Abstract: Based on the research of spiral type endoscopic micro-robot with dual cylindrical bodies, a spiral type endoscopic microrobot with single cylindrical body is proposed.

• 文章摘要: 在研究双圆柱螺旋内窥镜机器人的基础上，本文提出了单圆柱螺旋内窥镜机器人设计方案。