Multi-degree of Freedom Hydraulic Pressure Driven Safety Active Catheter. - Koji Ikuta; Hironobu Ichikawa; Katsuya Suzuki; Daisuke Yajima (ICRA, 2006)

Precise bending angle control of hydraulic active catheter by pressure pulse drive. - Koji Ikuta; Yoshikatsu Matsuda; Daisuke Yajima; Yusuke Ota (ICRA, 2010)