医用内窥镜系统体内驱动方式的研究

Study on the Drive Mode of the System of the Endoscope

提出了一种新型的医用内窥镜系统的体内驱动方式和相应的驱动机构。此方式利用螺旋旋转时产生的牵引力推动医用内窥镜系统在人体内腔中运行 ,同时利用螺旋旋转时产生的动压效应建立起动压润滑粘液膜 ,使医用内窥镜系统在体内运行时不与内腔壁发生直接接触 ,避免对人体有机组织产生损伤。详细分析计算了用此方法驱动的医用内窥镜系统在不同半径、不同粘度粘液和不同弹性模量的内腔中的轴向运行速度和形成的粘液膜厚度。结果表明 ,用此方法驱动的医用内窥镜系统在人体内腔中运行时可以形成足够厚的粘液膜把医用内窥镜系统与内腔壁隔开 ,实现以较快速度的悬浮运行。

A new kind of drive mode of the endoscope and the corresponding drive are proposed This mode uses the towing force caused by the running spirally grooved cylinders to drive the system of the endoscopes And when the impeller rotates to drive the grooved cylinders, a hydrodynamic mucus film is formed in the presence of high viscosity mucus in intestines This may prevent the injury and uncomfortableness in robot motion And here the authors reckon the axial locomotion speed of the robot and the film thickness in the lumens with different radius, different mucus, and different elastic modulus The result indicates that the hydrodynamic mucus film formed during the robot motion in the large and small intestines is thick enough to prevent the contact between the robot and intestinal wall And the micro robot can be suspend to move in the intestine in high speed All the theoretic result has been proved to be consistent to the experimental results