螺旋机器人的结构参数对人体肠道壁损伤影响的优化研究  

Optimization Study on Influence of Spiral Medical Micro-robot’s Structural Parameters on Injury to Human Intestinal Wall

作　　者：梁亮[1] 唐勇[1] 庞佑霞[1] 胡冠昱[1] 

机构地区：[1]长沙学院,长沙410003

出　　处：《中国机械工程》2010年第15期1855-1859,共5页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(50975032);湖南省教育厅资助项目(09C126)

摘　　要：设计了一种无损伤螺旋式医用微型机器人,建立了机器人运行时肠道黏液的动力学控制方程,运用计算流体力学方法数值分析了机体正转和反转两种情况下,不同机器人结构参数(倾角α、槽面宽度与螺距之比β1、槽底宽度与螺距之比β2、槽深与半径间隙之比γ、螺旋角Φ和螺纹线数n)与肠道壁所受压力的关系,得到了最优的机器人结构参数值。A non-invasive spiral medical micro-robot was introduced. When it was driven in the human intestines, dynamics control equations of intestinal fluid were established. By computational fluid dynamics method, the relations between different robotic structural parameters （angle α, the ratio between groove face width and pitch β1, the ratio between groove bottom width and pitch β2, the ratio between groove depth width and radius clearance γ, spiral angle Φ and thread number n） and impact pressures of human intestinal wall produced by the micro-robot were calculated and analyzed in the circumstances of cylindrical forward and reverse rotation. The optimal robotic structural parameters were obtained. The above theoretical analysis results provide an essential theoretical basis for the optimization design of a high-speed rotating spiral medical micro-robot really applied to non-invasive or mini-invasive surgery of human intestines.

关 键 词：螺旋式微型机器人 无损伤 结构参数 计算流体力学 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]