title: A new medical microrobot for minimal invasive surgery.
abstract: A new medical microrobot to drive endoscopes into endocoeles is presented. The structure of the microrobot is very simple; it consists of a right spirally grooved micromotor, a left spirally grooved cylinder and a flexible coupling. When the micromotor rotates, a hydrodynamic mucus film is formed because highly viscous mucus exists in endocoeles. The mucus film can prevent direct contact between the microrobot and the endocoele, and the injury to organic tissues may be avoided. The locomotion speed and the hydrodynamic mucus film thickness formed when the microrobot drives endoscopes into endocoeles have been calculated according to hydrodynamic lubrication theory. The results indicate that the microrobot can be suspended to drive endoscopes quickly into endocoeles. This has been confirmed by experiments.
authors.affiliation: Department of Mechanical Engineering, Zhejiang University, Hangzhou People's Republic of China.
authors.forename: Y S
authors.initials: YS
authors.lastname: Zhou
authors.forename: Y X
authors.initials: YX
authors.lastname: Quan
authors.forename: K
authors.initials: K
authors.lastname: Yoshinaka
authors.forename: K
authors.initials: K
authors.lastname: Ikeuchi
mesh_terms: D004867:Equipment Design; D006801:Humans; D019060:Minimally Invasive Surgical Procedures / Q000295:instrumentation* / Q000379:methods; D012371:Robotics / Q000295:instrumentation*