AU2015200074A1 - Endoscope assembly - Google Patents

Abstract

A loconoive endoscope assembly inluding a locomotive endoscope head. incluing a main portion extending along a longitudinal axis anid having a first 5 selectably inflatable balloon associated therewih uand a selectably positionabie portion, seletably axially positionabie along the main portin and having a second selectably inflatable balloon associated therewith and a toinotve endoscope head controller controlling the operation of the locomotive endoscope head and being operative for controlling positioning of the selectably postionable portion relative to 1C the main portion and selectable inflation of the fist and second selectably inflatable balloons.

Description

ENDOSCOPE ASSEMBLY REFERENCE TO RELATED APPLICATIONS 5 This application is a divisional application of Australian Patent Application 2012203616 which is a divisional of 2011200624 (which is a divisional of 2005211257), the entire contents of which are to be taken as incorporated herein by reference. 10 Reference is made to U.S. Provisional Patent Application 60/642680 fied February 9, 2004 entitled "MICRO-ROBOT AND ACCESSORIES FOR ENDOSCOPY AND IN-PIPE LOCOM OTION" and to US. Provisional Patent Application 60/559,46, filed April 6, 2004 entitled DEVICES, ACCESSORIES AND METHODS FOR ENDOSCOPY AND IN-PIPE PROPAGATION", the 15 disclosures of which are hereby incorporated by reference and priority of which is hereby claimed pursuant to 37 CFR 1878 (a) (4i and (5)1). FIEL) OF THE INVENTION 20 The present invention relates to endoscopy generally and more particularly to locomotive endoscopes. BACKGROUND OF THE INVENTION 25 The foi g U are believed to pre he current state of the art S Patent Nos. 4,040,413; 4,176,662 and 5,662,587 and U, S. Patent Application Publication No. 2002 156347. 30 I A SUMMARY OF THE 1N'fNTIN The present invention seeks to provide an improved locomotive endoscope The terms 1 endoscope" and "endoscopy are used herein in a manner somewhat broader than their customary mneanintg and refer to apparatus ano methods which operate within body cavities, passageways and the like, such as, for example, the small intestine, the large intestine, arteries and veins. Although these terms normally refer to visual inspecun, a ued herein they are not limited to applications which employ visual inspection and efer as well to appaatus, sys tms and methsiwhich 10 need not necessarily invoke visual insection, There s thus provided in accordance with a preferred embodiment of the present invention a locomnojye endoscope assembly including a locomotive endoscope head, including a masin portion extending along a longitudinal axis and having a first seetably inflatable balloont associated therewith ad a seletably positonable portion, I5 selectably axially positionable along |the main portion and hav ing a second selectably inflatable balloon associated therewith and a locomotive endoscope head controller controlling the opeation of the 1oonotive endt scope head and being operative for controlling positioning of he selectabiy positionable portion relative to the main portion and selectable inflation of the fist and second selectably inflatable balloons In accordance wi th a prefcnetd embodiment of the present invention at least one of the first and second selectably inflatable balloons includes a.. stretchable balloor. Preferabiy, the locomotive endoscopeasesembly also includes an endoscope body associated with. the locomotive endaoscope head. Optionally andl preferably, an instrument channel at lest partially extends through the locomotive endoscope head 25 and the endoseope body In accordance with another preferred embodiment of the present invention the locomo'tive endoscopeo head has a U hed length. Preferably, the endoscope body includes a mnuhi-lumnen tube. Alternatively or additionally, the endoscope bodsy interfaces with the locomotive endoscope head controller. 30 ~In acoro~dance with yet another prefered emnbodimren of the present invention the locomotive endoscope assembly also includes an endoscopy system to which the locomotive endoscope head controller is connectable, in accordancewith still another preferred embodiment ofthe present invention the miultilumen tube indudes at least one hunen operate for at least one of balloo inflation;positioning of the sdeetably positicnable portion of the locomotive endos'ope head; pasage therethrough of at least one of an optical fber and an electrical conductors 5 bundle and fluid communication. Preferably, the multihnnen tube includes at least one lumen operative for each of balloon inflation positio ing of the selectably positionable portion of the loconmtivendoscope head and passage herethroagh of at least one of an optical fiber and an electieai c~onductor bundle. Typically and preferably, the at least onelunen includes at least one firstlmen operative for inflation ofthe first seletably 10 inltabl balloonand at least one second lumen operative for inflaton of the second selectably inflatable balloon. In accordance with a nuther preferred enmbodiment of the present invention the selectably positionable portion is Alidably positionabie with respect to the main portion Preferably, the locomotive endoscope hecad includes at least one light source and at least 15 one imaging sensor Additionaiy or alternatively, the first selectably inflatablebion includestat least two independently inflatable balloon portions. As a further alternative the second selectably inflatable balloon includes at least two indepe'ndently inflatable balloon portions. Preferably, the at least tvW independently inflatable baboon portions of the second seietablv inflatahie balloon are azirnathally offset with respect to the at 20 least two independently inflatable ballon portions of the first selectably inflatable balloon. in accordance with a still further preferred embodimnent of the present invention the locomotive endoscope head controller provides locomotive functionalty adapted to sequentially displace the locomotive endoscope head through a generally 25 tuInar body pOrtn. Preferably, the locomotive functionality includes funrtionality providing the following sequenti operations: infating the first selectably inflatable balloon, thereby anchoring the first selectable inflatable balloon to an interior surf ce of the generally tubular ody portion; axially repositioning the selectably positionabie portion and the second selectably inflatable balloon relative to the first selectably 3 inflatable balloon; inflating the second selectably inflatable balloon, thereby ancho mg the secondI selectably inflatable balloon to an interior surface of the generally tubular body portion; deflating the first selectably inflatable balloon, thereby unanchoring the first selectabl inflatable balloon onm theiterior surface of the generally tubular body portion; and axially repositioning the first selectably inflatable balloon relative to the seleotably posiionabe portion and the second selectably inflatable balloon, Optionally, the first selectably iflatable balloon is arranged with respect to the generally tubular 5 body portion to be forward of the second seletably inflatable balloon, Alernatively, the second selectably inflatable balloon is armnged with respect to the generally tubular body portin to be forward of the first selectably inflatable almn There is also provided in accordance with another preferred embodiment of the present invention a locomoative endoscope assembly including a locomotive endoscope 10 headincluding a main portion extending along a longitudinal axis and having a first selectably radially extendible elemert associated therewith and a selectably positionabie portion, selectably axially positionable along the main portion andihaving a second selectable radially extendible element asociated therewith and a locomotive endoseope head controllr controlling the operation of the locomotive endoscope head and being 15 operative for controlling positioning of the selectably positionable portion relative to the main portion and selectable extension of the first and second selectably radially extendible elements. In accordance with a preferred embodiment of the present invention at least one of the frst and second selectably radially extendible elements includes a selectably 0 inflatable balloon Preferbly the selectably inflatabe balloon includes a stretchable balloon. In accordance with another preferred embodiment of the present invention the locomotive endoscope assembly also includes an endoscope body associated wit the locomotive endoscope head. Preferably, an instrument dhanael at least partially extends 25 through the locomotive endoscope head and the endoscope body. More preferably the locomotive endoscope head has a fixed lngth. In accordance with yet another preferred embodiment of the present invention the endosoop bY includes a multKlumen tube. Preferably, the endoscope body interfaces with the locomotive endoscope head controller. Additionally and preferably, 30 the locomotive endoscope assembly also includes an endoscopy system to whic the locomotive endoscope head controller is connectable.

