The Study on a Miniature Piezoelectric Medical Robot System

摘要

The prototype of a miniature piezo-driving squirming robot is described in this paper. The microrobot adopts linear piezo-driving cells whose driving principle is based on inertia-friction theory. Each piezoactuator includes two piezoelectric elements. Through the sequentially deformations of the two piezo elements, the moving mass slides into a miniature displacement. As the microrobot can be driven by the friction and inertia forces of the actuators, it can be used for medical mini-invasive and non- invasive diagnosis and treatments in human's cavities and for real-time detecticns and maintenances in miniature spaces or tubes in other fields.