Study on a Novel Kind of Micro Robot for Non-Invasive Surgery

Abstract

A new kind of micro robot driven principally for non-invasive surgery and its controllability are studied. The robot can run in human vessels or gastro-intestine system without touching them. Its structure is introduced and the mathematical model of robot running in the gastro-intestine system full of viscous liquid is built, then FEM is taken to solve dynamic fluid N-S equations when robot is running. Experimental data and model calculation results are compared to prove validity of models. The relationship between main characteristic parameters of micro robot and its drive forces or minimum thickness of dynamic films are investigated. The velocities of micro robot running in different viscous liquids are measured and compared with the theoretical calculation results as well. In order to control the robot, the dynamics model is set up and the forces on the robot are investigated in detail. Analysis results show that robot running velocities, thickness of dynamic films and attitude of the robot are controllable