Modeling and Analyzing the Screw-In Propulsion Mechanism for a Bio-Inspired Micro-Robot

Nowadays, studies of the interventional micro-robots have been hot topics in the field of medical device. The ultimate goal of medical micro robots is to reach currently inaccessible areas of the human body. In this paper, a novel bio-inspired interventional micro-robot in screw-in swim way is presented, which can move along the line, turn at the corner, and spinning. Based on the propulsion mechanism of spermatozoa and the theory of Stokes Flow, the kinematical models of the swimming methods have been made. In order to validate the feasibility of the screw-in propulsion, the motion properties are estimated numerically. All the results will give the evidences for motion control of the interventional micro robot.