The main parts of this paper are as followed : in first chapter , minimal invasive surgery ( or endoscopes ) and micromachine are firstly introduced , and the research status and future of national and international micro - robots are analyzed . a non - invasive medical micro - robot is discussed and the research meanings and contents of the whole issue are presented 本文主要包括以下内容：第一章，介绍了医用内窥镜手术、微机械，分析了国内外微型机器人研究现状，讨论了一种无损伤医用微型机器人，提出了本课题的研究意义和内容。
With inspiration from nature and some help from research at the massachusetts institute of technology news - web sites a team led by carnegie mellon engineering professor metin sitti built a tiny robot that can walk on water much like the insects known as water skimmers or jesus bugs . it ' s only a prototype but some researchers imagine the water - skimming robot could have many uses 受大自然灵感的启发和在美国马萨诸塞理工学院研究人员帮助下，美国carnegie mellon大学工程学教授metin sitti领导的团队，试制成功了世界上第一台能在水上行走的微型机器人，它犹如水上蜻蜓类的昆虫动物。
The test rig and eddy current sensor were studied in the dissertation . a novel kind of method using chaos to enhance the sensor sensitivity and precision were studied . the first chapter investigated the studies of micro - robot , pointed out many physics phenomena , which are different between the micro and macro fields , studied the intelligence control in nonlinear and non - constructive environment 本文还对微型机器人的测控系统进行了研究，经过理论计算和大量实验，给出了电涡流传感器的设计方法，论文结合各交叉学科的前沿，提出利用混沌周期解提高传感器测试精度和灵敏度的原理和算法。
Chapter two constructed the mathematical model of robot and its environment solved by the fem analysis . the functions or relations between the robotic parameters and its drive forces , thickness or its velocities were given , and also the functions or relations between the environment and the robot force , friction , robot velocity , minimum thickness of film or sustain force of dynamic films were given 论文第二章通过建立机器人和环境的数学模型，利用有限元方法求解其中的n - s方程，得出管道中微型机器人的各种设计参数与机器人的驱动力、形成的最小润滑油膜厚度和机器人的运行速度之间的关系曲线，研究了管道环境与机器人驱动力、摩擦阻力矩、机器人运行速度、形成的最小润滑油膜厚度、油膜的承载能力之间的关系。
The goal of this paper to is evaluate advantages and disadvantages of the non - invasive medical micro - robots which have different shape screws and choose the most suitable shape screw which enable this micro - robot to be suspended to move more quickly and form thicker mucus film 本课题的研究目标是，针对提出的一种无损伤医用微型机器人，在采用不同形状的螺纹下，评价一下不同螺纹的优劣性，最后来确定一种最为合适的螺纹参数，以达到以较快的速度、较厚的粘液膜厚度实现悬浮式运行。
Abstract : in this paper , application background of micro in - pipe and its difference from conventional in - pipe robot are introduced firstly , on the basis of analysis and discussion on working theory about several kinds of small conventional in - pipe robot and micro in - pipe robot with different micro actuators , the main problems on micro in - pipe robot research are mentioned , in the meanwhile , the key technology and further research development trend are discussed 文摘:首先论述了微型管道机器人的发展背景及与传统管内机器人的区别，然后在对国外几种驱动类型管内微型机器人的工作原理分析阐述的基础上，指出了目前管内微型机器人研究中所面临的主要问题，并对实现微管内机器人实用化的关键技术及研究发展方向进行了探讨。