In accordance with still another preferred embodiment of the present invention the multilunen tube includes at least one lumen operative for at least one of radially extending element extension; positioning otf the selectably positionabie portion of the locomotive endoscope head; passage therethrougb of at least one of an optical fiber and 5 an electrical conductor bundle; and flid connnunication, Preferably, the multiluen tube includes at least one lumen operative for each of radially extending element extension; positioning of the selectably positionable portion of the locomotive endoscope head; arnd passage therethrough of at least one of an optical fiber and an electrical conductor bundle. Typically and preferably, the at least one lumen includes at 10 least one first lumen operative for extension of the first selectably radially extendible element and at least one second lumen operative for extension of the second selectably radially extendible element. In accordance with a further preferred ermbodimet of the present invention the selectably positionable portion is slidably positionable wh respect to the nmain portion. 15 Preferably, the locomotive endoscope bead includes at least one light source and at least one imaging sensor. In accordance wth vet a further preferred embodiment of the present invention the first selectably radially extendible element includes at least two independently extendible element portions. Additionally or alternatively, the second selectably radally 20 extendible element includes at least two independently extendible element portions. Preferably, thme at least two independently extendible element portions of the second selectably radially extendible element are azimuthaily offset with respect o the at least two independently extendible element portons of the first selectable radially extendible element. 25 In accordance with still sa further preferred embodiment of the present invention the locomotive endoscope bead controller provides locomotive functionality adapted to sequentially displace the locomotive endoscope head through la generally tubular body pordirn Preferaby the loenotiae funationality includes functionality providing the following cquential operations: extending the first selectably radially 30 extendible element, thereby anchoring the first selectably radially extendible element to an nterior surface of the generally tubular body portion; axially repositioning the selectably posinonable portion and. the second selectably radially extendible element relative to the first selectahly radially extendible element; extending the second selectably radially extendible element, thereby anchoring the second selectably radially extendible element to an interior surface of the general tubular body portion; retryacting the fist selectably radially extendible element, thereby unanehoring tee fist S seletably radial extendible element from the interior surface of the generally tubular boldy portion; and axially repositioning the fist seleetably radialy extendible element relative to the seletaby positionabie portion and the second selectably radially extendible element Optionally, the fist sedectably radially extendible element is arranged with respect to the generaly tubular ody portion to be forward of the second 10 selectably radially extendible element Alternatively, these second selectably radially extendible element is arranged with respect to the generally tubular body portion to bes forward of tue fist sectably radially extendible element There is further provided in accordance with yet another preferred embodiment of the present invention an endoscope assembly including an endow sope head extending 15 along a longitudinal axis and having a fist plurality of seetabiy inflatable balloons associated therewith at at least one fist axial location therealong and a second plurality of selectably inflatable balloons associated therewvth at at least one second axial location therealong and an endoscope head| controller being operative for controllng selectable inflation of thefirst and second pluralities of selectably inflatable balloons for 20 selectable positioning of the endoscope head. in accordance with a preferred embodiment of the present invention the endoscope head controller is operative for controlling selectable inflation of the first and second pluralities of selectably inflatable balloons for selectable parallel off-'cenier orientation of the endoscope head. Preferably, the endoscope head controller is 25 operative for controlling selectable inflation of the first and second pluralities of selectably inflatable balloons for selectable tilted orientation of the endoscope head. Optionally and preferably, at least one of the fist and second pluralities of selectably inflatable balloons includes a plurality of balloons distributed generally azinmuthally about the endoscope head. More preferably, at least one balloon of the fist and second 30 pluralities of selectably inflatable balloons includes a stretchable balloon, In accordance 'with another preferred embodiment of the present invention the endoscope head includes a locomotive endoscope head. Preferably, the locomotive thv endoscope head includes a main portion extending along a longitudinal axis and associated with the first pluality of selectably inflatable baboons, and a seleetably positionabie portion, seledably axially positionabie along the main portion and associated with the second plurlty of seleetably inflatable balloons. SIn accordance with still another preferred embodiment of the present invention the endoscope assembly also includes an endoscope body associated with the endoscope head.Preferabl, an instrument channel at least partiay extends through the endoscope head and the endoscope body. Optionally and preferably, the endoscooe head has a fixed length. .0 In accordance with a further preferred embodiment of the present invention the endoscope body includes, a mndtplmen tube, AddionaMy or atteratively the endoscope body interfaces with the endoscope head controlleri Preferably, the endoscope assembly also includes an endoscopy systemt to which the endoscope head contd ler i connectable 15 In accordance with vet a farther prefer-ed embodiment of the present invention th multi-lumen tube includes at least one luen opera e for at least one of ballon inflation; positioning of the selectably positionable Portion of the endoscope head; passage therethmugh of at least one of an optical fiber and an electrical conductor bundle; and fluidi communication. Preferably, the m~utilumnen tube includes at least one 3 kamen operative for each of baloon inflation; positioning ofthe selectably positionable portin of the endoscope head; and passage thereMrough of at least one of an optical fiber and an electrical conductor bundle, In acdar.nen with a still further, preferred embodiment of the present invention the seleetably positionabie portion is slidably positionabie with respect to the 25 in portion. Preferably, the endoscope head includes at least one light source and at least one imaging sensor, Additionally or alternatively, the first plurality of selectably inflatable balloons includes at least two independentiyginflatable balloon portions. As a further alternative, the second plurality of aelectably inflatable balloons includes at least two independently inflatable balloon portions. Preferably, the at least two independently 30 inflatable balloon portions of the second plurality of selectably inflatable balloons are azimnuthally offset with respect to the at least two independently inflatable balloon paoris of the first pluality of seleetably inflatable balloons.

