Patent 7666135 was granted and assigned to Boston Scientific on February, 2010 by the United States Patent and Trademark Office.
An endoscope is provided which comprises an elongated body adapted for insertion into a body lumen, and a plurality of electrically controlled actuators associated with the body which are controllable to impart an orientation to the body that is complimentary to the natural orientation of the lumen into which the endoscope is inserted.