A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient's body. When the endoscope...http://www.google.com/patents/US20020193661?utm_source=gb-gplus-sharePatent US20020193661 - Steerable endoscope and improved method of insertion
