Different Threads Of Medical Micro Robot Theoretical Analysis And Experimental Research

The goal of this paper to is evaluate advantages and disadvantages of the non-invasive medical micro-robots which have different shape screws and choose the most suitable shape screw which enable this micro-robot to be suspended to move more quickly and form thicker mucus film.The main parts of this paper are as followed:In first chapter, minimal invasive surgery ( or endoscopes ) and micromachine are firstly introduced, and the research status and future of national and international micro-robots are analyzed. A non-invasive medical micro-robot is discussed and the research meanings and contents of the whole issue are presented.In chapter 2, an accurate modified Reynolds equation is derived. The modified Reynolds equation is solved numerically with the finite different method, the generated axial thrust force, minimal mucus film thickness, load capacity of hydrodynamic pressure and circumferential friction under the rectangular screw are obtained. At last, using numeral methods and coordinate graphs, the influences of rectangular screw parameters on the generated axial thrust force, minimal mucus film thickness, load capacity of hydrodynamic pressure and circumferential friction are studied and analyzed.In chapter 3, the modified Reynolds equation is solved numerically with the finite different method, and the generated axial thrust force, minimal mucus film thickness, load capacity of hydrodynamic pressure and circumferential friction under the trapezoidal screw are obtained. At last, using numeral methods and coordinate graphs, the influences of trapezoidal screw parameters on the generated axial thrust force, minimal mucus film thickness, load capacity of hydrodynamic pressure and circumferential friction are studied and analyzed.In chapter 4, the modified Reynolds equation is solved numerically with the finite different method, and the generated axial thrust force, minimal mucus film thickness, load capacity of hydrodynamic pressure and circumferential friction under the serrate screw are obtained. At last, using numeral methods and coordinate graphs, the influences of serrate screw parameters on the generated axial thrust force, minimal mucus film thickness, load capacity of hydrodynamic pressure and circumferential friction are studied and analyzed.In chapter 5, using coordinate graphs, the influences of rectangular screw, trapezoidal screw and serrate screw on the generated axial thrust force, minimal mucus film thickness,load capacity of hydrodynamic pressure and circumferential friction are compared and analyzed.In chapter 6, a test machine for measuring the generated axial thrust force when the spirally grooved cylinder rotates in the fluid is designed. The influence of various factors on the generated axial thrust force of the spirally grooved cylinder is studied experimentally. The comparison of the theoretical results and experimental data is made. The results indicate that theoretical results are consistent with experimental data. In last chapter, the summary and prospects of the whole task are presented.This paper is supported by the National Nature Science Foundation of China (Grant No. 59805017) and the "863" Project of High Technology (Grant No. 863-512-9805-08).