US Patent 11530773 Pipe repair device

A pipe repair device includes a body defining a first body end, a second body end, and a middle body section therebetween; a pivotable arm attached to the body, wherein the pivotable arm is pivotable relative to the body to radially reposition the pivotable arm relative to the body; a locomotion subsystem configured to drive the pipe repair device through a pipe, the locomotion subsystem mounted to the pivotable arm and configured to engage an inner surface of the pipe; and a stent mounted to the body, the stent comprising a sealing layer and a spring.