脉动流场中血管微型机器人的运行研究

来源期刊:中南大学学报(自然科学版)2011年第12期

论文作者:梁亮 彭辉 陈柏

文章页码:3784 - 3790

关键词:血管机器人;脉动流;螺旋;内窥镜;计算流体力学(CFD)

Key words:vascular micro-robot; pulsating flow; spiral; endoscope; computational fluid dynamics (CFD)

摘    要:研究一种应用于人体血管的新型螺旋式微型机器人。利用机器人机体内外表面不同旋向的螺旋槽和在液体环境中不同转向的高速旋转,实现机器人的悬浮式快速运行。在模拟人体主动脉的脉动流场环境下,运用计算流体力学(CFD)方法数值研究螺旋机器人在一定的运行速度下,机器人内外螺旋的轴向驱动力、轴向力矩以及机器人对血管壁的压力,并且分析机体的内外转速和机器人运行速度对机器人轴向驱动力和血管壁所受压力的影响。研究结果表明:血管壁所受最大压力和机器人内外螺旋轴向驱动力变化基本和血流速度变化趋势一致,机体外螺旋所受轴向力矩为负值,机体内螺旋所受轴向力矩为正值;随着机体内外转速的增加,血管壁所受最大压力和机器人的轴向驱动力都随之增大,机体外螺旋转速的增加更有利于机器人轴向驱动力的增大;随着机器人运行速度的增大,机器人轴向驱动力先增大,当运行速度达到一定值时,机器人轴向驱动力又随之减小。实验证明这种螺旋机器人可以在顺流和逆流的流体环境中运行。

Abstract: A new kind of spiral micro-robot which was applied in the blood vessel of people was proposed. According to the different handed inner and outer screws of the robotic body and their different directional high speed rotating in the liquid, the robot could be suspended to move quickly. Simulating the pulsating flow filed of the aorta, the driving forces of the inner and outer screws of the robotic body, the axial moment and the impact pressure of the blood vessel wall were numerically calculated with computational fluid dynamics method at the robotic constant running speed. The influences of robotic inner and outer rotational speeds and robotic running speed on the driving force of the robot and the impact pressure of the blood vessel wall were analyzed. The results show that the change trends of the driving force of the inner and outer screw of the robotic body and the impact pressure of the blood vessel wall are basically consistent with those of the blood flows, and the axial moment of the outer screw of the robotic body has negative value, and the axial moment of the inner screw of the robotic body has positive value. When robotic inner and outer rotational speeds increase, the driving force of the robot and the impact pressure of the blood vessel wall increase. The increase in rotational speed of the outer screw of the robot is favorable to enhance the driving force of the robot comparing to that of the inner screw of the robot. When the robotic running speed increases, the driving force of the robot increases, and then it decreases when the robotic running speed arrives a certain value. Finally, the experimental results verify that this spiral micro-robot can move in the positive and reverse flowing fluid.

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