Safety-Active Catheter with Multiple-Segments Driven by Micro-hydraulic Actuators. - Koji Ikuta; Hironobu Ichikawa; Katsuya Suzuki (MICCAI (1), 2002)

Micro hydrodynamic actuated multiple segments catheter for safety minimally invasive therapy. - Koji Ikuta; Hironobu Ichikawa; Katsuya Suzuki; Takahiro Yamamoto (ICRA, 2003)

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