Development of Medical System for Diagnosis and Treatment with Internal Robots

体内机器人诊疗医疗系统的开发

基本信息

批准号：
09558118
负责人：
IKEUCHI Ken
金额：
$ 6.21万
依托单位：
Kyoto University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
1997
资助国家：
日本
起止时间：
1997 至 1999
项目状态：
已结题

项目摘要

(1)The research team developed a new technology to drive medical devices in a human body without contacting with tissues. By this method, thrust force arises due to hydrodynamic effect of mucus when a spiral ribbed cylinder is driven by an electromagnetic micro-motor. The optimal design for the impeller and ribs was found according to results of numerical analysis and experiment.(2)The relation between thrust force and resistance was investigated for the device that moves in vinyl tube. Effects of curvature and branch on thrust were clarified.(3)We tried to drive an impeller attached to wire of Ni-Ti alloy in canine digestive tube. The device reached the duodenum in the case of frontward driving through mouth and it reached the ascending colon in the case of backward driving through anus, easily without any injury of the tissue wall.(4)We fabricated a micro-robot and measured moving velocity and thrust in transparent tube, and investigated the effect of curvature, branch and change of internal radius on propulsion.(5)When natural mucus is insufficient, steady advance was assured by supplying glutinous starch, origo or nectar as artificial mucus.(6)We found that friction in viscous fluid film is reduced by vibration. By this method, resistance of a medical device was reduced. Further, active driving was possible if oscillation was added to vibration.(7)A new technology to navigate catheters by control of magnetic field of electromagnets locate outside of the body. The device was guided at winding or branching region by control of electric current in the magnets and their arrangement.

(1)研究团队开发了一种新技术，可以在不与组织接触的情况下驱动人体内的医疗设备。通过该方法，当电磁微电机驱动螺旋肋圆柱体时，由于粘液的流体动力作用而产生推力。根据数值分析和实验结果，找到了叶轮和肋片的优化设计。(2)研究了在乙烯基管中运动的装置的推力与阻力的关系。阐明了曲率和分支对推力的影响。(3)尝试在犬消化管中驱动附有镍钛合金丝的叶轮。该装置在通过口腔向前驱动的情况下到达十二指肠，在通过肛门向后驱动的情况下到达升结肠，轻松且不损伤组织壁。(4)我们制作了微型机器人并测量了移动速度(5)当天然粘液不足时，通过供应糯性淀粉、原浆或花蜜作为人工，保证稳定前进。 (6)我们发现粘性流体膜中的摩擦因振动而减少。通过该方法，降低了医疗器械的电阻。此外，如果在振动中加入振荡，主动驱动就成为可能。(7)一种通过控制位于体外的电磁体的磁场来导航导管的新技术。通过控制磁体中的电流及其布置，在缠绕或分支区域引导该装置。