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旋肋圆柱体时粘液的流体动力学效应产生推力。根据数值分析和试验结果，对叶轮和肋片进行了优化设计。（2）研究了在乙烯基管中运动的装置的推力与阻力的关系。阐明了曲率和分支对推力的影响。(3)We尝试在犬消化管中驱动附着在镍钛合金丝上的叶轮。在经口向前推进的情况下，器械到达十二指肠，在经肛门向后推进的情况下，器械到达升结肠，容易且无任何组织壁损伤。(4)We制作了一台微型机器人，测量了机器人在透明管道中的运动速度和推力，研究了管道曲率、分支和管道内径变化对推进力的影响。（5）当天然粘液不足时，可通过补充糯米、原淀粉或花蜜作为人工粘液来保证稳定的推进。(6)We发现粘性流体膜中的摩擦通过振动而减小。通过该方法，医疗装置的阻力减小。此外，如果振荡被添加到振动，则主动驱动是可能的。(7)A通过控制体外电磁体的磁场来导航导管的新技术。通过控制磁体中的电流及其布置，在绕组或分支区域处引导该装置。

(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.