Catheter platform for therapy and measurement

A method for performing a medical procedure within a body, the method comprising:

• inserting a catheter into a body lumen, wherein the catheter comprises at least two extensile protrusions disposed directly on and extending from opposite walls of a shaft of the catheter and further configured to expand outwardly perpendicularly to the shaft of the catheter in opposite directions to be in touch with walls of the body lumen to provide stability to the catheter while inside the body, wherein the at least two extensile protrusions are each structured to include an extensile cylindrical body and configured to expand in an axial direction of the cylindrical body, the cylindrical body comprising materials such that, when pressurized, the cylindrical body expands in a perpendicular direction with respect to an axis of the catheter and resists expansion in a parallel direction with respect to the axis of the catheter, the at least two extensile protrusions being at a deflated state;
• inflating the at least two extensile protrusions outwardly in opposite directions to be in touch with the walls of the body lumen to aim a medical device disposed on the catheter at a desired angle;
• and
• operating the medical device to perform the medical procedure within the body.