文档介绍：Simulation Analysis on the Bionic Micro Robot
Operating in the Vascular Environment
Sun Chen Shuang Qian, Jia-yi Huang, Bai Chen
Xinhua Hospital, Shanghai children's medical center, Department of mechatronics
Medical school of Shanghai Jiaotong University Nanjing University of Aeronautics and Astronautics,
Shanghai 200092, P. R. China Nanjing 210016, P. R. China
chengsun@ chenbye@
Abstract—Based on the motion principle of gastropod, a novel the interaction between the robot and the blood flow field will
interventional minimal invasive robot which has the ability to be analyzed.
run smoothly in the biological lumen with impulsive flowing
liquid has been presented. Simulation models of the
THE
interventional micro robot operating in the straight or the bend II. THE DESIGN SCHEME OF
blood vessels have been established with the software of Fluent. INTERVENTIONAL MICRO ROBOT
Blood flow distribution and the impact force acting on the robot Gastropoda (limpets and snails) can effectively fight
by the impulsive blood flow have been simulated and calculated. against the impact of the fluid and crawl on the 90 ° slope.
All the results will provide strong proofs for the structure design According to [3], gastropods animals, which have such
and motion control of the micro robot.
predominant climbing ability, mainly depend on the
Keywor