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提出了一种医用微型机器人的无损伤体内驱动方法 .它的原理是 :巧妙地利用人体内腔中的粘液作介质 ,利用运动过程中驱动器产生的动压效应使微型机器人悬浮在内腔中 ,同时利用粘液在运动过程中形成的摩擦牵引力 ,带动微型机器人前进 .由于微型机器人在体内运行过程中 ,能与内腔壁之间形成动压粘液润滑膜 ,此膜能避免微型机器人与内腔壁之间发生直接接触 ,因此微型机器人在体内运动时不会给内腔有机组织造成损伤 ,从而可减轻或消除微型机器人在体内运动时给患者带来的不适与痛苦 .所作的理论分析与实验研究均证实了上述原理 .
A non-invasive body driving method for a medical micro-robot is proposed, which is based on the principle that the mucus in the human body cavity is skillfully utilized as a medium, the micro-robot is suspended in the cavity by utilizing the dynamic pressure effect generated by the driver during the movement, While taking advantage of the frictional traction generated during the movement of the mucus to drive the micro-robot to move forward.As the micro-robot can form a dynamic pressure mucus-lubricating film between the micro-robot and the inner cavity wall in the process of in vivo operation, the micro- So that the micro-robot will not cause damage to the organic tissue in the lumen when it moves in the body, so as to reduce or eliminate the discomfort and suffering brought by the micro-robot when it moves in the body. The theoretical analysis and experimental research All confirmed the above principle.