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为了实现内窥镜的无损诊治,提高肠道机器人的行走能力,需构建肠道的结构模型和边界润滑模型.本文以小肠为研究对象,表征了其内部结构,测定了肠道内表面摩擦系数与径向应变、载荷和滑动速度之间关系.结果表明:小肠内表面结构由皱襞、绒毛和微绒毛组成;直径变化是影响其摩擦的首要因素,其次是滑动速度和载荷.运用薄膜理论,根据小肠内部结构特征和摩擦系数的变化规律,构建其结构模型及边界润滑模型,并推断出小肠收缩状态润滑形式为流体动压润滑,摩擦阻力主要由肠黏液表面剪切力决定,膨胀时,润滑形式为薄膜润滑,摩擦阻力由肠黏液表面剪切力、绒毛产生的约束力和吸附力决定.
In order to realize the non-destructive diagnosis and treatment of endoscopy and improve the walking ability of intestinal robots, we need to construct the intestinal structure model and the boundary lubrication model.In this paper, the small intestine as the research object, characterized its internal structure, measured the intestinal surface friction coefficient and Radial strain, load and sliding velocity.The results showed that the inner surface of the small intestine was composed of folds, villi and microvilli.The change of diameter was the primary factor affecting the friction, followed by the sliding speed and the load.Using thin film theory, The internal structure of the small intestine and the change of friction coefficient were studied. The structural model and the boundary lubrication model were constructed. The lubrication in the contracted state of the small intestine was hydrodynamic lubrication. The frictional resistance was mainly determined by the shear force on the intestinal mucus surface. The form of film lubrication, friction resistance by the intestinal mucus surface shear force, villi constraints and binding force determined.