基于仿生学原理和电磁转换 ,研制成适于人体肠道环境下驱动的多节、多自由度、电磁型微小蠕动驱动机器人 ,配套驱动源、照明系统、成像传像装置及相应接日和控制件 ,并进行了一系列模拟试验。试验结果表明 ,微小型机器人驱动内窥镜系统不仅能在模拟人体肠道道环境下完成设定操作 ,而且能深入其内实现物像的传送和显示。 Based on the bionics principle and the electromagnetic conversion, a multi-section, multi-degree-of-freedom and electromagnetic tiny peristaltic robot driven by human intestine environment was developed and matched with drive source, lighting system, imaging and imaging device and the corresponding daily control Pieces, and conducted a series of simulation tests. The experimental results show that the micro-robot-driven endoscope system can not only perform the setting operation in simulating the human intestinal tract environment, but also realize the transmission and display of the object image.