An active catheter mechanism designed and developed for body parts (interiors, oral) inspection using active polymeric actuator i.e. ionic polymer metal composite (IPMC). The first step is achieved by fabricating the low cost silver (Ag) electrode IPMC following the chemical decomposition method. When a voltage is applied, the catheter yields a transverse movement; at the same time can exhibit forward and backward motion enables it to inspect wide range of area. Low driving voltage (maximum 1.2V) ensures safety in clinical application inside the body parts. An experimental setup of the mechanism has been developed using optical fiber for inspection purpose. A generalized mathematical model of the mechanism has been derived for fluid medium actuation and is tested both in air and water to determine the effect of interactive forces during operation and the results are discussed.Keywords:Active Catheter, IPMC, In-vivo, Optical fiber, Heaviside function
