本研究提出ㄧ個由微型轉輪(Micro-Wheel)與釋藥機構(Micro-Drug Release Mechanism)所組成，並利用微製程技術製作，應用於人體內狹小管路釋藥之微型供藥運送微機器人，整體尺寸約5mm。 微型轉輪自主性移動之操作原理，乃設計六組微螺線管線圈環繞於轉輪內緣，並依序激磁以吸引置於轉輪內之受磁圓盤，使微型轉輪重心產生偏離，達到使微型轉輪滾動之目的。此外利用 Ansoft Maxwell 軟體模擬微螺線管線圈之電磁力，分析使微型轉輪在設計條件下展現較佳性能之設計參數。另一方面，根據順滑控制理論擬定一套控制策略，使微型轉輪能夠移動至指定之疾患區域(即長距離運動)與達到精確定位釋藥控制(即短距離運動)雙需求。 至於釋藥機構則包括含角錐形頂尖之懸臂樑與儲存藥劑之膠囊，目的為提供藥物釋放之功能。釋藥機構的致動原理，乃利用靜電力使懸臂樑自由端產生足夠撓度，並由角錐形頂尖之尖端將膠囊之薄膜刺破，以釋放膠囊內之藥劑。最後，將利用微製程整合技術結合微型轉輪與釋藥機構兩系統，達成於人體內狹小管路中定位與釋藥之目的。

This research proposes a micro-medical-wheel of overall size 5X5X2 mm for drug delivery in the human body. The drug delivery system consists of a micro-wheel and a micro-drug release mechanism. Both of them are fabricated by MEMS technology. Based on the operation principle of the gravity center shift, the motion of the micro-wheel is controlled by its center of gravity via a running disk, which is placed within the wheel and attracted by the actuated micro-solenoids fabricated at the inner wall of micro-wheel in shift. By commercial software, Ansoft Maxwell, the electromagnetic force to attract the disk is analyzed so that appropriate design parameters can be obtained. In addition, the micro-wheel is controlled to roll to the designated location by two sliding mode control strategies: one for long-distance motion (to transport the drug to the vicinity of disease) and the other for short-distance motion ( to decelerate down and stop at the exact drug-release location). On the other hand, the micro-drug release mechanism consists of a cantilever beam and a chamber filled up by medicine. The pyramid tip of the cantilever beam deflected by the applied electrostatic force is designed to penetrate the micro-film of the chamber so that the medicine can be released. Finally, the micro-wheel and the micro-drug release mechanism are to be integrated by micro-fabrication integration technology.

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