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.

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