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介绍了能够描述胃肠道组织的应力–应变关系的超弹性本构模型.针对胃肠道特殊的生物力学环境,提出了一种基于驻留–伸缩的微型胃肠道机器人运动方式.通过研究微机器人单舱体与肠道组织相互的力学作用,建立了机器人单舱体运动时的速度与阻力关系;通过研究机器人整机与肠道的力学作用,建立了机器人的运动效率公式;结合以上力学分析,推导出基于超弹性本构模型的临界步距数学模型.该数学模型能够指导机器人设计与参数优化.最后,通过机器人模型实验获得了单舱体在肠道中的速度–拉力关系,并用机器人样机的离体实验验证了临界步距模型.
A superelastic constitutive model that describes the stress-strain relationship of the gastrointestinal tract is presented.Aiming at the special biomechanical environment of the gastrointestinal tract, a movement mode of the miniature gastrointestinal tract robot based on the dwell-telescope is proposed, The interaction between single micro-robot’s cabin and intestinal tissue interacts with each other to establish the relationship between the speed and resistance of the single-hull movement. By studying the mechanics of the whole robot and the intestine, the formula of the robot’s movement efficiency is established. Mechanics analysis, a mathematical model of critical step based on hyperelastic constitutive model is deduced, which can guide robot design and parameter optimization.Finally, the velocity-tension relationship of single cabin in the intestine is obtained by robot model experiment In vitro experiments of robotic prototypes verify the critical step model.