中文摘要：

随着现代生活节奏的加快，人们滋生出了多种多样的疾病，例如胆结石、。肾结石、胰腺肿瘤等，为了克服传统腹腔镜手术的缺点，有医学专家提出了水腹内窥镜微创手术。将在这种新型手术方法的前提下，研发一种单电机驱动的体内微型手术机器人，该机器人能够实现三维空间上的独立运动，精确到达目标位置，并进行注射操作。该机器人通过控制电机的转动方向来实现机器人的转向运动，克服了一般单电机驱动机器人难以实现转向运动的困难，其在水平面上的运动路径是一条波形的曲线路径。相比双电机驱动的机器人而言，单电机驱动的机器人能够进一步实现机器人的微型化。运用uG画出所设计的体内微型手术机器人，通过合理地设置各种参数对其进行运动仿真，以验证运动机构的可行性。

英文摘要：

With the pace of modem life accelerated, people have bred a variety of diseases such as gallstones, kidney stones, pancreaticcancer, etc. In order to overcome the shortcomings of traditional laparoscopic surgery, some medical experts have raised water-filled laparoendoscopic surgery. Under the premise of this new surgical method, this article will develop an in vivo miniature surgicalrobot driven by a single motor. The robot can achieve the independence movement in the three-dimensional space, reach the targetposition exactly, and complete the injection operation. The robot can achieve the steering movement through controlling rotationdirection of the robot. It has overcome the difficulty of achieving the single motor driven robot＇ s steering movement. Its notion pathis a waveform curve path in the horizontal plane. Compared to the robot driven by double motors, the robot driven by a single motorcan further realize the miniaturization of robot. The in vivo miniature surgical robot is drawn by UG, and its motion is simulated toverify the feasibility of motion mechanism through setting the various parameters reasonably.