Locomotion of medical micro robot with spiral ribs using mucus

Author

Ikeuchi, Katsushi ; Yoshinaka, K. ; Hashimoto, S. ; Tomita, N.

Author_Institution

Res. Center for Biomed. Eng., Kyoto Univ., Japan

fYear

1996

fDate

2-4 Oct 1996

Firstpage

217

Lastpage

222

Abstract

An intracorporeal microrobot will not become practical unless an efficient and low invasive driving device is developed. This paper presents a new technology to drive medical microrobots and experimental results which confirm the new principle. Thrust force up to 1 N was measured when gap width was small and sliding speed was high. While it is pointed out that rupture of fluid film may limit the magnitude of thrust force. The experimental study also confirms that as thrust force arises only due to hydrodynamic action and direct contact does not arise, low invasive operation is possible if good lubrication conditions are kept

Keywords

biomedical equipment; micromechanical devices; mobile robots; patient diagnosis; patient treatment; robot kinematics; direct contact; drug delivery; fluid film rupture; good lubrication conditions; hydrodynamic action; intracorporeal microrobot; low invasive driving device; low invasive operation; medical microrobot locomotion; mucus; sliding speed; spiral ribs; surgery; thrust force; Catheters; Force measurement; Hydrodynamics; Lubrication; Medical diagnostic imaging; Medical robotics; Polymers; Ribs; Spirals; Surgery;

fLanguage

English

Publisher

ieee

Conference_Titel

Micro Machine and Human Science, 1996., Proceedings of the Seventh International Symposium

Conference_Location

Nagoya

Print_ISBN

0-7803-3596-1

Type

conf

DOI

10.1109/MHS.1996.563427

Filename

563427