驻留-伸缩式胃肠道微型机器人的临界步距模型与实验分析

为获得驻留-伸缩式胃肠道微型机器人的主要设计参数范围，采用超弹性应力-应变本构方程描述肠道的生物力学特性，推导了驻留-伸缩式胃肠道微型机器人的临界步距模型.针对伸缩机构，根据临界步距模型中的速度-阻力关系系数，设计了光滑外壁的单舱体机器人模型实验，采用不同直径的离体肠道进行测试；为获取驻留机构设计参数，采用足模型测试了同一直径下不同足伸出长度的驻留力.将获得的机器人参数返回到数学模型中，导出了若干机器人设计准则.最后采用机器人样机的离体实验，验证了临界步距模型的有效性.

The Critical Stroke Model of Anchoring-Extending Gastrointestinal Micro Robot and Its Experimental Study

To obtain the main parameters range of the anchoring-extending gastrointestinal micro robot, the critical step model was deduced by using the hyper elastic stress-stain constitutive model, which describes the biomechanical behavior of the intestinal tract. For extending mechanism, according to the relation factor of the speed and resistance force in the critical step model, a smooth signal cabin robot model was used in experiments, with in vitro small intestine of various diameters; for anchoring mechanism, a legged robot model was used to test the anchoring force in difference leg length. The experimental result is returned to the model to export some robot design guidelines. Finally, a robot prototype was used in an in-vitro experiment to validate the critical stroke model. Key words：