医用微型机器人蠕动肠道中的驱动力计算及实验研究

Experimental and Simulation Study on the Drive Forces of New Kind of Medical Micro Robot in peristaltic Gastro-Intestine

:提出了一种新型的可进入人体内腔和血管的微型机器人驱动机构。此种微型机器人能够在充满液体的弯曲的人体肠道内运行。当机器人在充满液体的微型管道内运行时 ,在其周围会自动形成一层液体动压润滑膜 ,此润滑膜能避免机器人与管道壁发生直接接触。结合人体肠道的蠕动方程和N- S方程利用有限元分析计算了此种微型机器人在蠕动肠道中的驱动力和运行速度 ,进行了机器人的运行实验 ,结果表明 ,机器人能以较快速度在肠道内悬浮运行。

A novel kind of medical micro medical robot that can be run in suspension mode and is very suitable for entering the gastro-intestine and vein in human body is proposed in the paper. A hydrodynamic film between the robot and endocoeles can be generated because of mucus existence in endocoeles. The film can prevent the micro robot touch from the gastro-intestine. Calculation of drive forces and velocity of micro robot in human peristaltic gastro-intestine is performed using FEM solution of the peristaltic equations and N-S equation. Experimental results show that the robot can be run quickly in suspension mode in the intestine.