In accordance with an additional preferred embodiment of the present inlvention the endcoscope head controller provides loconmotive functionality adapted to sequentially displace the endoscope heAd through a generally tubular body portion. Preferably, the locomotive functionality includes function nality providing the following 5 sequential operations: inflating at least part of the first pluality of selectably inflatable balloons, thereby anchoring the first plurality of selectably inflatable balloons to an interior surface of the generally tubular body .portion; axially repositioning the selectably positionable portion and the second plurality of selectably inflatable balloons relative to the first plurality of selectably inflatable balloons; inflating at least part of the 10 second pluality of selectably inflatable balloons, thereby anchoring the second plurality of selectably inflatable balloons to an interior surface of the generally tubular body portion; deflating the first urality of seleetably inflatable balloons, thereby unanchoring the first plurality of selectabhy inflastable balloons from the interior surface of the generally tubular body portion; and axially repositioning the first plurality of if selectably inflatable balloons relative e to the slectably positionabe portion and the second plurality of selectably inflatable balloons. Optionally, the first plurality of selectably inflatable balloons is arranged with respect to tbe generally tubular body portion to be generally forward of the second plurality of seleectably inflatable balloons, ternatively, the second puraity of selectably inflatable balloon is arranged with 20 respect to the generally tubular body portion to be generally forward of the first plurality of selectably inflatable balloons, There is additionally provided in accordance with still another pretbrred emubodiment Lf the present invention an endoscope assembly including an endoscope head extending along a longitudinal axis and having a first pluraity of selectably S radially extendible elements associated therewith at at least one frt axial location therealong and a second plurality of selectably radially extendible elements associated therewith at at least one second axial locatid therealong and an endoscope head controller bing operadve for controlling selectable extension of the first and second pluralities of selectably radially extendible elements for selectable positioning of the 30 endoscope head In accordance wih a preferred embodinent of the present invention the endoscope ihead controller is operative for controlling selectable extension of the first and second pluralities of selectably radiaUly extendible elements for selectable parallel off-center orientation of the endoscope head. Preferably, the endoscope head. contoller is operative for controlling selectable extension of the first and second pluralities of selectably radially extendible elements for selectable tilted orientation of the endoscope 5 head, Additionally or alternatively, at least one of the first and second pluralities of selectably radiaEly extendible elements includes a plurality of radially extendible elements distributed generally azinuthally about the endoscope head. In accorance with another preferred enmbodneni ofthe present invention the endoscope head includes a locomotive endoscope head, Preferably, theloomotive 10 endoscpe head includes a main portion extending along a longitudinal axis and associated, with the first plurality of selectably radially extendible elements, and a. selectably positionabl" portin, selectably axially positionable along the main portion and associated with the second pluality of solectably radially extendible elernents. In accordance wih yet another preferred embodiment of the present invention 15 least one of the first and second pluralities of selectably radially extendible elements includes a plurality of selectably inflatable balloons. Typically and preferbly, at least one balloon of the plurality ofselectably inflatable balloons includes a stretchable balloon. In accordance with sill another preferred embodiment of the presetinvention 20 the endoscope assembly also includes an endoscope body associated with the endoscope head, Preferably, an instrment channel at least partially extends through the endoscope head and the endoscope body Additionaly or alternatively the endoscope head has a fixed length. In accordance with a further preferred embodiment of the present invention the 25 endoscope ody includes a mutilumen tube. Preferably, the endoseope bdy interfaces with the endoscoe head controllern Additionally or altenatiely the endosope assembly also includes an endoeopy system to which the endoscope head controller is connectable. In accordance with a still further preferred embodiment of the present 30 invention the mnuiltiumen tube includes at least one lumen operative for at least one of: radially extending element extensior; positioning of the seleetably positionable portion of the endoscope head; passage therethougi of at least one of an optical fiber and an electrical conductor bundle; and fluid communication. Preferably, th~e multiumuen tube includes at least one lumen operative for each of: radially extending element extension positioning of the selctably positionabie portion of the endoscope head; and passage therethrough of at least one of an optical fiber and an electrical conductor bAndleS $ In accordance with an additional preferred embodiment of the present invention the selectably positionabie portion is slidably positionable with respect to the main portion Preferably, the endoscope head includes at last one light source and at least one imaging sensor, Additionally or alternatively, the first plurality of selectably radially extendible elements includes at least two independently selectably radialy 10 extendible elements, As a further alternative, the second plurality of selectably radially extendible elements -inctudes at least two independently selectably radially extendible elements, Preferably, the at least two independently selectably radially extendible elements of the second plurality of selectably radially extendible elements are aziinuthaily offset with respect to the at least two independently selectably radially i5 extendible elements of the first plurality of selectably radially externdible elements. In accordance with another preferred embodiment of the present invention the endWscope head contoler provides locomotive functionality adapted to sequentialy displace the endoscope head through a generally tubular body portion. Preferably. the locomotive functionality includes functionality providing the fibliwing sequential 20 operations: extending ast part of te first plurality of selectably radialy extendible elements. thereby anchoring the first plurality of selectably radially extendible elements to an interior surface of the gencially tubular body portion; axialy repositioning the selectably positionable portion and the second plurality of selectably radially extendible elements relative to he first plurality of selectably radially extendible elements; 25 extending at least part of the second plurality of selectably radially extendible elements, thereby anchoring the second plurality of selectably radially extendible elements to an interior surface of the generaly tubular body pordon; retracting the first plurality of selectably radially extendible elements, thereby unanchoring the first pluality of seletably radially extendible elements fom the interior surface of the generally tubular 30 body portion; and axially repositioning the first plurality of seectably rdially extendible elements relative to tire selectably positionabie portion and tre second plurality of seiectabiy radially extendible elements. Optionally the first plurality of 10 selectably radially extendible elements is arranged with respect to the generally tubular body portion to be generally forward of the second plurality of selectaby radially extendible elements. Alternativelythe second plurality of selectably radially extendible e:~lements is arranged with respect to the generally tbular body portion to be generally 5 forward of te first plurality of selectably radially extendible element There is also provided in accordance with another preferred tubodiment of the present invention apparatus for fluid supply to the interior of a portion of a tubular body portion including an cement extending along a longitudinal axis and having at Iast one first selectably extendible tubular body portion sealing element asociated therewith at a 10 (I frst axial location therealong and at least one second tubular body portion sealing element associated. therewith at a second axial location thercalong, a controller for selectably extending the at least one fast and second tubular body portion scaling elements within a tubular body portion to define a sealed region |therebetween and a luid supply funedonality supplying a luid to the scaled region I5 In accordance with a preferred embodiment of the present invention at least one of the fist and second tubular body portion sealing elements includes a selectaby inflatabl balloon Preferably, the selectably inflatable balloon includes a stretchable balloon. More preferably, the selectably inflatable balloon includes a plurality of selectably inflatable balloon portions 21) In accordance with another preferred embodiment of the present invention they apparatus includes a locomotive endoscope head. Preferably, the apparatus for fluid supply also includes at least one fluid supply reservoir which operative to supply the fluid to the sealed region. More prefrmbly, the apparatus for fluid supply also includes fluid suction funclonality for auctioning fuid om the sealed region. 25 There is further provided in accordance with a frther preferred emubodlinent of the present Invention apparatus for fluid supply to the interior of a portion of a tubular body portion including a muitidumen tube including at least first, second and third lumens extending therethough, a forward selelably infltable balloon in fluid communication with the first lumen, tihe forward selectably inflatable balloon being 30U operative to seal the tubular body portion when inflated, a rear selectably inflatable balloon in fluid communication with the second lumen the rear selectaby infatable balloon being operative to seal the tubuke body porton when infated, a fluid supply 11 outlet located intcrmcdiate the forward and rear selectably inflatable balloons, the outlet being in fluid communication with the third lumen and a controller for seleetably inflating he ist and second selectably inflatable balloons wihin a tubular body portion to define a sealed region therebetween and for supplying a fluid to the 5 sealed region. According to adfrst aspect, the present invention provides an endoscope assembly comprising: an endoscope tube hang an instrument channel: an endoscape tool arranged to travel along said instrument channel to a utilization location forward of said endoscope tube, said endoscope tool being slidably and sealingly located 10 within said instrument channel; and a fluid endoscope tool positioned for selectably pressuizing said instrument channel for providing fluid driven desired positioning of said endoscope tool along said instrument channel In accordance with a preferred embodiment of the present invention the endosCope tool includes a piston-defining portion sealingly and slidably engaging the 15 instrument channel. According to a second aspect of the present invention there is provided an endoscope assembly including a tube havng at east one Lumen and an endoscope tool arranged to travel through the at least one lumen, the endoscope tool including a stretchable selectably inflatable anchoring ballon. 20 According to a third aspect of the present invention there is provided an endoscope assembly ,intuding a tube having at least one lumen and an endoscope tool arranged to travel along the at least one lumen to a utilization locatin forward of the tubethe endoseope tool being seleetably bendable forwardly of the tube. There is additionally provided in accordance with yet another preferred 25 embodiment of the present invention an endoseope assembly including a tube having at least one lumen and an endoscope tool arranged to travel along the at least one lumen, theendoscope tool including a tool head and a multi4mnen tube connected to the tool head. In accordance with a preferred embodiment of the present invention the tube 30 inAdes an endoscope tube. Preferably, the at least one lumen includes instrument channel. Additionally or alternatively, the multi-umen tube includes at least a first 12 lumen for inflation and deflation of the stretchable selectably inflatable anchoring balloon and a second lumnr In accordance with another preferred embodiment of the present invention the endoscope assembly also includes a tensioning wire which extends through the second S lumen and which is operative for seleetably bending the endoscope tool forwardly of the tube. Preferably> the endoscope tool is generally moere flexIble than the tube. Additionally or alternatively, the endoscope assernbly also includes an endoscopy system. to which the endoscope tube is connectable. As a further alternative, the endoscope assembly also includes an endoscope tool positioning control device and a, 10 balloon inflationideflation control In accordance with yet another preferredTembodiment of the present invention the e ndoscope assembly also includes a tool port associated with the tube which is op'erativefor insertion and removal of the endoscope tool, here is father provided in accordance with a further preferred embodiment of i5 the present invention an endoscope assembly including an endoscope tube, the endoscope tube having a fist stethable selectably inflatable anchoring balloon adjacent a forward end thereof and an endoscope tool arranged to ravel relative to the endoscope tube to a utilization location forward of the endoscopetube the enda scpe toot having a second stretchable selectably inflatable anchoring balloon adjacent a 20 forward end thereof. In accordance with a preferred embodiment of the present invention the etndoscope tool is selectably bendable forwardly ofthe endoscope tube. Optionally and preferably, the endoscope tool includes a tool head and a multialumen tube connected to the tool head. Additionally or alternatively, the mnultialumen tube includes at least a first 25 lumen for inflation and deflation of the second stretchable seleotably inflatable anchoring balloon and a second umen In accordance with another preferrd embodiment of the present invention the endoscope assembly also includes a tensioning wire which extends through the second lumen and which Is operative for selectably bending the endoscope tool forwardly of the 30 endoscope me, Preferably, the endoscope tool is generally more flexible than the endoscope tube. Additionally or altematively, the endoscope assembly also includes an endoscopy system to which the endoscope tube is connectable, Additionally or 13 alernaivelly, the endoscope assembly also includes an endoscope tool positioning control device and at least one balloon infation/defation control, As a further alternative, the endoscope assembly also includes a tool port associated| with the endoscope tube which is operative for insertion and removal of the endoscope tool. 5 Acrding to a fourth aspect of the present invention there is provided an endoscope assembly including a locomotive endoscope including a locomotive endoscope head and an endoscope body adapted for locomotion through a tubular body portion and for anchoring at a desired location in the tubular body portion and an endoscopy tool adapted for displacement along the endoscope body to a desired tool 10 operation location. in accordance with a preferred embodiment of the present invention the endosape assembly also includes at least one selectably radially extendible element associated with the locomotive endoscope head and adapted for anchoring the locomotive endomope head at a desired location in the tubular body portion 15 Preferablyt de at least one selectably radialy extendible element includes a selectably inflatable anchoring bal loon. Additionally or alternatiely, the locomotive endoscope head includes at least one light source and at least one imaging sensor. In accordance with another preferred embodiment of the present invention the endoscope assembly also includes an ovaetube which is slidable along the endoscope 20 body. Preferably, the overtube is associated with the endoscopy too.Additionally or alternatively, the endoscope body is adapted to function as a guide wire for the overture In accordance with yet another preferred embodiment of the present invention the endoscopy tool includes a therapeutic tool. Alternatively; the endoscopy tool 25 includes a diagnostic tool As a further alternative, the endoscopy tool includes a surgical tool There is also provided in accordance with another preferred embodiment of the present invention a locomotive endoscopy method including providing a locomotive endoscope head, including a main portion extending along a longitudinal axis and 30 having a first selectably radially extendible element associated therewith and a selectably positionable portion, selectably axially positionable along the main portion and having a second selectably radially extendihle clement associated therewith and 14 providing locomotion of the locomotive endoscope head by selectably positioning the slidable portion relative to the main portion and selectably extending and retracting the fist and second selectably radially extendible elements. In accordance with a preferred embodiment of the present invention at least S one of therst and second sciectably radially extendible elements includes a selectably inflatable balloon. Preferably, the |locomotive endoscopy method also includes positioning the locomotive endoscopte head in a selectably non-parallel orientation relative to a tubular body portion by selectably non -dentically extending at least two independently radially extendible element portions of the frst seletably radially 10 extendible element and at least two independently radially extendible element potions of the second celectably radially extendible element. Additionally or aternaivoly, the locomotive endoscopy method also includes positioning the locomotive endoseope head in a selectably off-center parallel orientation relative to ai tubular body portion by selMtably non-identically extending at least two independently radialy extendib i5 element portions of the fist sekeetably radially extendible element nd at least two 20~~cal radul 1lvbl independently radially extendible elmeta potions of the an e a l extendibe element. In accordance with another preferred embodjrnent of the present invention providing locomotion includes ly displacing the loomotive endoscope head 20 through a generally tubular body portion, Preferably, providing locomotion includes sequentially displacing the locomotive endoscope head through at least one of a large intestine, a small intestine, an artery and a vein. More preferably. the sequentially displacing includes the following sequential operations: extending the fist selectably radially extendible element, thereby anchoring the fist seleetably radially extendible 25 element to an intenor surface of the generally tubular body portion; axially repositioning the selectably positionable portion and the second seleetably radially extendible element relative to the first selectably radially