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A noninvasive method to drive medical micro-robots into endocoeles has been proposed and a kind of medical micro robot driven by the method has been designed. The robot has a spirally grooved impeller. When the spirally grooved impeller rotates, a hydrodynamic film between the robot and endocoeles is formed because of mucus existence in endocoeles. The generated axial thrust force of the impeller can drive robots to move. Because the hydrodynamic film is formed when the robot moves in endocoeles, injury may be prevented, so it can alleviate or avoid pain of sufferers. The generated axial thrust force of the impeller has been estimated according to the hydrodynamic lubrication theory and has been confirmed by experiments.
When the spirally grooved impeller rotates, a hydrodynamic film between the robot The generated axial thrust force of the impeller can drive robots to move. the generated axial thrust force of the impeller can drive robots to move. the generated axial thrust force of the impeller can drive robots to move. of generated hydrodynamic lubrication theory and has been confirmed by experiments.