Locomotion of medical micro robot with spiral ribs using mucus

Abstract

An intracorporeal microrobot will not become practical unless an efficient and low invasive driving device is developed. This paper presents a new technology to drive medical microrobots and experimental results which confirm the new principle. Thrust force up to 1 N was measured when gap width was small and sliding speed was high. While it is pointed out that rupture of fluid film may limit the magnitude of thrust force. The experimental study also confirms that as thrust force arises only due to hydrodynamic action and direct contact does not arise, low invasive operation is possible if good lubrication conditions are kept.