دانلود ترجمه مقاله شنای فلاژلی برای میکرو ربات پزشکی - مجله IEEE

HE late advances in smart pills [1] shows the advantage of an untethered device to reach previously inaccessible parts of the human body. Such a device can be a powerful diagnostic tool but it fully depends on the intestines peristaltic motion. In order to be able to do intervention or reach places where there is no natural driving force, one has to add self-propelling ability to the smart pill [2]. For example in the brain's ventricular system there are flows in the order of 1 [mm/s] (see [3]), but in contrary to the small intestines it will not insure that the smart pill will reach its target, thus positioning actuators are essential for the system. Several studies suggested propelling mechanisms for medical robots using piezoelectric [4], ICPF [5] and magnetic [6-8] actuators. Micro robots swim in low Reynolds number fluidic regime, for example a typical 0.1 mm micro robot that swims in water with a velocity of 1 mm/sec has a Reynolds number of 0.1. Due the reversibility in low Reynolds number flow (e.g. Stokes flow) the action of swimming micro organisms in nature are different from regular size swimmers such as fish [9]. All the micro swimming mechanisms such as spermatozoa [10], cilia [11] and amoeba [12] create in one way or another a traveling wave, advancing in the opposite direction of the micro organism's locomotion. The simplest swimming method for a micro system is flagellar swimming by creating a planar or helical [13] traveling wave in an elastic tail. Fig. 1 compares between swimming of the spermatozoa of the lugworm Arenicola marina and the planar traveling wave created by a piezoelectric swimming One can observe the similarity of the bending traveling wave to the spermatozoa's locomotion. This paper presents in section II a theoretical model that calculates the influence of a head section on swimming, reports in section III on experimental results of swimming with a magnetic tail and introduces in section IV a robot design for a neurosurgical medical application.