Study on Self-propelled Catheter Aimed at Moving in Blood Vessels

用于治疗和诊断循环器官系统的导管需要操作者掌握将导管插入患者体内的技能。本研究的重点是在血管内的运动和导管的发展，可以自动进行各种操作。这种机制利用蠕动运动，通过压力填充/取出生理盐水，使多个气球膨胀/收缩一段时间。然后，为了创建一个详细的设计方案，进行了各种实验，以掌握气球的特性，需要建立一个表达模型。此外，在本研究中，为了验证运行时的详细机制，建立了一个表达式模型作为运动方程。根据这些结果，利用数值分析软件进行了模拟。

A catheter used by a treatment and a diagnosis of circulatory organ system needs mastery of skills of a operator for the insertion to the body of a patient. This study focused on the point and is aimed for movement in a blood vessel and development of the catheter which can do various operation automatically. This mechanism uses peristaltic movement by the expansion / the shrinkage of a period of plural balloons by pressure filling / removing of a saline. Then, in order to create a detailed design plan, the various experiments for grasping the characteristic of a balloon required to build an expression model are conducted. Moreover, in this study, in order to verify the detailed mechanism at the time of a run, an expression model is built as an equation of motion. From these results, a simulation is performed using numerical analysis software.