Apparatus for endoscopic examination

An endoscope is having a propulsion mechanism and at least one transmitter at the distal end transmitting bursts of energy waves (radio frequency or ultrasonic) for tracking the position of the distal end through the use of two or more transducers on the anterior or lateral surfaces of a patient is described. The propulsion mechanism which consists of two radially expandable bladders separated by an axially expandable bellows with only the forward bladder attached to the distal end is discussed. Alternate mechanisms are reported. A sheath on the endoscope which includes material having a sharp melting point slightly above body temperature so that the sheath is made flexible at selected sections by applying current to separate heating wires in the sections of the sheath is described.