摘要
提出了一种新型血管螺旋式微型机器人。该机器人利用其机体的内外螺旋槽,通过在液体环境中高速旋转实现悬浮式运行。在模拟人体主动脉的脉动流场下,数值计算了螺旋机器人以20mm/s速度运行时的机器人轴向驱动力和血管壁所受压力,并分析了血液参数对机器人轴向驱动力和血管壁所受压力的影响。结果表明:随着血液密度和黏度的增大,机器人轴向驱动力和血管壁所受最大压力都随之增大。实验验证了所提出的机器人可在脉动流环境中做顺向和逆向前进。
A new type of spiral micro-robot was proposed,which can be used in blood vessels of a human body.Taking the advantages of the different rotative directions in the right about inner and outer screws and its high speed of rotation in the liquid,this type of robot was able to move quickly in suspension.The driving force of the robot and the impact pressure of the blood vessel were calculated when the robot moved in the speed of 20mm/s,under environments imitating the pulsating flow of the aorta.Moreover,the influences of blood parameters on the driving force of the robot and the impact pressure of the blood vessel were analyzed.The results show that when the blood viscosity and the blood density are increased,the driving force of the robot and the impact pressure of the blood vessel are all added.Finally,the experiments provide evidence that the spiral micro-robot can be applied in both positive and reverse flowing fluids.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2011年第17期2113-2117,共5页
China Mechanical Engineering
基金
国家自然科学基金资助项目(51075209)
关键词
血管机器人
脉动流
螺旋
内窥镜手术
vascular micro-robot
pulsating flow
spiral
endoscopic surgery
