体内微型医用机器人

摘要/Abstract

摘要：

依据不同的人体环境中体内微型医用机器人不同的驱动机制，综述体内微型机器人国内外研究现状，包括仿生物游动（泳动）驱动、特殊机械机构驱动、体外特殊场（磁场、超声波场等）驱动、胶囊类内窥镜微型机器人；分析目前体内微型机器人驱动机制在运动控制、手术安全存在的问题，讨论体内微型医用机器人关键技术：尺寸微型化、驱动机制、精确控制系统和能量供应等.探讨体内微型机器人在临床疾病诊断、体内手术的应用前景和发展方向.

关键词: 体内微型机器人, 医用, 驱动, 手术机器人

Abstract:

In light of the fact that in different environments in human body, the body miniature medical robots have a different drive mechanism, this paper summarizes the overseas and domestic research status of invivo miniature robot including imitation of biological floating, special mechanical mechanism drive, in vitro special field(magnetic field, ultrasonic field) drive, and capsule endoscopy robot class. Besides, it analyzes the problems in motion control, operation safety of the current in vivo robot drive mechanism. Moreover, it discusses the key technology in vivo robot—the size of the miniaturization, multi degree of freedom with agile miniature drive mechanism, accurate and stable agile control system, effective lasting energy supplies, biocompatibility and so on. Furthermore, it elaborates on the application prospect and development direction of in vivo robot in clinical disease diagnosis and body surgery.

Key words: in vivo miniature robot, medical application, drive mechanism, surgery robot

中图分类号:

TP 242.6

王振1，谢叻1,2，YU Wenwei3，蒋峻1，周朝政1. 体内微型医用机器人[J]. 上海交通大学学报（自然版）, 2013, 47(12): 1881-1887.

WANG Zhen1,XIE Le1,2,YU Wenwei3,JIANG Jun1,ZHOU Zhaozheng1. In Vivo Miniature Robot for Medical Applications[J]. Journal of Shanghai Jiaotong University, 2013, 47(12): 1881-1887.

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