Control System Designing And Comprehensive Performance Experiment Analysis On The Interventional Micro-robot

The interventional micro-robots which can be used for mini-invasive or non-invasive therapyhave become a hot topic in the field of international medical device industry. On the basis of studyingthe principles of gastropods movement, this paper proposes a new intervention treatment robot. Thisrobot utilizes the changes of rheological properties of magnetorheological fluid (MRF) when it isunder the influence of additional magnetic field to simulate the cohesion function of gastropod'smucus. And the hydrodynamic lubrication effect has been formed between the body of the micro robotand the lumen to simulate the mucus'lubrication function. Therefore, large differences of the frictionforce between the cabin unit and the propulsive unit of the robot comes into being simultaneously. Inaddition, the linear shaft of stepper motor is used to simulate the axial movement of the gastropod'spedal muscles. If the magnetic fields are controlled to affect the MRF's rheological propertiesperiodically along with the shaft's elongating and shrinking, the micro robot will achieve forwardlocomotion or backward locomotion. The turn function has been achieved by 3 springs with circularuniform distribution between the two bodies.The paper firstly introduces the structure design of the micro-robot based on the bionic theory.And then the robot's turning mechanism is modeled. In the soft Mathematica, the state of the robot'sturning function is also simulated.Secondly, the mathematical model of the arterial environment, the intestinal peristalsis model andthe robot's model in blood vessels are built to analyze the effects of operating environment to theinterventional robot. After combining the data and structural design, the robot control system andcontrol programs are designed.Next, the research group carries out the experimental study of magneto-rheological fluidpackage's meshing capacity and SMA wire's hot deformation ability, and then establishes a laboratorybench of simulation environment to debug and to improve the robot control program. Theexperimental study of the integrated robot shows that robot-driven method is feasible and caneffectively combat the impact of fluid and can achieve the passive turning function.