Development of a novel type of microrobot for biomedical application
Development of a novel type of microrobot for biomedical application
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DOI：
10.1007/s00542-007-0430-1
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发表时间：
2008-03-01
影响因子：
2.1
通讯作者：
Khamesee, Mir Behrad
中科院分区：
文献类型：
--
作者：
Guo, Shuxiang;Pan, Qinxue;Khamesee, Mir Behrad
本文提出了一种新型的微机器人，它可以沿血管等狭窄区域沿着移动，在显微外科手术中具有很大的应用潜力。此外，无线微型机器人，可以通过调整外部磁场在管道内操纵的发展进行了讨论。该微型机器人模型采用电磁驱动器作为伺服驱动器，实现生物医学应用中的运动。讨论了微机器人的结构、运动机理和运动评价特性，并通过输入电流的频率实现方向控制。在水平方向上进行了分支点的运动实验，在垂直方向上通过改变频率测量了机器人的运动速度。实验结果表明，该微型机器人响应速度快，能够有效地清除管道内壁的污垢。这种微型机器人将在工业和医疗应用中发挥重要作用，如显微外科手术。
This paper proposes a new type of microrobot that can move along a narrow area such as blood vessels which has great potential for application in microsurgery. Also, the development of a wireless microrobot that can be manipulated inside a pipe by adjusting an external magnetic field has been discussed. The model microrobot utilizes an electromagnetic actuator as the servo actuator to realize movement in biomedical applications. The structure, motion mechanism, and evaluation characteristic of motion of the microrobot have been discussed, and the directional control can be realized via the frequency of the input current. The moving experiments have been carried out in branching points in the horizontal direction, and the moving speed of the robot has been measured in vertical direction by changing frequency. Based on the results, the microrobot has a rapid response, and it can clear out dirt which is adhering to the inner wall of pipe. This microrobot will play an important role in both industrial and medical applications such as microsurgery.