Koichi Terashima

A Self-propelled Catheter Capable of Generating Travelling Waves with Steering Function by Mono-Line Drive

This paper discusses the design method of a self-propelled catheter with thin diameter of 2.6mm, aimed for moving and steering in the bronchi. As the basic configuration, the proposed catheter is composed of an inner tube and McKibben artificial muscles. It can propel by generating travelling waves…