一种医用肠道机器人的理论分析与试验研究  

THEORETICAL ANALYSIS ANDEXPERIMENTAL RESEARCH ONA MEDICAL MICRO-ROBOT

作　　者：穆晓枫[1] 周银生[1] 陈柏[1] 

机构地区：[1]浙江大学机械系,杭州310027

出　　处：《机械工程学报》2004年第7期124-127,144,共5页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(50375143)。

摘　　要：提出一种结构简单的医用肠道机器人的驱动机构。利用弹性流体动压润滑理论,详细分析计算了肠道机器人在不同弹性模量、不同半径和不同粘液粘度的肠道内的轴向运行速度和形成的粘液膜厚度。结果表明,此种肠道机器人能以较快速度在肠道内悬浮运行。上述分析结果已被肠道试验研究所证实。A medical micro-robot moving in human intestine is proposed. The locomotion speed of the micro-robot and hydro-dynamic mucus film thickness formed when the medical mi-cro-robot moving in intestine with various diameters, various viscosity mucus and various modulus of elasticity are calculated according to the elastohydrodynamic lubrication theory. The results indicate that the medical micro-robot can be suspended to move quickly into intestine. The above results are proved by the experiments.

关 键 词：医用微型机器人 微创外科手术 无损伤驱动 内窥镜 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]