中文摘要：

介绍一种既能满足无创性要求又能满足驱动性要求的全新肠道诊疗设备一肠道生物机器人系统。该系统包括进入肠道内的诊疗部分和体外控制中心部分，生物作为肠道诊疗部分的驱动装置，通过体外控制中心遥控生物的运动行为，实现肠道诊疗部分的主动驱动和定点泊位。首先选取黄鳝作为肠道诊疗部分的驱动体，然后根据黄鳝的运动机理，使用LabVIEW编程的电流脉冲刺激器发送刺激信号到表面贴片微神经电极，对黄鳝进行不同环境不同刺激位点的多种刺激实验。获得通过同时刺激躯干前、中部侧线区域控制其前进的方法，为今后研制肠道生物机器人系统样机提供必要的理论基础。

英文摘要：

An intestinal bio-robot system which realizes noninvasive intestine examination and active actuation with enough energy supply is introduced. It consists of an in-vivo diagnostic module, a natural organism that serves as the locomotion mechanism, and an exterior control unit that actively drives and remotely controls the navigation and site-specific anchoring of the organism. Mud eel was chosen as the locomotion mechanism of the intestinal biorobot. Based On its movement characteristics, a LabVIEW-programmed pulse generator was utilized to transmit electric stimulating signal to the surface neuronal microelectrodes on different parts of them in different environments. Experiments demonstrated that the mud eel could move forward by stimulating both the front and middle lateral lines of its trunk. Methods gained to control the locomotion of the intestinal bio-robot provide solid theoretical basis for its future prototype development.