extendibe element; inflating the second selectably radially extendible element thereby anchoring the second selectabiy radical extendible element to an interior surface of the generally tubular 30 body portion; deflating the first seleotably radially extendible element, thereby unachoring the first seiectably radially extendible element from the interior surface or the generally tubular body portion; and axially repositioning the first selectably radially 13 extendible element relative to the seleCtbly positionabe portion and the second selectably radially extendible element. There is additionally provided in accordance with yet another preferred embodiment of the present invention an endoscope positioning method including 5 providing an cndoscope head extending along a longitudinal axis and having a firs plurality of selectably radially extendible elements associated therewith at at least a first axial location therealong and a second plurality of selectably radial y extendible elements associated therewith at at least a second axial location thereaong and selectably postioning the endoscope head by selectable extension of the first and 10 second pluralies of selectably radially extendible elements, In accordance with a preferred embodimentoft e preset invention at least one of the first and second pluralities of selectaby radially extendible elements inudes a plurality of radlally extendible elements distributed azimnuthally about the endoscope head and the positioning the endoscope head includes selectable extension of individual 15 ones of the plurality of radially extendible elements. Preferably, at least one selectably radially extendable element of the first and second pluralitics of selectably radially extendible elements includes an infatable balloon. There is further provided in accordance with still another preferred enbodment of the present invention a method for fluid supply to the interior of a 20 portion of a tubular body portion including providing an element extending along a longitudinal axis and having at least one fst seleetably extendible tubular body potion sealing element associated therewih at a first axial location therealong and at least one second tubular body porion sealing element associated therewith at a second axial location therealong, extending the at least one first and second tubular body portion 25 sealing elements within a tubular body portion to define a sealed region therebetween and supplying a fluid to the sealed region. In accordance with a preferred embodiment of the present invention the supplying a fluid includes supplying a therapeutic fluid. Alteratively, the supplying a fluid includes supplying a contrast enhancing fluid. As a further alternative, the 30 supplying a fluid includes supplying an antiseptic fluid. tonixl In accordance with another preferred embodiment of the present invention the supplying a fluid includes supplying an acidic soluion. Aternatively, the supplying a fluid includes supping a basic solution. According to a fifth aspect Of the present invention there is provided an 5 endoscopy method including providing an endoscope tube having an instrument channel and an endoscope tool arranged to travel along the instrument channel to a utilization tion ion forward of the endoscope tube, the endoscope tool being slidably and sealingly located within the insrument channel and selectably pressurizing the instrument channel for providing fluid driven desired positioning of the endoscope 10 tool along the instrument cannel. There is additional provided in accordance with a stil further preferred embodiment ofthe present invntion an endoscopy method including providing a tube having at least one lumen and an endoseope tool arranged to travel through the at least one lumen the endosope tool including a stretchable selectably inflatable anchoring 15 balloon and anchoring the endoscope tool forward of the tube within a tubular body portion by inflating the anchoring balloon into anchoring engagement with an interior wall ofthe tubular body portion. There is also provided in accordance with another preferred embodiment of the present invention an endoscopymethod including providing a tube having at least one 20 lumen and an endoscope tool arranged to travel through the at least one lumen, the endoscope tool being selectably bendable forwardly of the tube and selectably bending the endoscope tool forwardly of the tube. In accordance with a preferred embodiment of the present invention the endoscope tool includes a stretchable seletably inflatable anchoring balloon and the 25 method also includes anchoring the endascope tool forward of the tube within a tubular body portion by inflating the anchoring ballon into anchoring engagement with an interior wall of the tubular body portion. Preferably, the endoscopy method also includes sliding the tube forwardly along the endoscope tool, thereby employing the endoscope tool as a guide. 30 in accordance with another preferred embodiment of the present invention the endoscopy method also includes, prior to sliding the tube forwardly, the step of 17 tensioning the endoscope tooL. Preferably, the endoscopy method also includes the steps of sequentially repeating at ast tanig and sliding steps. In accordance with yet another preferred embodiment of the present invention die tube incudes an endoscope tube. Preferbly the at least one lumen includes an S instrument channel There is also provided in accordance with a still further preferred embodiment of the present invention an endoscopy method including providing an endoscope tube having a first stretchable selectably inflatable anchoring balloon adjacent a forward end thereof and an endoscope tool having a second stretchable selectably inflatable 1W anchoring balloon adjacent a forward end thereof and positioning the endoscope tool at a utilization location forward of the endoscope tube -, In accordance with a preferred emibodimnent of the present invention the endoscopy method also includes prior to the positioning, inflating the first selectably inflatable anchoring balloon on the endoscope tube within a tubular body portion for IS anchoring the endoscope tube to an inner wail of the tubular body portion, subsequent to the positioning, inflating the second selectably inflatable anchoring balloon on the tool forward of the endoscope tube within the tubular body portion tbr anchoring the endoscope tool to the inner wall of the tubular body portion, thereafter, deflating the first selectably inflatable anchoring balloon and advancing the endoscope tube over the 20 endoscope tool by employing the endoscope tool as a guide. In accordance with another prefenred embodiment of the present invention the endoscopy method also includes bending the endoscope tool when it is forward of the endoscope tube and prior to inflating the second selectably inflatable anchoring balloon. Preferably, the endoscopy method also includes the step of sequentially repeating at 2$ least two of the inflating, positioning, deflating and advancing steps. In accordance with yet another preferred embodiment of the present invention the endoscopy method also includes the step of sequentially repeating at least two of the inflating, positioning, bending, deflating and advancing steps, Preferably, the positioning of the endoscope tool includes passing the endoscope tool through an 30 instrument channel of the end oscope tube. There is further provided in accordance with another preferred embodiment of the present invention an endoscopy nethod including providing a locomotive endoscope 1of including a locomotive endoscope bead and an endoscope body providing locomotion of the locomotive endoscope head| through a tubular body portionm anchoring the locomotive endoscope head at a desired| loation in the tubular body portion and displacing an endoscopy tool along the endoscope body to a desired tool operation S locationa In accordance with a preferred embodiment of thre present invention the endoscopy method also includes tensioning the endoscope body following the anchoring of the locomotive endoscope head and prior to the displacing the endoscopy tool Preferably, the endoscopy method also includes, pror to the anchoring, th' step of 10 detecting the desired location in the tubular body portion by use of at least one light source and at least one imaging sensor associated with the locomotive endoscope head. In accordance with another preferred emubodiment of the present invention the endoscopy method also includes, prior to the displacing the endoscopy tool, the step of detecting the desired tool operation location in the tubular body portion by use of at 15 least one light source and at least one imaging sensor associated with the locomotive endoscope head. Preferably, the displacing thendndoscopy tool includes sliding an overtube associated with the endoscopy tool over the endoscope body. 20 19 BIEF DESCRIPTION OF THE DRAWINGS The present intention will be understood and appreciated more flly froum the following detail ed description, taken in conjunction with the drawings in~ which: Fig, 1 is a simplified pi1tral illustration of an endoscopy system constructed and operate in accordance with a referred embodimentof the present invention; Figs, 2 and 3 are respective simplified exploded and assembled view illustrations of a locomotive endoscope head constructed and operative in accordance 10 with a preferred embodiment of the present invention; *ig r A ii4 and 4C. arc-snpfe sectional illustrations akenalog respective lunes WA V A, WB WB and C - NC In Fig. 3, Figs. SA, SBSC, 5D, AE SF and 5G are simplified sectional illustrations, taken along lines WB ~ W in Fig3 of the locomotive endoscope head of Figs. 2 - 4C 15 at Various stages of forward motion through an intestine; Figs. 6A, Q, 60, GD, GE, 6F and 6G are simplified sectional illustrations, ta6en along lnes IVB WB in Fig 3 of the Ion otive endoscop head of Figs; 2 - 4C at various stages of rearward motion through an intestine; Yg,. 7A, 7B and 70 are side view illustrations of selectable tilting orientation 20 of the locomotive endoscope head of Figs. 1 - 6G within a. body passageway; Figs. A8 8B and 0 are simplified reward facing views coresponding to Figs, 7A 7Bh and 70 taken along phaes VRilA VEiA, VRIB - VRIB ad VItO VIC in Figs. 7A, 7B and 7C respectively; pigs. A 9B and 9C are simplined forward facing views corresponding to 25 Figs, 7A, 7B and 7C, taken along planes DXA IXA, IXB - "XB and IX iXC in Figs. 7A, 7B and 'Cespectively Figs. iQA and 10kare side vw illustrations of selectableparallel orientation ofthe locomotive endoscope head of Figs I 6Cwithin a body passageway; Figs, 11 A ana 11U are simplified rarward facing vies narresponding to Figs. 30 I0A and ICB taken along planes XIA MXIA and XB3 . XIB3 in Figs. IA and 10Bh respectively; 20 FigsW 12A and 12B arc simplified fatward faningviews coresponding to Figs, 10kA and 10B3 taken along planes XPA. XUIA an-d XI1B - XIIB1 in Fig0IA and 10B3 respectively; Fig, 13 is a simplifed pictorial illustration of an accessory which is adapted to 5 travel through the instrument channel in the locomnotive endoseope head of any of Figs. 1 12B Fig. 14 is a simplifed partially block diagram, partially schematic ilhation of part of t eo y sy OFigs. I - 13, instructed and operative in accordance with a preferred emubodimrent oft te present inverdion; 10 Fig. 15 is a simplified pictorial illustration of the locomotive endoscope head of Figs. 1 121 in an intestine fuid treatment maode of operation; Figs. 1|A, 16Bh and 16C, are simplified pictoral ilustrations of the locomotive endoscope head of Figs 1 12B in a guide wire mode of operating Fig. 17 is a simplified pictorial illustration of an ends copy systemntruceted 1 5 and operative in accordance with another preferred emubodimrent of the present invention; Figs, 18, 19PA and 1.9B are respective simplinied pictorial and sectional view illustrations ot an accessory constructed and operative in accordance with a preferred embodiment of the present invention; 20 Figs. 20A, 20B3, 200, 201D, 20E3, 20F, 203. 20H1 and 201 are simplified illustrations of various functionalities which may be provided by the system of Fig. 17 FWg 21 is a simplified pictorial illustration of an endoscopy system constructed and operative in accordance with another preferred emnbodimient of the present invention; 25 Figs. 22, 23A and 23B3 are respective simplified pictorial and sectional view illustrations of an acecessory constructed and operadive in accordane with a preferred embodiment of the pre sent invention; and Pigs, 24A, 24B3, 240, 24D), 24E3, 24F, 243, 2411, 241, 245, 24K and 24L are simplified illustrations of various functionadles which may be provided by the system 30 of Fia21. l -' 91 DETAILED DESCRIPTION OP ?REFELELD EMBODIMENTS Reference is now made to Fig. 1, which is a simplifed pictorial illstratin of an endoscopy system constmuted and operative in accordance with a preferred S embodiment of the present invention. The tenms "endoscope& and "endoscopy" are used throughout in a manner somewhat broader than thir customary meaning and refer to apparatus and methods which operate within body cavities, passageways and the like, such as, for example, the smnal intestine, the large intestine, arteries and veins, Although these terms normally 0 refer to visua inspection, as used herein they are not limited to applications which employ visual inspection and refer as well to apparatus, systems and. methods which need not necessarily involve visualkinspection, As seen in Fig, 1, a conventional endoscopy system 100, such as a console including a CIN6 video system center, a c(C460 light soure, an OEV03 video 13 monitor, and an OFP flushing pump, a commercially available from Olypus America Inc of 2 Corporate Center Drive Meille, NY 47, USA, is being employed. A locomotive endoscope head 102, construted and operative in accordance with a preferred cmbodimnsnt of the present invention is located within the large intestine of a patient ad is coupled to sytem 1.00 by a multiiunmen tube 104, also constructed and 20 operative in accordance with a preferred embodiment of the present invention, which interfaces with locomotive bead controller 106 and an operator control 108, both of which are also constricted and operative in accordance with a preferred embodiment of the present invention. Reference is now made to Figs, 2 and 3, which are respective simplinied 25 exploded and assembled view illustrations of a loomotive endoscope head constructed and operative in accordance with a preferred embodiment of the present invention and to Figs. 4A, 4B3 and 40, which are simplified sectional illustrations taken long respective lines IVA NIVAIVB3 XIB and I/C PI/C in Fig 3. As seen in Figs. 2 64C, a muitiduinen tube 104,having a central passageway 30202, defining an instrument channel useful inter alia for tool insertion, inssufiation and suction, and a plurality of peripheral bunmens 204, typically ten in number, is seated in a suitably configured recess 206 formed in a housing portion 20g8 Housing portion 208, 20 " vfln PIA which is general symmetry about a longitudinal axis 210, includes a reatively wider rara portion 212. whioh defines recess 206 and a relatively narrower main portion 214. Rear portion 212 is formed with three pairs 220 of axial sitswhich extend to the rea of rear potion 212 and whioh ae mut-aly separated along the circumference ofa rear portion 212 by 120 degrees. Internediate each pair 220 of axial slits, there is provided an inflation passageway 222, each of which communicates with a corresponding nation passageway 224 foned in muti-lumen tube 202, which in turn communicates with a respective one ofthree rear baboon inflation lumens 226. which are included in the nine multiple perpheral lumens 204. Rear balloon innation lumens 10 226 are sealed forwardly of nflaton passageways 224 by seals 228 Main prrton214 is formed with three axial slots 230 which extend to therear of rear portion 212 and which are nmhialy separated along the cicumference of rear portion 212. A lidable forward balloon support|228 is slidabtly mounted onto main portion 15 214 of housing portion 208 foard balloon support 238 is formed' wth three paIrs 240 of ail slits which extend to the ear of forward balloon support 233 and wich are mutually separated along the circumference of forward ballon support 238 by 120 degrees. Intermediate each pair 240 of axial slits, there is provided an inflation passageway 242, ach bf which comnnmicates with a conrsponding inflation 20 passageway 244 wich extends rarnardly into slidabie sealing engagement with a respective one of three forward balloon inflation lumens 246 which are included in the nine multiple peripheral lumens 204. is appreciated that inflation passageways 244 are typical relatively rigid and sealingly slide within suitably configured low fiction liners 248 which are inserted into forward balloon infation lumens 246 at the forward 25 end ofthe multiumen tube 104 A pair of piston rods 250 are fixed to or integrally formed with forward boon pport 238 and extend naly and rearwardly thereof into slidable sealing engagement with a rspNective one of two forward balloon support axial positioning lumens 252, which are included in the ten multiple peripheral lamens 204. It is 0 appreciated that piston rods 250 are typically relaively rigid and sealingly slide within supl onfigured loowictin 2 254 the forward n ballo 1 supor aia psiioin lmes52a h owr end of the nuiti~unmn tube I04, The relatively rgid inflation passageways 244 and the pitonrods 250 are preferaly located within axial sots 230. A front housing porton 260 is fixedly mounted onto a forward end 262 of the main portion 214 of the housing portion 203. Fron housing portion includes a cap 5 portion 264 which is fixed to or integally formed with a cylindrical pornon 266 whi h extends through a central bore 268 of sidable forward balloon support 238. A rearward end of cylindrical portion 266 is seated in a recess 270 and against a shouler272 defined in central passageway 202 of nmultidlumen tube 104. An interior bore 274 of cylindrical portion 266 defines a continuation of the instrument channel defined by 10 eral passageway 202. At a forward end of cap podion 264 there are preferably provided a light emitting diode 280 and one or more imagng sensors 282 Electrical curent is supplied to the light emitting diode 280 and imaging data is received from sensors 282 via an optcal fiber and electrical conductor nde 284 which extendsfom the forward end of 15 cap potion 264, through a peripheral lulen 2 in multilumen tube 10|4 to locomotve head controller 106 (Fig. i, An additional peripheral Lunen 290 is provided in multiumen tube 104 for flid communication with the interior of the intestinevia slots 230 in housing portion 203.Liquids or pressurized gas may be introduced or drained through this lumen. 20 An inflatable balloon cylinder 300 is mounted onto rear portion 212 of housing portion 2083 As seen clearly in Fig. 2, inflatable balloon cylinder 300 has a uniform cross section which includes three pairs 320 of axial walls which extend along the longitudinal length thereof and engage curt responding axial slits 220 which extend to the rear of rear portion 212i'ach pair 320 of axial wails is joined by a circumferential wall 2jJpJtion~f 322, Axial wails pairs 320 are mutually separated along te circumference of inflatable balloon cylinder 300 by 10 degrees. intermediate pairs 320E of axial walls there are defined three inflatable balloon portions 324. each of which separately communicates with a separate inflation passageway 222. Balloon portions 324 are sealed with respect to the rear portion 212 at 30 'forward and rearward ends thereof and at slts 220 by adhesive or in any other suitabik manner to define three separate and independently controliably inflatable and deflatable balloon portions distributed about the periphery of rear portion 212. It is appreciated 204', tha any suitable smaller or larger number of separate and independently controliably inflatable and deflatabie balloon portions may be atematively employedgathough at least three such separate and independently controllably inflatable and deflatabie balloon portions arc preferred. 