses and expands to accommodate and navigate the environment. The motion of the toroid can be powered or unpowered and the direction and speed may be controlled. The apparatus may be used to transport a variety of accessory devices to desired locations within tubular spaces and environments where medical and non-medical procedures may be performed.