An endoscope is provided, being insertable in the colon of a patient, in a self-propelled manner, by driving a plurality of endless belts mounted along the outside surface of a flexible section of an insertion tube thereof, and having a cleaning mechanism therein to be easily cleaned after use. A self-propelled colonoscope (1) is an endoscope insertable in the colon by driving endless belts (10) mounted along the almost entire length of a flexible section (4) of an insertion tube (5), and having guide pipes, which guide returning endless belts, being mounted in the insertion tube thereof, each of said guide pipes being provided with an opening for a cleaning brush (35) and a casing (31), which surrounds the endless belt driving unit, being formed with a cleaning window (33), said window being provided with a lid (37).
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).
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.
Reusable instruments, such as reusable medical instruments, and related systems and methods, are disclosed. In some embodiments, the reusable instrument can be an endoscope, which can be cleaned by sterilization. In certain embodiments, a method of sterilizing includes sterilizing the endoscope or portion thereof in a sterilization chamber while maintaining a pressure differential between the interior and exterior of the endoscope.
