外磁场驱动医用微型机器人的研究现状与展望

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张永顺, 刘巍, 张瑞侠, 贾振元. 外磁场驱动医用微型机器人的研究现状与展望[J]. 机器人, 2005, 27(3): 278-283.. ZHANG Yongshun, LIU Wei, ZHANG Ruixia, JIA Zhenyuan. Status and Prospects of Medical Micro Robots Driven by Exterior Magnetic Field. ROBOT, 2005, 27(3): 278-283..

摘要介绍了国内外关于外磁场驱动控制微型机器人的最新研究成果，并对其作业机理进行了分析．分析表明外磁场无缆驱动控制方法是提高体内医疗微型机器人实用性的有效途径和技术关键．结合我们开发研制的外场驱动微型游动机器人的实际情况，指出了目前无缆外磁场驱动微型机器人存在的问题，并对体内游动型微型医疗机器人实用化的关键技术和发展趋势进行了探讨．

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	张永顺
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	贾振元

关键词 ：医用微型机器人, 微驱动器, 外场驱动控制方法, 微创外科手术

Abstract：The latest domestic and oversea developments of in vivo micro medical robots driven by exterior magnetic field are introduced, and their working principles are analyzed. The analysis result indicates that the drive and control method ~using exterior magnetic field is an effective way and key technology for enhancing the applicability of in vivo micro medical robots. According to the actuality of our micro swimming robot driven by exterior magnetic field, the existing problems related to untethered micro robots driven by exterior magnetic field are exposed. Finally, the key technologies for their practical application and development trends are discussed.

Key words： medical micro robot micro actuator drive and control method by external magnetic field minimal invasive surgery

收稿日期: 2004-10-10

TP24

作者简介: 张永顺（1965- ），男，工学博士，副教授．研究领域：机电控制及自动化，机器人技术，医疗微型机器人的非接触驱动控制技术和磁致伸缩微型电-机械转换器等．
刘巍（1979- ），男，博士研究生．研究领域：磁致伸缩耦合机理及微型机器人技术．
张瑞侠（1978- ），女，硕士研究生．研究领域：微型机器人．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2005/V27/I3/278

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