دانلود مقاله ترجمه شده کاربرد شنای فلاژلی برای میکرو ربات پزشکی – مجله IEEE

فهرست مطالب:

 چکیده
۱ مقدمه
۲ نتایج تئوری
۳ نتایج آزمایشی
۴ کاربردهای پزشکی
۵ نتیجه گیری

بخشی از ترجمه:

 در این مقاله ما به ارایه نتایج تئوری و آزمایشی با استفاده از شناگر فلاژل برای کاربرد پزشکی می پردازیم.  تا آن جا که بررسی منابع نشان دادند، این  اولین آزمایش شناگر با مسیر یابی  دو طرفه برای  حرکات موجی صفحه ای است. نتایج تئوری امکان محاسبه خواص شنایی مجموعه ای از دم های شناگر و بخش سر را می دهد. به علاوه، ما روش بالینی را پیشنهاد می کنیم که از شنای فلاژل برای حرکت و راهنمایی استفاده شود. در آینده،  ربات شناگر توصیف شده در بخش 3 برای  ونتری کولوستومی بررسی شده و  مدلی برای توجیه نتایج آزمایشی ارایه شده در این جا  ارایه می شود.

بخشی از مقاله انگلیسی:

I. INTRODUCTION 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 tail [14]. 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. Flagellar Swimming for Medical Micro Robots: Theory, Experiments and Application Gábor Kósa, Péter Jakab, Nobuhiko Hata, Ferenc Jólesz, Zipi Neubach, Moshe Shoham, Menashe Zaaroor and Gábor Székely T II. THEORETICAL RESULTS The swimming theory we developed was published in detail in previous publications. In this paper we present the influence of a head section on the swimming of a micro robot. For further details on swimming by creating a traveling wave in an elastic beam in viscous fluid see [4]. A. Swimming tails We are using two methods to create the propulsive force in the elastic beam: 1) Piezoelectric bimorph bender – This actuator uses a piezoelectric bimorph to create the traveling wave (see Fig. 2). The outer electrodes of the bimorph are divided into three sections, which are driven by three sinusoidal signals {V1 ;V2 ;V3 } with the same frequency Ω and different amplitudes { , , } G1 G2 G3 and phases{ , , } Φ1 Φ2 Φ3 . 2) Magnetic coils – a set of three coils are glued in series on a flexible printed board. Similarly to the previous method the coils are driven by three signals.