A new medical microrobot for minimal invasive surgery

A new medical microrobot to drive endoscopes into endocoeles is presented. The structure of the microrobot is very simple; it consists of a right spir ally grooved micromotor, a left spirally grooved cylinder and a flexible co upling. When the micromotor rotates, a hydrodynamic mucus film is formed be cause highly viscous mucus exists in endocoeles. The mucus film can prevent direct contact between the microrobot and the endocoele, and the injury to organic tissues may be avoided. The locomotion speed and the hydrodynamic mucus film thickness formed when the microrobot drives endoscopes into endo coeles have been calculated according to hydrodynamic lubrication theory. T he results indicate that the microrobot can be suspended to drive endoscope s quickly into endocoeles. This has been confirmed by experiments.