A Biomimetic Spermatozoa Propulsion Method for Interventional Micro Robot
Nowadays, studies of the interventional micro robots have been hot topics in the field of medical device. The ultimate goal of medical micro robots is to reach currently inaccessible areas of the human body and carry out a host of complex operations such as minimally invasive surgery (MIS), highly localized drug delivery and opening up the blood vessels. Miniature, safe and energy efficient propulsion systems hold the key to mature this technology. In this paper, a prototype of endovascular micro robot based on the motion principle of spermatozoa is presented. The properties of this propulsive mechanism are estimated by modeling the dynamics of the swimming methods. In order to validate the theoretical results for spermatozoa propulsion, a scaled-up prototype of the swimming robot is fabricated and characterized in imitative bio-pipes full of silicone oil. Experimental results shown that the spermatozoa-like micro robot can be controlled to swim efficiently. And to adjust the rotation direction of the four flexible tails, the propulsion forces and the function of opening up the blood vessels will be generated.
biomimetic micro robots swimming robots spermatozoa blood vessels interventional therapy
Bai Chen Yao-dong Liu Sun Chen Su-rong Jiang Hong-tao Wu
College of Mechanical and Electrial Engineering, Nanjing University of Aeronautics and Astronautics, Cardiac Department of Shanghai Childrens Medical Center, Xinhua Hospital, Medical School, Shanghai Department of Mathematics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, P.R.C
国际会议
第二届国际仿生工程会议(The International Conference of Bionic Engineering 2008)(ICBE08)
长春
英文
106-112
2008-10-10（万方平台首次上网日期，不代表论文的发表时间）