In view of the problems occurred during underground application of Mattill self-advancing tail device, some structures of it is improved in order to satisfy the requirements for underground operation.

A biopsy method is disclosed that includes advancing a flexible tube having a PET or BSGI imageable material distally through the biopsy device.

However, research in this area had been advancing at a snail pace, until the supercomputer and the brainwave device came to the rescue.