A robot for performing endoscopic procedures includes a plurality of segments attached to each other through an articulated joint. Actuators can move the segments together and apart and change their angular orientation to allow the robot to move in an inchworm or snake-like fashion through a cavity or...http://www.google.fr/patents/US5337732?utm_source=gb-gplus-shareBrevet US5337732 - Robotic endoscopy
