US 7,857,767 B2, lumen traveling device.
A self propelling microdevice built to ride inside a body lumen: a blood vessel, the digestive tract, wherever it is sent. Small rotating wheels, turned by an onboard motor, grip the lumen wall by friction, which is what lets it crawl against a current instead of just drifting with one. Other versions in the patent swap the wheels for an expanding and contracting structure or magnetic actuation, but wheels are the one the game borrows.
An onboard sensor watches for what the patent calls, in its own words, a condition of interest, a lesion, plaque, whatever the device is built to find. When it fires, response initiation circuitry decides whether to act, and if it does, an active portion carries out the treatment. The patent lists a whole menu for that part, not just one option:
The whole thing is a closed loop by design: sense, decide, treat, with nobody driving it moment to moment.
Wheels gripping the vessel wall against the current, which is exactly what anchoring in the game is standing in for. A sensor bearing that leads you to the condition of interest. And one of the patent's own listed treatments, heat, doing the actual work once the device gets there.
In the patent this is autonomous: the sensor finds it, the circuitry decides, the active portion fires, no operator in the loop at all. The game hands all three of those jobs to you, sensing, deciding and steering, which is why the title card calls you the motion control circuitry. Burning used to need a held button too, but that button never existed in the patent, so it is gone now: the device treats a lesion the moment it is close enough, same as the real closed loop would, and anchoring is only there to help you hold position against the current while it does.
US 7,857,767 B2 · Ferren, Hillis, Hyde, Ishikawa, Jung, Leuthardt, Myhrvold, Sweeney, Tegreene, Wood, Wood · Gearbox LLC, granted 28 December 2010.