无损伤医用肠道机器人驱动机理  

A Low Invasive Locomotion Method of a Medical Intestine Micro-Robot

作　　者：穆晓枫[1] 周银生[1] 胡飞[1] 贺惠农[1] 

机构地区：[1]浙江大学机械设计研究所,杭州310027

出　　处：《上海交通大学学报》2004年第8期1314-1317,共4页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金资助项目(50375143;59805017)

摘　　要：提出了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.肠道实验研究结果表明,该肠道机器人能以较快速度在肠道内悬浮运行.A medical micro-robot moving in human intestine was proposed. The locomotion speed of the micro-robot and hydrodynamic mucus film thickness formed when the medical micro-robot is moving in intestine with various diameters, various viscosity mucus and various modulus of elasticity were calculated according to the elastohydrodynamic lubrication theory. The experimental results indicate that the medical micro-robot can be suspended to move quickly into intestine.

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]