5 Au inflatable balloon cylinder 350 is mounted onto forward baboon support 238. As seen early in Fig. 2, inflatable ballon cylinder 350 has a uniform cross section which includes three pairs 370 of axial wails which extend along the longitudinal length thereof and engage corresponding axial slis 240 which extend to the rear of forward balloon support 238. Each pair 370 of axial walls is joined by a 10 circumferential wall portion 372. Axial walls pairs 370 are mutally separated along the circumferenee of inflatable balloon cyinder 350 by 120 degrees. Intermediate pairs 370 of axial walls there are defined three inflatable baboon portions 374, each of which separtely communicates with a separate inflation passageway 242, Balloon portions 374ae scaled with respect to the forward balloon 13 suppdo 238 at forward and rearward ends thereof and at slits 240 by adhesive or in any other suitable manner to defie three separate and independently control inflatable and deflatabe balloon potions, distributed about the prihery of oward baloon support 238. It is appreciated that any suitable smaller o larger number of separate and independently eontrolably inflatable and defiadabi baboon portion may be 2.0 alternatively employed, although at least three such separate and independently controIlably inflatable and deflatable balloon portions which are 60 degrees out of phase with the balloon portions on rear portion212 are preferred It is appreciated that in accordance with a preferred embodiment of the present invention the balloon cylinders 300 and 350 are general stretchabe, and can be 25 stretched to accommodate expansion to a radius up to about 5-20 times greater than the radius of cylinders 300 and 350, when uninflated, Preferably inflation of balloon cylinders 300 and 350 may be achieved using relatively Low pressure, such as in the range of1i0&0 nmilibars. it is appreciated that in accordance with a preferred embodiment of the present 30 invention useful for in vivo inspection of a generally txbular body porton having a variable cross-sectional diameter, the expansion diameter range of balloon cylinders|300 and 350 is larger than the maximum crosssectional diameter of the generally tuular 25 body portion, thereby ensuring engagement of expanded baboon cylinders 300 and 350 with the interior surface of the generally tubular body pordon and anchoring of the locomotive endoscope head 102 thereto. Preferably, balloon cyilnders 300 and 350 are relatively soft, highly compliant balloons, operative to at least partially confon to the 5 shape of the interior surface of the generally tubular body portion when in engagement therewith. It is appreciated that balloon cylinders 300 and 350 may be formed of well known stretchable materials such as latex, flexible silicon, or highy flexible nylon. Alternatively, balloon cylinders 300 and 350 may be formed of polyurethane which is 10 less stretchable and confonning than latex, flexible silicon, or highly flexible nylon Preferably, balloon cylinders 300 and 350 have diameters which are sufficiem to ensure tight anchoring at any part of the generally Abular body portion. Reference is now made to Figs. 5et 5B, SC, SD, SE, SF and S5. which are simplified sectional illustrations, taken along lines MIB - WB in Fig, 3, of the 1 locomotive endaoscope head of Figs. 2 4C at various stages of forward notion through an intestine. As seen in Figs 5P SC, locomotion of the locomotive endoscope head 102 of Figs. 2= 40 is achieved by a combination of sequential inflations and deflations of balloons, here respectively deisignted by reference numerals 500 and 502 mounted onto the housing portion 208 and the forward balloon support 23|8, combined with 20 relative axial displacement of forward balloon support 238 via-i housing portion 28. Itl is appreciated that each of balloons 500 and 502 preferably includes multiple separate and independently controliaby inflatable and deflatable balloon portions as described hereinabove. During to Fig. SA, it is seen that balloon 500 is inflated, thus engaging an 25 inner wall of an intestine and fixing the position of the housing podion 208 relative theretoIn this orientation, the fonwaid balloon support 238 is shown in arearward axial orientation, adjacent rear pordon 212. Considering Fig. 5, it is scen that forward balloon support 238 has movd aially forward relative to housing pordin 208, while the housing portion 208 remainsaxially fixed relative to the intestine, 30 Turning to Fig. SC it is seen that wth the forward balloon support 238 in its Fig1 SB axial orientation, the balloon 502 is inflated, thus engaging the inner wal of the 26 intestine and fixing the position of the forward balloon support 23 relative thereto Thereafter, as shown in Fig 5D. balloon 500 is deflated. Turning to Fig. 5E, it is scan that subsequent to deflaton of balloon 500, the forward balon support 23 is moved axialy rearward relative to housing portion 208, 5 while the forward balloon support 233 remains axialfixeAd relative to the intestine. This results in axial forward movement of de housing portion 208 and thus of the locomotive endoscope head 102, Tuning to Fig 5F, it is seen that with the forward balloon support 238 in its Fig. A axial orientation, the balloon 500 is inflated, thus engaging the inner wai of the ii0 intestine and fixing the position oftehusing portion 208 reative thereto. Thereafter as shown in Fig S balloon 502 is deflated. it is thus appreciated that in this manner forward displaement of the locomotive endosoope hdad 102 is effected, Reference is now made to Figs. 6A, 6B, 60% 6E, 6F and 6G, which are 15 simplified sectional illustrations, taken along lines 1IE - IVIS in Fig. 3, of the locomotive endoscape head of Figs. 2- 4 at various stages of rearward motion ihmugh an intestine, As seen in Figs. GA 60. rearward locomotion of the locomotive endoscope head 102 of Figs. 2 4C i achieved by a combination of sequential inflations and defiations of balloons, here too respectively designated by reference 20 numeral 06 and 502 mounted onto the housing portion 208 and the forward balloon support 233, combined with relative axial displacement of forward balloon support 238 viasvis housing portion 208; it is appreciated that each of baboons 500 and 502 preferably inohides multiple separate and independently controllably inflatable and deflatabie balloon portions as described hereinabove. 25 Turing to Fig 6A it is seen that balloon 500 is inflated, thus engaging an inner wall of an intestine and fixing the position of the housing portion 208 relative thereto. In this orientation, the forward balloon support238 is shown in a rearward axial orientation, adjacent rear portion 212. Considering Fig, 6 it is seen that with the forward ballon support 238 in its Fig. 6A axial orientation, the balloon 502 is inflated 30 thus engaging the inner wal of the intestine and fxing the position of the forward ballon support 233 relative thereto 2 Thereafter, as shown in Fig. 6, balloon 00 is deflated. 27 Turning to Fig. 6D it is seen that forward balloon support 238 has moved axialy forward relative to housing portion 208, while the forward balloon support 233 remains a:'aliy fixed relative to the intestine. Tuning to Fig. 6, it is seen that wih the forward baboon support 238 in its 5 Fig. 6D axial orientation, the balloon 500 is inflated, thus engaging the inner wall of the intestine and txing the position of the housing portion 208 relative thereto. Thereafter, as shown in Fig 6F, balloon 502 is deflated, Tuning now to Fig. 60, it iA seen that rward balla' pport 238 has moved axiay rearward relative to housing portion 208, whilthe housing portion 203 remains 10 axially ffied relative to thentestine. It is thus appreciated that in this manner, rearward displacement of the locomotive endoscope head 1 02 is effected. Alternatively, both balloons 500 and 502 moay be deflated and the locomotive endoeope head 102 may be pulled out of the intesne by pulling on the muilunen tube 104. 15 Reference is now made to Figs, TA -90 which illustrate various different orientations of the locomotive endoscope head 102 of Figs. 2 - 40 which may be realized by suitable selectable inflation of individual balloon lobes of balloons 500 and 502 These illustrains are examples of non-paralleltilted orientations achieved by any suitable non-identical inflation of balloon lobes of balon 500 as well as a 20 corresponlug non-identical inflation of the balloon lobes 502 in an oppose sense, taking into account the phase difference in the rotational orientations of the balloon lobes of balloons 500 and 502. Turning to Fign 7A, SA and 9A, there are seen illustrations of a first downward facing, aeleotable tilmin orientaion of the locomotive endoscope head of 25 Fius.l 60 within a body passageway. This orientation is achieved by relatively low finration of one balloon bet of balloon 500, here designated by reference umteral 510 and relatively high inflation of balloon lobes of baloon 500 designated by reference numerls 512 and 54 at the same time as there is provided relatively low inflation of one balloon lobe of balloon 502, here designated by reference numeral 520 and 30 relatively high inflation of Sallon lobes of balloon 502 designed by reference numbers 522 and 524. It is noted that in the orientation of Figs. A - 7, balloon lobes 28 510 and 520 arc respectively at the top and the bottom of locomotive endoscope head 02, in the sense of Figs 7 I 7C, Tuing to Figs.9B 8b B and 91, there are seen illustrations of a second, parallel orientation of the locomotive endoscope head of Figs. 1 - 6G within a body 5 passageway. This orientation is achieved by general identical innation f balloon lobes 510, 512 and 514 of ballon 500 as wMi as identical inflation of balloon lobes 520, 522 ad 524of balloon 502. Tuning to Figs 7C, SC and 9C, there are seen illustrations of a thirdupward facing, selectable tilting orientation of the locomotive endoscope head of Figs. 17 60 10 within a body pasageway This oientation is achieved by relatively high innation of balloon lobe 510 of balloon 500 and relatively low inflation of ballon lobes 52 and 514 of balloon 500, at the same time ather is provided relatively high inflation of balloon lobe 520 of balloon 502 and relatively lw inflation of balloon lobes 522 and 524 of ballon 502 15 Reference is now made to Figs, 10 A and 10B, wIch are side view illustations of selectable paralel offenter orientation of the locomotive endoscope head of Figs. 1 6c within a body passageway to Figs. 11 and 11B. which are rearward faig views corresponding to Pigs 1A and 1OB taken along planes XA - XA and XB - XI in Figs. IDA and 10B respectively and to Figs. 12A and 1213, whichare forward facing 20 views correspondingt Figs. I0A and 10B taken along planes XIA - XIA and MRB X11B in Figs, l0A and 10B respectively. These illustrations a exampes of pamalel orientatins achieved by any suitable nornidentieal inflation of balloon lobes510, 512 and 514 of balloon 500 as well as a corresponding non-identical inflation of baloon lobes 520, 522nd 524 ofalon 502, taking into account the phase difference in the 25 rotational orientations of the balloon lobes of balloons 500 and 502. 'Turning to Figs. 1 OA, l1A and 12A, there are seen ilustrations of a first, off center parallel orientation of the locomotive endoscope head of Figs. 1- 60within a body passageway. This orientation is achieved by relatively low inflation of balloon lobe 510 and relatively high inflation of baloon lobes 512 and 514 of balloon 500 as 30 wll as a corresponding relative high inflation of balloon lobe 520 andreatively low inflation of balloon lobes 522 and 524 of baloon 502, whiih takes into account the 29 phase difference in the rotational orientations of the balloon lobes of balloons 500 and 502. Turning to Fig. OB, l1B and 12B there are seen illustrations of a second, ff center parallel orientation of the locomotive endoscope head of Figs. l - 60 within a 5 body passageway, This orientation is achieved by relatively high inflation of balloon lobe 510 and relatively low inflation of balloon lobes 512 and 514 of balloon 500 as well as a corresponding relatively low inflation of balloon lobe 520 and relatively jfigh' nation of baboon lobes 22 and 524 obaloon 502, It may be appeiaed from a consideration ofFigs7A ~ 2B that in practice 15 any desired, geometrically permitted, orientation of the locomotive endoeope head 102 may be realized if at least three balloon lobes are provided on both balloons 500 and 502, This includes, for example up-down and side-to-side tilts and combiations thereof as well as desired up-down and side-to-side off-center parallel orientations and combinations thereof 5 It is appreciated that various desired, geonmeftcay pernittedorientations of the locomotive endoscope head 102 may he realized if at least two balloon lobes are provided on each of balloons 500 and 502,and in particular if the at least two balloon lobes of balloons $00 and 502 are azinmathaily offset It is particular feature of the present invention that due to the fact that the 20 locomotive endoscope is moved other than by a pushnechanismi m-hunen tube 104 may be substantially more flexible than other endoscope tubes. Reference is now madeto ig. 13, wich is a simplified pietoral illustration of an accessory 600 whichi is adapted to travel through the instrument channel defined in the central passageway 202 of the multi-lutren |tube 104 andc in interior bore 274 of 25 cylindrical portion 26|6 of locomotive endoscope Lead |102. The accessory 600 may be selected from among any suitable accessories, such as biopsy forceps. polypectomy snares, foreign body retrieval devices, heat probes and needles, some of which are well known in the art. Int accordance with a preferred embodiment of the invention, a piston 602 is associated with the accessory alng its body 604 and upstream of its head 606, 30 The piston 602 is confgured forslidab scaled motion along the instrument channel in response to pressure differences upstream and downstream thereof, such as provided by suitable positive or negative pressurization of the instrument channel, which imay be 30 carried out for eanmple, byonventional inssuflation and suction ffuctionaliies that are provided in conventional endoscope systems, Reference is now made to Fig, I 4, which is a simplinied partially block diagram, partial schematic illustration of part of the endoscopy system of Figs. 1 ~13 S constructed and opertive in accordance with a preferred embodiment of the present invention. As seen in Fig. 14, a conventional endoscopy system 100, such as a console including a CV-160 video system center, a CLC-160 light source, an OEV203 video monitor, and arn OF? flushing pump, all commercially available from Olympus America 10 Inc. of 2 Corporate Center Drive, Melville, NY 11747, USA, is being employed, Conventional endoscopy system 100 includes an inssuflation/suetion generator 700 and aLiquid supply 702 which comnircate via a flow control vaive 704 with the instrument channel defined by central passageway 202 of the multi-hunen tube 104 and by interior bore 274 of cylindrical portion 266 of locomotive endoscope head 102. The 15 conventional endoscopy system 100 also preferably includes an imaging system 710 and an LED controller 712 which communicate via electrical data and power lines preferably embodied in optical fiber and electrical conductor bundle 284 which extend through lumen 286 in multi-lumen tube 104. Operator control 108, preferably including a joystick 722, tilt/non-tilt 20 fnctionality selection switch 724 and a button 725 for governing the direction (forward/backward) and speed of motion, govers the operation of locomotive head controller 106. In a preferred embodiment of the present invention, as shown, the operator control 108 provides control inputs to locomotive head control circuit 726, which operates an air pressure generator 728, a vacuum generator 730 and a hydraulic 25 positive/negative pressure supply 732, Air pressure generator 728 and vacuum generator 730 are coupled to lumens 226 and 246 for selectable inflation of balloon lobes 510 512, 514, 520, 522 and 524 via suitable manifolds 734 and 736 and via individual flow valves for each of the lumens, the flow valves being designated by reference numerals 740, 74-2 744, 746, 748 30 and 750. Hydraulic positive/negative pressure supply 732 is coupled via a flow valve 752 to lumens 252 for driving piston rods 250. Additionally a flow valve 754 governs supply of a treatment fluid to lumen 290 from a treatment fluid reservoir 756, A further 31 fluid valve 758 govems remove of the treatmem fluid viauen 290 frm the intestine to a discard uid location (nothwn which is maintained undervacuum. Fow valves 704, 740, 7424 74 746 74, 750, 7 54 and 758 are controlled by operator control 108 via ocomoive head control circuitry 726 to suitably in te and deflate baboon lIes 510, 512, 51, 520, 522 and 524 for providing selected positioning and/or tilt of the locomotive endoscope head 2 within the intestine; to suitably displace forward balloon support 238' for locomotion of the locomotive endoscope head 102 and for seleetably supplying treatment fluid to the intestine as described hereinbelow whhd reference to Fig. 15. 10 Referenceisnow made to Fig. 15, which is atnplified pictorial illustration of e locomotive endoscope head of Figs. I - 12Bin an intestine fluid treatment mode o operationW As seen in Fig, 153, tubular body portion seeing elements such as balloon labes 510, 512 and 514 of balloo 500 ad balloon lobes 520 522 and 524 of balloon 502 are preferably all irfated, so as to seal the volume of the intestne intermediate 15 balloon lobes 510, 512 and 514 and balloonlobes 520, 522 and 524 fom the remainder of the interior volume of the intestine. Once sailing is achieved, a treatment fluid 760 is supplied frm treatment fluid reservoir 756 via valve 754, lumen 290 and slots 230 to the sealed portion of the intestine. Following treatment, the treatment fluid 760 may be auctioned from the sealed 20 portion of the intestine via slots 230, lumen 290 and valve 758 to a fluid discard location (not shown> Optionaily and preferably, treatment fluid 760 includes at least one of a therapeutic fluid, a contrast enhancing fluid, an antiseptic fluid, an acidic solution, a basic solution or any other suitable fluid. Reference is now made to Figs 16A -16, which are simplified pictorial 25 illustrations of the locomotive endoscope head of Figs 1- 12B in a guide wire mde of operation. As seen in Fig. i6A, balloon lobes 510, 512 and 514 of balloon 500 and balloon lobes 520 522 and 524 of baloon 502 are preferably alinfated, so as to anchor the letamotive endoscope head 102 to the intestine. Once anchoringr is achieved at a desired location, muliti-hnen tube 104 is tensioned, as seen in Fig 16B 30 It is appreciated that respecive diameter of balloons 500 and 502 are sufficient to ensure Tigt anchoring aany pa of the intestine.

