中文摘要：

血管结构对血流流动参数产生影响，也会对介入的血管机器人外流场产生影响。将螺旋驱动的血管机器人介入到实际血管的血栓变窄位置的下游、分叉位置的上游、弯曲位置的下游，通过两相流场数值模拟分析，发现不同的血管结构对血管机器人外流场影响不同。血流脉动速度上升时，血栓变窄位置流动会对血管机器人产生阻碍作用；分叉位置上游血流使血管机器人尾流低速区增大；弯曲位置下游血流使血管机器人近前部速度不均匀，尾部有较大区域的低速涡流区，会影响机器人运行；而且均是头部受到红细胞的剪切应力较大。血流脉动速度下降时，血栓变窄位置血流会对血管机器人产生助推作用；分叉位置上游血流会使血管机器人前端区域速度非均匀分布，会对血管机器人运行产生影响；弯曲位置下游血流使血管机器人头部低速区的范围较大，而尾部流速较高：除了分叉位置上游血流红细胞对血管机器人头部产生较大的剪切应力，其他两种结构下血流红细胞对机器入尾部剪切应力较大。

英文摘要：

Vascular structures impact on blood flow parameters, but also impact on the flow field outside of the vascular robot. The screw driving robot is implanted into the thrombus downstream, bifurcation upstream, and bent downstream of artery. Through numerical simulation analysis of two-phase flow field, it is found that the different vascular structures have different effects on flow field outside of vascular robot. As pulsating velocity of blood flow increases, the flow in the downstream of vascular sclerosis narrowing position has a hinder role to vascular robot, in the upstream of vascular bifurcation position makes the low velocity areas increasing to impact the robot swimming, and the downstream of bending position leads the flow velocity uneven in the front of the head of robot, and the low velocity eddy areas increasing to influence the robot swimming. The shear stress for red blood cells on the robot head is greater than that on the robot end. As pulsating velocity of blood flow decreases, the flow in the downstream of vascular sclerosis narrowing position generates a boost role to vascular robot, in the upstream of vascular bifurca-tion position causes the non-uniform velocity distribution to impact the robot swimming, and the downstream of ben-ding position leads the greater low flow velocity areas in the front of the head of robot, and the greater flow velocity behind of the robot. The shear stress for red blood cells on the robot head is greater under the condition of the vas-cular bifurcation position, and the shear stress on the robot end is greater under the others condition.