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We present a new method to reduce insertion resistance for internal medical instruments by means of vibration. We investigated the relation between frequency of the vibration and the insertion resistance with a pin on flat test system in vitro. And we made a prototype of internal medical probe for in vivo. As a result, vibration is effective to reduce the friction and it is possible to keep a smooth insertion by vibration.

Reduction of Insertion Resistance by Means of Vibration for Catheters and Endoscopes