As seen in Fi 6C, an overtube 800 is slid over multi-lumen tube 104, using it as a guide wire, The overtabe 800 preferably includes, at a forward portion 802 thereof, an endoscopy tool 804. Preferably, endoscopy tool 804 may be a therapeutic, diagnostic or surgical tool, and may be selectably positioned along the mnulti-'lumen tube 104. In a preferred embodiment of the present invention, endoscopy tool 804 is an ultrasonic transducer. In another preferred embodiment of the present invention, endoscopy tool 804 is an X-'ray radiation source/generator. Reference is now made to Figs. 17 -~ I19B, which are respectively a simplified pictorial illustration of an endoscopy system constructed and operative in accordance 10 with another preferred embodiment of the present invention and respective simplified pictorial and sectional view illustrations of an accessory constructed and operative in accordance with a preferred embodiment of the present invention. As seen in Figs. 17 - 19B, a conventional endoscopy system 1000, such as a console including a CV-1606( video system center, a CLC- 160 light source, an OEV-203 S video monitor, and an OF flushing pump, all commercially avaiaboe from Olympus America Inc. of 2 Corporate Center Drive, Melville, NY 11747, USA, is being employed. A conventional endoscope 1002, which forms part of conventional endoscopy system 1000 may be employed, such as a CF~Qi60AL video colonoscope which is commercially available from Olympus America Inc. of 2 Corporate Center 20| Drive, Melville, NY 11747, USA. An endoscope tool 1010, constructed and operative in accordance with a preferred enbodiment of the present invention extends though the instrument channel 1011 of the conventional endoscope 1002. Endoscope tool 1010 is characterized in that it includes a multi-lumen tube 1012 which includes at least a first lumen 1014 for 25 inflation and deflation of a balloon l01S via an inflation aperture 1017, and a second lumen 1018. Preferably the second lumen 1018 may accommodate a tensioning or compression wire 1020, Alternatively or additionally, the second lumen 1018 may have other functionality As a further alternative, the multiumen tube 1012 forming part of dthe endoscope tool 1010 may include more than two lumens. Preferably, the cross 30 sectional area of the multi-lumen tube 1012 is sufficiently less than that of the instrument channel 1011, so as to allow supply of fluid for inssuflation and draining of fuid therethirough 133 It is apprecated that in accordance with a prffored embodiment of the present invention the endoscope tool 1010 and the multi-lumen tube 1012 are generally substantially more flexible than conventional endoscope 1002 and an endoscope tube thereof .5 it is appreciated that in accordance with a preferred embodiment of the present in vention the balloon 1016 is generally stretchable, and can be stretched to a diameter about 5-20 times larger than its diameter when not inflated, In a specific embodiment, useful fox small intestine endoscopy, the balloon diameter when fully stretched is four centimeters. Preferably, inflation of the balloon 1016 to a diameter less than four 10 centimeters may be achieved using relatively low pressure, such as in the range of 0-50 mniiibars. In another specific embodiment, useful for large intestine endoscopy, .the balloon diameter when fully stretched is seven centimeters. Preferably, inflation of the balloon 1016 to a diameter less than seven centimeters may be achieved using relatively low pressure, such as in the range of 10-0 milibars, 1.5 . It is appreciated that in accordance with a preferred embodiment of the present invention useful ibr in vivo inspection of a generally tubular body portion having a variable cross-sectional diameter, the expansion diameter range of balloon 1016 is larger than the maximum cross-sectional diameter of the generally tubular body portion, thereby ensuring engagement of expanded balloon 1016 with the interior surface of the 20 generally tubular body portion, and anchoring of the endoscope tool 1010 thereto. Preferably, balloon 1016 is a relatively soft highly compliant balloon, operative to at least partially conform to the shape of the interior surface of the generally tubular body portion when in engagement therewith. It is appreciated that balloon 1016 may be formed of welliknown stretchnble 25 materials such as latex, flexible silicon, or highly flexible nylon. Alternatively, balloon 101.6 may be formed of polyurethane, which is less stretch able and conforming than latex, flexible silicon or highly flexible nylon. Preferably, the diameter of balloon 1016 is sufficient to ensure tight anchoring at any part of the generally tubular body portion. As seen in Figs. 17 -1913, the endoscope tool 1010 preferably includes a tool 30 positioning control device 1024 and a balloon inflation/deflation control interface 1026. It is appreciated that multi-hunen tube 1012 and th~e entire endoscope tool 1010 may be 20A inser'ted and removed via a conventional tool port 1030 on a conventional operator control 1032 which forms part of conventional endoscope i002, Reference is now made to Figs. 20A, 20B, 200, 20D, 20E, 200, 20G 20H and 201, which aresimplified ilustratins of the endoscope tool 1010 of Figs, 17lB in Svarions operative orientations. In the illustrated embodiment, desired directional orientation of the forward end of the endoscope tool 1010 is obtAined by suitable axial displacement of the tool through the instrnent channel 1011 of the endoscope 1002 combined with sOitable tensioning of wire 1020 and with suitable rotational orientaiion of the endoscope tool 1010lrelative to the intestine. 10 As seen in ig. 20A endoscope tool 1010 is principalli located within the instrument channel 1011 of endoscope 100|2 and has balio 1016 protruding therefrom, while in a deflated state. Fig 20B shws the endoscope too 1010 extending further from thenstrument channel 1011 while Fig 20C shows the eudoscope tool 1010 having beenrtated by 1f 180 degrees relative to |its orientation in Fig. 201 by suitable twisting of muli-lumen tube 1012, as indicated by anew 1022. Fig 201 shows bending of the forward end of the endoscope tool 1010 resulting from tensioning of wire 1020, when the tool is in its Fig 20C orientation having been pushed forward in a conventional manner. 20 Fig, 2GE shows ifirther progress of the endoscope tool 1010 through the intestine resulting fm forward pushing of the tool coupled with release the tension on the wire 1020 by opeation of tol positioning control device 1024. Fig. 2OF shows inflation of the balloon 1016 by operation of the balloon iniationldefation control interface 126 In accordance with a preferred embodiment of 2 the invention this nation anchors the forward end of the endoscope tool 1010to the intestine at the location of the balloon 1016. Fig. 20G shows tensioning of the endoscope tool 1010 including the multi lumen tube 1012 by pulling on the mnulti-lumaen tube 1012, Fig, 20H shows the endoscope 1002 having been pushed forward along the 30 raulti-luen tube 10 12, using the multi-lumen tube as a sort of guide wire. Endosope 1002 may be pushed forward in a conventional manner Thereafter as shown in Fg 191 the balloon 1016 may be debated.

