TY - GEN
T1 - Design and control of 2-axis tilting actuator for endoscope using ionic polymer metal composites
AU - Kim, Sung Joo
AU - Kim, Chul Jin
AU - Park, No Cheol
AU - Yang, Hyun Seok
AU - Park, Young Pil
PY - 2009
Y1 - 2009
N2 - In field of endoscopy, in order to overcome limitation in conventional endoscopy, capsule endoscope has been developed and has been recently applied in medical field in hospital. However, since capsule endoscope moves passively through GI tract by peristalsis, it is not able to control direction of head including camera. It is possible to miss symptoms of disease. Therefore, in this thesis, 2-Axis Tilting Actuator for Endoscope, based on Ionic Polymer Metal Composites (IPMC), is presented. In order to apply to capsule endoscope, the actuator material should satisfy a size, low energy consumption and low working voltage. Since IPMC is emerging material that exhibits a large bending deflection at low voltage, consume low energy and it can be fabricated in any size or any shape, IPMC are selected as an actuator. The system tilts camera module of endoscope to reduce invisible area of the intestines and a goal of tilting angle is selected to be an angle of 5 degrees for each axis. In order to control tiling angle, LQR controller and the full order observer is designed.
AB - In field of endoscopy, in order to overcome limitation in conventional endoscopy, capsule endoscope has been developed and has been recently applied in medical field in hospital. However, since capsule endoscope moves passively through GI tract by peristalsis, it is not able to control direction of head including camera. It is possible to miss symptoms of disease. Therefore, in this thesis, 2-Axis Tilting Actuator for Endoscope, based on Ionic Polymer Metal Composites (IPMC), is presented. In order to apply to capsule endoscope, the actuator material should satisfy a size, low energy consumption and low working voltage. Since IPMC is emerging material that exhibits a large bending deflection at low voltage, consume low energy and it can be fabricated in any size or any shape, IPMC are selected as an actuator. The system tilts camera module of endoscope to reduce invisible area of the intestines and a goal of tilting angle is selected to be an angle of 5 degrees for each axis. In order to control tiling angle, LQR controller and the full order observer is designed.
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U2 - 10.1117/12.815905
DO - 10.1117/12.815905
M3 - Conference contribution
AN - SCOPUS:66749135418
SN - 9780819475503
T3 - Proceedings of SPIE - The International Society for Optical Engineering
BT - Industrial and Commercial Applications of Smart Structures Technologies 2009
T2 - Industrial and Commercial Applications of Smart Structures Technologies 2009
Y2 - 9 March 2009 through 10 March 2009
ER -
