| 无损伤医用肠道机器人驱动机理 |
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| 引用本文： | 穆晓枫,周银生,胡飞,贺惠农.无损伤医用肠道机器人驱动机理[J].上海交通大学学报,2004,38(8):1314-1317. |
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| 作者姓名： | 穆晓枫 周银生 胡飞 贺惠农 |
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| 作者单位： | 浙江大学,机械设计研究所,杭州,310027 |
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| 基金项目： | 国家自然科学基金资助项目(50375143，59805017) |
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| 摘 要： | 提出了一种结构简单的医用肠道机器人的驱动机构．利用弹性流体动压润滑理论，详细分析计算了肠道机器人在不同弹性模量、不同半径和不同粘液粘度的肠道内的轴向运行速度和形成的粘液膜厚度．肠道实验研究结果表明，该肠道机器人能以较快速度在肠道内悬浮运行．
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| 关 键 词： | 医用微型机器人 微创外科手术 无损伤驱动 内窥镜 |
| 文章编号： | 1006-2467(2004)08-1314-04 |
| 修稿时间： | 2003年8月17日 |
A Low Invasive Locomotion Method of a Medical Intestine Micro-Robot |
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| MU Xiao-feng,ZHOU Yin-sheng,HU Fei,HE Hui-nong.A Low Invasive Locomotion Method of a Medical Intestine Micro-Robot[J].Journal of Shanghai Jiaotong University,2004,38(8):1314-1317. |
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| Authors: | MU Xiao-feng ZHOU Yin-sheng HU Fei HE Hui-nong |
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| Abstract: | A medical micro-robot moving in human intestine was proposed. The locomotion speed of the micro-robot and hydrodynamic mucus film thickness formed when the medical micro-robot is moving in intestine with various diameters, various viscosity mucus and various modulus of elasticity were calculated according to the elastohydrodynamic lubrication theory. The experimental results indicate that the medical micro-robot can be suspended to move quickly into intestine. |
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| Keywords: | medical micro-robot minimal invasive surgery low invasive locomotion endoscope |
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