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

循环器官系统的治疗和诊断所使用的导管需要操作者掌握插入患者身体的技能。本研究着眼于这一点，目的是在血管中移动和开发能够自动进行各种操作的导管。该机构利用通过压力填充/移除盐水而使多个球囊的一段时间膨胀/收缩的蠕动运动。然后，为了创建详细的设计计划，进行用于掌握构建表情模型所需的气球的特性的各种实验。此外，在本研究中，为了验证运行时的详细机制，建立了表达模型作为运动方程。根据这些结果，使用数值分析软件进行模拟。

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.