关键词: 螺旋；介入微机器人；离体肠道；模拟主动脉

Abstract:

Based on analysis of the driving principle of dual-chain spiral-type interventional micro robot, a single-chain spiral micro robot was presented. The numerical model of the single-chain interventional micro robot was made. A dual-chain type micro robot and a single-chain type interventional micro robot whose diameters were 5mm respectively were produced. The moving speeds of the two interventional robots were studied comparatively in isolated intestinal canals. The results show that the single-chain interventional micro robot has similar properties to that of the dual-chain structure micro robot. The operating experiments of single-chain micro robot under the simulated aorta environment show that the spiral-type micro robot can move stably in forward flow and counter flow.

Key words: spiral, interventional micro robot, isolated intestinal canal, artificial aorta