摘要
提出一种压电驱动微型医用机器人系统模型,机器人采用基于惯性-摩擦理论的新型压电驱动器,每个压电驱动器由两个压电陶瓷元件构成,通过交替的顺序变形来实现微位移驱动。机器人依靠机构内部的摩擦力和惯性力驱动,因此将能够介入人体肠道实现体内“少创和无创”诊疗,亦可深入其它领域的微小空间、微小管道完成实时探测和维护。
The prototype of a miniature piezo-driving squirming robot is described in this paper. The microrobot adopts linear piezo-driving cells whose driving principle is based on inertia-friction theory. Each piezoactuator includes two piezoelectric elements. Through the sequentially deformations of the two piezo elements, the moving mass slides into a miniature displacement. As the microrobot can be driven by the friction and inertia forces of the actuators, it can be used for medical mini-invasive and non- invasive diagnosis and treatments in human's cavities and for real-time detecticns and maintenances in miniature spaces or tubes in other fields.
出处
《中国医疗器械杂志》
CAS
2004年第1期7-10,30,共5页
Chinese Journal of Medical Instrumentation
