The prototype of a piezoelectric medical microrobot

In this paper, we describe the movement principle and structural prototype of a miniature multi-joint piezo-driving squirming robot, which is composed of three linear piezo-driving cells and one head. The driving principle of piezoactuator is based on the inertia-friction theory. A piezoactuator includes two piezoelectric elements. Through the sequential deformations of the two piezo elements, the moving mass slides a miniature displacement. At a certain periodical control signal, accumulative strokes of piezoactuators make the microrobot move a large displacement. This kind of piezo microrobot can move without the friction from environment so it can be equipped to do diagnosis and treat in narrow pipes and human's cavities.