无线无创医用微机器人的建模和参数优化  

Modeling and Geometric Parameters Optimization of a Kind of Wireless Non-invasive Medical Micro-robot

作　　者：胡冠昱[1] 梁亮[1] 

机构地区：[1]长沙学院机电工程系,湖南长沙410003

出　　处：《机床与液压》2009年第8期73-77,共5页Machine Tool & Hydraulics

基　　金：湖南省教育厅资助科研项目;长沙学院资助科研项目

摘　　要：针对人体内腔粘液为非牛顿流体的特点,推导了非牛顿流体的变形雷诺方程,建立了无线无创螺旋医用微型机器人在人体内腔中运动的数学模型。根据微型机器人各几何参数对机器人形成的动压粘液膜承载量、轴向牵引力和周向阻力等动态特性的影响,运用MATLAB优化工具箱优化了各几何参数,从而获得当需要较大的动压粘液膜承载量、轴向牵引力和较小的周向阻力时最优的机器人几何参数,进一步为机器人更好地以较厚的粘液膜厚度和较快的速度悬浮式运行创造条件。微型机器人的运行速度试验证明了此理论分析模型的可行性。A modified Reynolds equation was derived from the property of human body endocoele that is a non-Newtonian fluid. A motion model was built for the spiral-grooved wireless non-invasive medical micro-robot working inside the endocoele of human body. Based on the influence of the micro-robot geometric parameters on dynamic properties such as the load capacity of hydrodynamic pressure, the axial thrust force and the circumferential resisting force, using the software MATLAB optimization toolbox, and the geometric parameters were optimized. Consequently, when bigger load capacity of hydrodynamic pressure, bigger axial thrust force and smaller circumferential resisting force were needed, the optimal geometric parameters of the medical micro-robot were obtained. Thus it is favorable for the micro-robot that moves suspended in the human body endocoele with thicker mucus film and higher speed. The locomotion experiment of the medical micro-robot demonstrates the feasibility of the proposed theoretical model.

关 键 词：无线无创医用微型机器人 非牛顿流体 动压黏液膜承载量 轴向牵引力 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]