【摘要】 潜入人体肠道释放药物和进行手术的医用微型机器人的研究是目前的一个研究热点 ,人体肠道的能动性模型对于机器人的控制甚为重要。在理论分析和动物肠道力学特性实验结果的基础上建立了肠道的能动性模型 ,与粘性蠕动模型相比 ,能动性模型考虑肠道的弹性性质和粘性性质 ,更符合肠道的实际特性。与肠道中的液体方程耦合 ,利用神经控制模型的机械运动模型 ,运用Galerkin有限元 有限差分法进行了肠道的运动学仿真。为微型机器人进入人体肠道的控制提供了可能更多还原

【Abstract】 Gastrointestinal motility is responsible not only for mixing and transport of digester and elimination of undigested residues, but for the possibility and realization of microrobot entering the animal or human body for medical use. A mathematical model describing the dynamics of the peristaltic reflex considering gastrointestinal elasticity and stickiness is presented. Comparing with the peristaltic model only considering gastrointesinal stickiness, the model in this article is more appreciated to the intestinal motility. To solve the model, the Galerkin Finite Elements Method and the Finite Difference Method were used together. This mathematical model can be used for the controll of microrobot entering the animal or human body.更多还原