无损伤肠道机器人运行速度的研究  

Study on the Locomotion Speed of Intestine Robot

作　　者：周银生[1] 贺惠农[1] 全永昕[1] 

机构地区：[1]浙江大学机械系,浙江杭州310027

出　　处：《摩擦学学报》1999年第4期299-303,共5页Tribology

基　　金：国家自然科学基金!(59805017);国家"863"计划资助!(863-512-9805-08)

摘　　要：提出了一种结构简单的微型肠道机器人的驱动机构．当它在人体大、小肠中运行时可减轻或消除肠道机器人在体内运行时给患者带来的不适与痛苦．同时分析计算了此种肠道机器人在体内的运行速度、形成的粘液膜厚度及其影响因素．计算结果表明：肠道机器人在大、小肠中运行时可以形成足够厚的粘液膜，从而将机器人与肠道壁隔开，实现无损伤运行； 影响机器人在肠道中运行速度和形成的粘液膜厚度的主要参数有驱动机构的螺纹参数、肠道粘液的粘度和微电机转速等．粘液的粘度和微电机的转速越高，则机器人的前进速度越快、形成的粘液膜越厚．选取较小的螺旋槽槽面宽度与螺旋槽槽底宽度＋ 槽面宽度的比值β和５５°的螺纹升角，将有利于提高机器人的前进速度和粘液膜厚度．上述计算已被实验所证实．An impeller of intestine robots is introduced. It consists of a right spirally grooved micro motor, a left spirally grooved cylinder and a flexible coupling. When the impeller rotates, a hydrodynamic mucus film is formed in the presence of high viscosity mucus in intestines. This may prevent the injury and uncomfortableness in robot motion. The locomotion speed of the intestine robot and hydrodynamic mucus film thickness have been calculated. The results indicate that the hydrodynamic mucus film formed during the robot motion in the large and small intestines is thick enough to prevent the contact between the robot and intestinal wall. The factors influencing the locomotion speed of the intestine robot and hydrodynamic mucus film thickness are spiral parameters of the impeller, viscosity of mucus, rotate speed of micro motor etc. The locomotion speed and film thickness increase with increasing of the mucus viscosity and rotate speed of micro motor. A small β (the ratio between rib width and rib span) and 55° spiral angle is recommended to increase the locomotion speed and film thickness. The above results have been confirmed by the experiments.

关 键 词：微型机器人 无损伤驱动 肠道机器人 运行速度 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] R318.6[自动化与计算机技术—控制科学与工程]