Design Of In Vivo Miniature Robot For Medical

In vivo micro medical robots is a new field of medical robot，whichcan be applied to the body drug injection，disease diagnosis，tumorresection，dredge blood vessels，stone cutting and abdominal surgeryimaging navigation， and is a hot spot in biomedical engineeringtoday.With advanced surgical methods such as the natural orificetransluminal endoscopic surgery and the operation of injection liquid inthe body cavity， micro robot is needed more and more in the vivo ofbody. This paper designs a new type of micro robot，include a new drivemechanism， load the micro injection system and positioning device toachieve simple injection operation.The main content of this paper is as follows:First of all， the article discusses the research background andsignificance of in-vivo robot.Compared with the advantages of traditionalmedical apparatus and instruments，the in-vivo micro-robot has manyadvantages. A variety of driving mechanism of in vivo micro robots athome and abroad is analyzed and also the article discusses implementationon robots using different mechanisms. And then present the theory ofmotivation，carry on the overall dynamic mechanism design， injectiondevice，and positioning device design. These analysis also offer somereference for size of swing fin，choice of motors，sucker，control units andso on. Another aspect is to calculate the center of mass and buoyancy.Secondly，considering the working space and performance index，make a comprehensive analysis of the kinematics of the robot and kinematics simulation module，and use UG to set the micro robot partparameters for the standards of the results by kinematics analysis. At lastverify the rationality of the drive way in line with the drive mechanism oftheory.After then，according to the turbulence model of Fluent softwarecomplex robot system is studied. In fact，simulation results acquired bycomputational fluid dynamics show that the structural design can ensurethe balance of the robot and the head of a parabolic model design providesa certain lift.Finally，each component of micro robot is made byrapid prototypingmanufacturing and assemblyprototype structure include control，communications equipment and other vacuum circuit implementation.Find some debug to verify the feasibility of the design.In addition，in accordance with the need of future in the microsurgery，review with paper work，and put forward the development trendof the future.