Abstract: On the basis of the motion methods of gastropod,a new bionic interventional micro robot is presented for the environment of winding and volatile biological lumen.The factors which can affect the motion performances,such as the lumen’s inner surface behaviour,the intensity of magnetic field to control the rheological behavior of magnetorheological fluid(MRF),the peristalsis of the lumen,the functions of the hydrodynamic lubrication film to reduce the resistance,and the motion direction change frequency of the linear driving motor,are studied experimentally and theoretically.The results show that the formed hydrodynamic lubrication film can reduce the motion resistance efficiently;the lumen’s inner surface behaviour and the intensity of magnetic field to control the rheological behavior of magnetorheological fluid are the two important factors which can affect the meshing effect between the robot body and the lumens;the motion direction change frequency of the linear driving motor will act on the motion performance of the robot;the robot can move with some adaptability when the lumen’s fluctuation range is very small;the large range fluctuation will cause the quick decline of the robot’s motion efficiency.