体内微型医用机器人

In Vivo Miniature Robot for Medical Applications

依据不同的人体环境中体内微型医用机器人不同的驱动机制,综述体内微型机器人国内外研究现状,包括仿生物游动(泳动)驱动、特殊机械机构驱动、体外特殊场(磁场、超声波场等)驱动、胶囊类内窥镜微型机器人;分析目前体内微型机器人驱动机制在运动控制、手术安全存在的问题,讨论体内微型医用机器人关键技术:尺寸微型化、驱动机制、精确控制系统和能量供应等.探讨体内微型机器人在临床疾病诊断、体内手术的应用前景和发展方向.

In light of the fact that in different environments in human body, the body miniature medical ro- bots have a different drive mechanism, this paper summarizes the overseas and domestic research status of in-vivo miniature robot including imitation of biological floating, special mechanical mechanism drive, in vitro special field（magnetic field, ultrasonic field） drive, and capsule endoscopy robot class. Besides, it an- alyzes the problems in motion control, operation safety of the current in vivo robot drive mechanism. Mo- reover, it discusses the key technology in vivo robot--the size of the miniaturization, multi degree of free- dom with agile miniature drive mechanism, accurate and stable agile control system, effective lasting ener- gy supplies, biocompatibility and so on. Furthermore, it elaborates on the application prospect and devel- opment direction of in vivo robot in clinical disease diagnosis and body surgery.