模拟主动脉环境中仿生介入机器人力学性能研究

Study on Mechanical Properties of Biomimetic Interventional Micro Robot Operating in Artificial Artery

基于腹足动物运动原理,提出一种能有效抗击血管内脉动血流冲击的新型血管内介入机器人。结合健康成人近心脏主动脉环境的相关数据,建立主动脉环境简化数学模型,分析主动脉血管内血流速度的关键影响因素,并据此计算机器人在模拟动脉环境中运行时所受的液体冲击力变化范围以及平稳运行所需的摩擦力,为机器人运动控制提供依据。

Based on the locomotion principles of gastropoda, a novel interventional micro robot was presented, which has the ability to resist the attack of flowing blood. Based on the experimental data of healthy adults＇artery near the heart, the simplified numerical models of the robot＇s operation environment were built. The main factors which affected the blood flow rate were analyzed. Also the ranges of the impulsive force produced by the blood stream when the robot operated in the arterial environment were calculated. According to the theoretical results,the needed friction forces applied to the robot＇s stationary unit were analyzed. All the researches will give the basis for the control of the micro robot.