微型压电蠕动医用机器人系统模型  

The Study on a Miniature Piezoelectric Medical Robot System

作　　者：卢秋红[1] 颜国正[1] 丁国清[1] 颜德田[1] 王慧[1] 

机构地区：[1]上海交通大学电子信息与电气工程学院,上海200030

出　　处：《中国医疗器械杂志》2004年第1期7-10,30,共5页Chinese Journal of Medical Instrumentation

摘　　要：提出一种压电驱动微型医用机器人系统模型,机器人采用基于惯性-摩擦理论的新型压电驱动器,每个压电驱动器由两个压电陶瓷元件构成,通过交替的顺序变形来实现微位移驱动。机器人依靠机构内部的摩擦力和惯性力驱动,因此将能够介入人体肠道实现体内“少创和无创”诊疗,亦可深入其它领域的微小空间、微小管道完成实时探测和维护。The prototype of a miniature piezo-driving squirming robot is described in this paper. The microrobot adopts linear piezo-driving cells whose driving principle is based on inertia-friction theory. Each piezoactuator includes two piezoelectric elements. Through the sequentially deformations of the two piezo elements, the moving mass slides into a miniature displacement. As the microrobot can be driven by the friction and inertia forces of the actuators, it can be used for medical mini-invasive and non- invasive diagnosis and treatments in human's cavities and for real-time detecticns and maintenances in miniature spaces or tubes in other fields.

关 键 词：系统模型 微型机器人 压电驱动器 医用机器人 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]