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Abstract: A
medical micro-robot moving in human intestine is proposed. The
locomotion speed of the micro-robot and hydrodynamic mucus film
thickness formed when the medical micro-robot moving in intestine with
various diameters, various
viscosity mucus and various modulus of elasticity are calculated
according to the elastohydrodynamic lubrication theory. The results
indicate that the medical micro-robot can be suspended to move quickly
into intestine. The above results are proved by the experiments.
Key words: Medical
micro-robot Minimal invasive surgery Low invasive locomotion Endoscope
CLC No: TP242.2
国家自然科学基金资助项目(50375143).
Received 20030409, received in revised form 20031220
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