Further forward progrss of the endoscopetrough the intestine,prefebly to a position where the tbrward end of the instrument channel 1011 lies just behind| the balloon 1016 similarly to the orientation shown in Fig; 20A, may be achieved by repeating some or all of the steps described hereinabove with reference to Figs 20A 5 201, as required by the geometries encountered. Reference is now made to Figs. 21 23B, which arc respectively amplified pictorial illustration of an endoscopy system consrIed and operative in accordance with another preferred embodiment of the present invention and respective simplified pictorial and sectional view illustrations of an accessorv constructed and operative in 10 accordance with a preferred embodiment of the present invention. As seen in Figs 21 231B a conventional endoscopy system 1300, sni as a console including a CVl 60 video system center, a CLC.-i60 light source, an 0E3 203 video monitor, and an GEP flushing pump, all conmmercially available from Olympus America nc, of 2 Corporate Center Drive Melille NY 11747 USA, is being 15 employed. A canentional endoscope 1302, which fons part of conventional endoscopy system 1300 may be employed, such as a CE-QI60AL video colonoscope which is commercially available from Olympus America Inc. of 2 Corporate Cnter Drive, Melville NY 174 USA. to accordance with a preferred embodiment of the invention, a peripheral balloon 1304 may be mounted onto endoscope 1302 as shown, 20 Preferably inflation and deflation of peripheral balloon1304 may be provided by a tube 1306 commcaung with the interior thereof. An endoscope tool 130 constructed and operative in accordance with a preferred emnbodiment of' the present invention extends through the instrument channel 1311 of the conventional endoscope 1302, Endoscope tool 1310 is characterized in that 25 i includes a multiiumnen tube 1312 which includes at least a first lumen 1314 for inflation and defation of a balloon 1316 via an inflation aperture 1317 and a second lumen 131&. Preferably the second lumen 1318 may ammodate a tensioning or compression wire 1320. Alternatively or additionally the second lumen 131 may have other functionality, As a further alternative, the multi-humnen tube 1312 fonmnig part of 0 the endoscope tool 1310 may include more than two lumens. Preferably, the cross sectional area of the multiumen tube 1312 is sufficiently less than that of the intument channel 1311, so as to allow supply of fluid for insufianandda g ( fluid therethirough. U is appreciated that in accordnce withla preferred embodiment of the present invention the endoscope tool 1310 and the mnultitiumen tube 1312 are generally Substantially more flexible than endoscope 3202 and an endoscope tube thereof, It is appreciated tha in accordance with a preferred embodiment of the present invention the ballon 1316 is generally stretchable, and can be stretched to a diameter about 5<10 times larger than its diameter when not inflated. in a specific emubodimrent useful for smallintestine endoscopy the balloon diameter when fully stretched is four 10 centmeters referaby inflation of the balloon 1316 to a diameter less than four centmeters may be achieved using relatively low pressure, snoh.as interange of 150 milibars In another specfic mbodiment, useful for large itestino endosoorn the balloon diameter when fully stretched is seven centimeters, Preferably, inflation of the balloon 1316 to a diameter less than seven centimeters may be achieved using reltively 15 tow pressure, such as inrthe range of l0-5 nilibars is appreciatedhat in acordance with a preferred embodiment of the present invention useful for in vvo inspection of a generally tubulr body portion having a variable cross-sectional diameter, the expansion diameter range of blloon 1316 is larger than the maximum cossectional diameter of the generally tubular body porton, 20 thereby ensuring engagemenof expanded balloon 116 with the interior suface of the generally tubular body portion, and anchoring of the endoscope tool 130 thereto. Preferably, balloon 1316 is a relatively soft, highly compliant balloon, operative to at least partially conform to the shape of the interior surface of the generally tubular body portion When in engagement therewith. 25 It is appreciated that balloon 1316 may be formed of well-known stretchable materials such as latx, ONxible silicon, or highly flexible nylon Altematively, balloon 1316 may bedfrmed of polyurethane which is less stretchable and conforming than latex fe le silicon or highly Aexible non, Preferably, the diameter of ballon 1316 is sufficient to ensure tight anchoring at any part of the generally tubulr body portion. 30 As seen in Figsa2 - 23Bthe endosope tool 110 prferably includes a tool postioning control devie 1324 and a balloon indation/dflation control ierface 126. Additionally, there is preferably prodd a peripheral balloon ination/deflation control interface 1328, which communicates wh tube 1306 and govem inflation and deflation of peripheral balloon 1304. it is appreciated that multichunen tnbe 1312 and the entire endoscope tool 1310 maybe inserted and removed via a conventional tool port 1330 on a conventional operator control 1332 which orms part of conventional endoscope 5 1302. Reference is now made to Figs. 24A, 24B, 24C, 24D, 24E 24T, 240, 24H., 241, 21, 24K and 24 which are sMuliied illustrations of the endoscope tool 1310 of Figs 21 - 23 B in various operate orientations. Tn the illustrated emnbodiment, desired directional orientation of the forward end of the endoscope tool 1310 is obtained by 10 suitable axial displacrment of the tool through these instrument channel 1311 of these endoscope 1302 combined with suitable ensioning of wir 1320 and with. suitable rotational orientation of the endoscope tool 1310 relative to the intestine. As seen in Fig 24A, endoseope tool 1310 is principally located within the instrument channel 1311 of endascpo 1302 and has balloon 1316 protrding 1.5 therenom, while in a deflated state. As sn h balloon 13 is in a deflated state. Fig 24B shows endoscopc tool 1310 being principaly located wthin the instrument channel 131 of endoscepe 1302 and has balloon 1316 protruding therefrom, wile in a defeated state. As seen, peripheral balloon 1304 is in an inflated 20 state in engagement with an interior wall of the intestine, thereby anchoring the endoseope 1302 thereat. Fig. 24C shows the cndoscope tool 1310 extending further from the instrunent channel 1311,while Fig. 24D) shows the endoscope tool 1310 having bean rotatediby 180 degrees relative to its ornenrauon mI Fig 24C, by suitable twisting of multi-lumen 25 tube 1312. as indicated by arow 1340, Fig. 24E shows bending of the forward end of the endoscope tool 1310 resulting fom tensioning of wire 1320, when the tool is in its Fig, 24D orientation having been pushed forward in a conventional manner Fig 24F shows father progress of the endoscope tool 1310 through the 30 intestine resuming Kom forward pushing of the tool coupled with release the tension on the wre 1320 y operation of tool positioning control device 1324, 38 Fig. 24G shows inflation of the balloon 136 by operation of the balloon intlationi/deftation control interface 1326 In accordance with a preferred embodiment of the Invention, this inflation anchors the forwad end of the endoscope tool 1310 to the intestine at the location of the blloa 1316, § Fig. 241 shows tensioning of the andoseope too 1310 including the multi lumen tube 12 by puing en the nm unmen tube 112. Fig 241shows deflation of eripheal balloon 1304. Fg 242 shows the endoscope 102 having been rushed forward along the mulfidunmen tube 1312 using the multilhnnen tube as a sort of guide wire. Endoscope 10 1302 may be pushed forward in a conventional manner. 24K shows inflatin of peripheral ball on 1304 into engagement with an interior l of the intestinethereby aneboring the endoscope 1302 hereat Thereafter as show.in ig, 24 the balloon 1316 may be deflated. Fur forward progress of the endoscope through the intestine, preferably to a 15 positin where the forward end of the instrument channel 13lilies just behind the balloon 16 similarly to the orientatior shown in Fig. 24B, may be achieved by repeating some or all of the steps described hereinabove withreference to Figs, 2Bl 24L, as required by the geometrics encountered, it will be appeitd by persons killed in the art that the present invention is 20 not limited to what has been particularly shown and described hereinabove. Rather the scope of the present rmuentmon includes both combinations and subcombinans of various features described hereinabove as well as modifications thereof which would occur to persons skled in the art upon reading the foregoing specification and which are not in the prior art 25 39

