Transluminal minimally invasive surgery uses natural orifices and small incisions to access internal anatomical structures, promoting quicker recovery and reduced morbidity. However, navigating instruments--catheters and endoscopes--through anatomical pathways creates frictional interactions with luminal walls, risking complications such as perforation, poor haptic feedback, and instrument buckling. In this paper, we present a new approach to actively lubricate transluminal instruments and dynamically reduce friction with surrounding tissues. This approach employs ultrasonic vibrations, at the instrument surface, to generate a pressurized fluid layer at the contact interface, lubricating the interface and thereby reducing friction. We implemented this approach in a prototype catheter, which we validated under dry and liquid-lubricated conditions, across rigid and soft interfaces, and along varied anatomical curvatures. In a cardiac catheter use case, active lubrication reduced fr...