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提出了一种结构简单的微型肠道机器人的驱动机构．当它在人体大、小肠中运行时可减轻或消除肠道机器人在体内运行时给患者带来的不适与痛苦．同时分析计算了此种肠道机器人在体内的运行速度、形成的粘液膜厚度及其影响因素．计算结果表明：肠道机器人在大、小肠中运行时可以形成足够厚的粘液膜，从而将机器人与肠道壁隔开，实现无损伤运行； 影响机器人在肠道中运行速度和形成的粘液膜厚度的主要参数有驱动机构的螺纹参数、肠道粘液的粘度和微电机转速等．粘液的粘度和微电机的转速越高，则机器人的前进速度越快、形成的粘液膜越厚．选取较小的螺旋槽槽面宽度与螺旋槽槽底宽度＋ 槽面宽度的比值β和５５°的螺纹升角，将有利于提高机器人的前进速度和粘液膜厚度．上述计算已被实验所证实．
Proposed a simple structure of the micro-gut robot drive mechanism. When it is run in the human body, small intestine, it can reduce or eliminate the discomfort and pain that the intestinal robot brings to patients when it is in the body. At the same time, we analyzed and calculated the running speed of the gut robot in vivo, the thickness of the mucous membrane formed and its influencing factors. The calculation results show that the intestine robot can form a mucous membrane thick enough to run the large intestine and the small intestine, thereby separating the robot from the intestine wall and achieving a non-invasive operation, affecting the robot running speed in the intestine and the thickness of the mucous membrane formed The main parameters of the drive mechanism thread parameters, the viscosity of intestinal mucus and micro-motor speed and so on. The higher the viscosity of the mucus and the speed of the micromotor, the faster the robot advances and the thicker the mucous membrane is formed. Selecting the ratio of the smaller spiral groove width to the spiral groove bottom width + groove width ratio β and the 55 ° thread raising angle will help to improve the robot’s advancement speed and mucoid film thickness. The above calculation has been experimentally confirmed.