血管微型机器人无损伤体内驱动方法  

New minimal invasive drive method of vascular micro-robot

作　　者：穆晓枫[1] 顾大强[1] 陈柏[1] 周银生[1] 

机构地区：[1]浙江大学机械设计研究所,浙江杭州310027

出　　处：《浙江大学学报（工学版）》2005年第5期618-622,共5页Journal of Zhejiang University：Engineering Science

基　　金：国家自然科学基金资助项目(50375143).

摘　　要：介绍了一种新型血管机器人的运动原理和驱动机构.该机器人利用液体作介质,根据蝌蚪的泳动原理,通过尾部的摆动实现快速平稳的游动前进与转向,在后退中利用头部旋转产生的动压润滑效应实现快速悬浮倒退,在运动过程中避免了与管壁的接触,在血管内运动时不会对血管造成损伤.建立了血管机器人运动速度与驱动力理论分析模型.理论研究与实验结果表明,该机器人能以较快速度在平置的充满液体的微细玻璃管道中游动前进和悬浮倒退.A new method of micro-robot moving in human blood vessel was proposed. Just like tadpoles suspended in water, the micro-robot can swim forward and turn smoothly in liquid medium with the swinging of tail. Utilizing the hydrodynamic lubrication effect of rotating head, the micro-robot can be suspended to back off quickly. The micro-robot moves in blood vessel in such a way that there is no direct contact with the blood vessel, so injury to organic tissues of the blood vessel is avoided. The swimming speed and propulsive force of the micro-robot when it swims in blood with various swimming frequency were calculated. Theoretical analysis and experiments indicate that the micro-robot can swim forward and back off smoothly and rapidly in the tenuous glass pipe full of liquid.

关 键 词：蝌蚪 仿生 波动推进 无损伤驱动 血管机器人 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]