A self-propelled inflatable earthworm-like endoscope actuated by single supply line.

Design of a self-propelling endoscope has been of interest for decades, as it allows for simplified medical examination techniques and improved patient comfort, together with advanced analysis capacity. In this paper, we describe the development of a fully automatic, multiple-balloon system achieving peristaltic locomotion, controlled by a single supply channel. The system employs the nonlinear pressure-radius characteristics of elastic balloons to simultaneously control numerous balloons with a constant inlet pressure.