Claims (28)

1. An endoscope assembly comprising: a tube having at least one lumen; 5 an endoscope tool arranged to travel through said at least one lumen, said endoscope tool including a stretchable selectably inflatable anchoring balloon.

2. An endoscope assembly comprising: a tube having at least one lumen; 10 an endoscope tool arranged to travel along said at least one lumen, said endoscope tool including a tool head and a multi-lumen tube connected to said tool head.

3. An endoscope assembly according to claim 2 and wherein said endoscope tool 15 includes a stretchable selectably inflatable anchoring balloon.

4. An endoscope assembly according to claim 2 and wherein said endoscope tool is selectably bendable forwardly of said tube. 20

5. An endoscope assembly according to claim 4 and wherein said endoscope tool includes a stretchable selectably inflatable anchoring balloon.

6. An endoscope assembly according to any of claims 1-5 and wherein said tube comprises an endoscope tube. 25

7. An endoscope assembly according to any of claims 1-6 and wherein said at least one lumen comprises instrument channel.

8. An endoscope assembly according to any of claims 3 and 5-7 and wherein said 30 multi-lumen tube includes at least a first lumen for inflation and deflation of said stretchable selectably inflatable anchoring balloon and a second lumen. 40

9. An endoscope assembly according to claim 8 and also comprising a tensioning wire which extends through said second lumen and which is operative for selectably bending said endoscope tool forwardly of said tube. 5

10. An endoscope assembly according to any of claims 1 to 9 and wherein said endoscope tool is generally more flexible than said tube.

11. An endoscope assembly according to any of claims 6 to 10 and also comprising an endoscopy system to which said endoscope tube is connectable. 10

12. An endoscope assembly according to any of claims 1 to 11 and also comprising an endoscope tool positioning control device and a balloon inflation/deflation control. 15

13. An endoscope assembly according to any of claims 1 to 12 and also comprising a tool port associated with said tube which is operative for insertion and removal of said endoscope tool.

14. An endoscope assembly comprising: 20 a locomotive endoscope including a locomotive endoscope head and an endoscope body adapted for locomotion through a tubular body portion and for anchoring at a desired location in said tubular body portion; and an endoscopy tool adapted for displacement along said endoscope body to a desired tool operation location. 25

15. An endoscope assembly according to claim 14 and also comprising at least one selectably radially extendible element associated with said locomotive endoscope head and adapted for anchoring said locomotive endoscope head at a desired location in said tubular body portion. 30

16. An endoscope assembly according to claim 15 and wherein said at least one selectably radially extendible element comprises a selectably inflatable anchoring balloon. 41

17. An endoscope assembly according to any of claims 14 to 16 and wherein said locomotive endoscope head comprises at least one light source and at least one imaging sensor. 5

18. An endoscope assembly according to any of claims 14 to 17 and also comprising an overtube which is slidable along said endoscope body.

19. An endoscope assembly according to claim 18 and wherein said overtube is 10 associated with said endoscopy tool.

20. An endoscope assembly according to claim 18 or claim 19 and wherein said endoscope body is adapted to function as a guide wire for said overtube. 15

21. An endoscope assembly according to any of claims 14 to 20 and wherein said endoscopy tool comprises a therapeutic tool.

22. An endoscope assembly according to any of claims 14 to 21 and wherein said endoscopy tool comprises a diagnostic tool. 20

23. An endoscope assembly according to any of claims 14 to 22 and wherein said endoscopy tool comprises a surgical tool.

24. An endoscopy method comprising: 25 providing a locomotive endoscope including a locomotive endoscope head and an endoscope body; providing locomotion of said locomotive endoscope head through a tubular body portion; anchoring said locomotive endoscope head at a desired location in said tubular 30 body portion; and displacing an endoscopy tool along said endoscope body to a desired tool operation location. 42

25. An endoscopy method according to claim 24 and also comprising tensioning said endoscope body following said anchoring of said locomotive endoscope head and prior to said displacing said endoscopy tool. 5

26. An endoscopy method according to claim 24 or claim 25 and also comprising, prior to said anchoring, the step of detecting said desired location in said tubular body portion by use of at least one light source and at least one imaging sensor associated with said locomotive endoscope head. 10

27. An endoscopy method according to any of claims 24 to 26 and also comprising, prior to said displacing said endoscopy tool, the step of detecting said desired tool operation location in said tubular body portion by use of at least one light source and at least one imaging sensor associated with said locomotive endoscope head. 15

28. An endoscopy method according to any of claims 24 to 27 and wherein said displacing said endoscopy tool comprises sliding an overtube associated with said endoscopy tool over said endoscope body. 43