Development of Medical System for Diagnosis and Treatment with Internal Robots

(1)研究团队开发了一种新技术，可以在不接触组织的情况下驱动人体内的医疗设备。该方法利用电磁微电机驱动螺纹管时，由于粘液的流体动力效应而产生推力。根据数值分析和实验结果，找出了叶轮和肋骨的最优设计。(2)研究了装置在乙烯管内运动时推力与阻力的关系。阐明了曲率和分支对推力的影响。(3)尝试在犬消化管中驱动一个连接在镍钛合金丝上的叶轮。该装置前向通过口腔到达十二指肠，后向经肛门到达升结肠，不损伤组织壁。(4)制作了微型机器人，测量了其在透明管中的运动速度和推力，考察了曲率、分支和内径变化对推进的影响。(5)在天然粘液不足的情况下，通过提供粘性淀粉、冬虫夏草或花蜜作为人造粘液来保证稳步推进。(6)我们发现粘性流体膜中的摩擦通过振动来减少。通过这种方法，降低了医疗器械的阻力。此外，如果在振动中加入振动，则可以实现主动驱动。(7)通过控制位于体外的电磁铁的磁场来导航导管的新技术。通过控制磁体中的电流及其排列，该装置被引导到绕组或分支区。

(1)The research team developed a new technology to drive medical devices in a human body without contacting with tissues. By this method, thrust force arises due to hydrodynamic effect of mucus when a spiral ribbed cylinder is driven by an electromagnetic micro-motor. The optimal design for the impeller and ribs was found according to results of numerical analysis and experiment.(2)The relation between thrust force and resistance was investigated for the device that moves in vinyl tube. Effects of curvature and branch on thrust were clarified.(3)We tried to drive an impeller attached to wire of Ni-Ti alloy in canine digestive tube. The device reached the duodenum in the case of frontward driving through mouth and it reached the ascending colon in the case of backward driving through anus, easily without any injury of the tissue wall.(4)We fabricated a micro-robot and measured moving velocity and thrust in transparent tube, and investigated the effect of curvature, branch and change of internal radius on propulsion.(5)When natural mucus is insufficient, steady advance was assured by supplying glutinous starch, origo or nectar as artificial mucus.(6)We found that friction in viscous fluid film is reduced by vibration. By this method, resistance of a medical device was reduced. Further, active driving was possible if oscillation was added to vibration.(7)A new technology to navigate catheters by control of magnetic field of electromagnets locate outside of the body. The device was guided at winding or branching region by control of electric current in the magnets and their arrangement.