螺旋式单链介入微机器人的研究

Research on Single-chain Spiral Interventional Micro Robot

在对基于螺旋密封原理的双链介入机器人驱动原理进行分析研究的基础上,提出了单链介入机器人设计方案,构建了螺旋式单链介入机器人性能分析数学模型。分别制作了直径为5mm的螺旋式双链介入机器人及单链介入机器人的实验样机,并对机器人在离体肠道中的平均运行速度进行了比较,研究结果表明,螺旋式单链介入机器人能获得与双链结构机器人类似的运动性能。单链介入机器人在脉动流场中的运行实验表明,单链介入机器人能在流体冲击下进行顺流运动和逆流运动。

Based on analysis of the driving principle of dual--chain spiral--type interventional micro robot, a single--chain spiral micro robot was presented. The numerical model of the single--chain interventional micro robot was made. A dual--chain type micro robot and a single--chain type interventional micro robot whose diameters were 5mm respectively were produced. The moving speeds of the two interventional robots were studied comparatively in isolated intestinal canals. The results show that the single--chain interventional micro robot has similar properties to that of the dual--chain structure micro robot. The operating experiments of single--chain micro robot under the simulated aorta environment show that the spiral--type micro robot can move stably in forward flow and counter flow.