Title :
Kinetic Modeling and Spiral Groove Optimization of Medical Micro-Robot
Author :
Liang, Liang ; Hui, Peng ; Min, Gan
Author_Institution :
Central South Univ., Changsha
Abstract :
A modified Reynolds equation is derived from the property of human body´s lumen that is non-Newton fluid. A motion model is built for the spiral-grooved medical micro-robot working inside the lumen of human body. Based on the finite difference method, the relationship between the spiral-grooved parameters and kinetic properties such as the load capacity of hydrodynamic pressure, the axial thrust force and the circumferential resisting force is analyzed theoretically. Consequently, the optimal parameters of the spiral grooved medical micro-robot are obtained.
Keywords :
finite difference methods; medical robotics; microrobots; axial thrust force; circumferential resisting force; finite difference method; human body lumen; hydrodynamic pressure; kinetic modeling; medical microrobot; modified Reynolds equation; motion model; nonNewton fluid; spiral groove optimization; Biomedical engineering; Educational institutions; Equations; Gallium nitride; Humans; Hydrodynamics; Information science; Kinetic theory; Mechanical factors; Spirals; Axial thrust force; Load capacity of hydrodynamic pressure; Medical micro-robot; Non-Newton fluid;
Conference_Titel :
Control Conference, 2007. CCC 2007. Chinese
Conference_Location :
Hunan
Print_ISBN :
978-7-81124-055-9
Electronic_ISBN :
978-7-900719-22-5
DOI :
10.1109/CHICC.2006.4347182
