According to the structure and physiological properties of human respiratory system, a micro-robot system based on earthworm creeping motion principle is designed to move freely in trachea and two main bronchia.

• 摘要根据人体呼吸系统的结构及生理特性，基于蠕动运动原理设计了适于人体气管及左右主支气管内自由移动的微机器人系统。