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Proceedings Paper

Design and control of 2-axis tilting actuator for endoscope using ionic polymer metal composites
Author(s): Sung-Joo Kim; Chul-Jin Kim; No-Cheol Park; Hyun-Seok Yang; Young-Pil Park
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Paper Abstract

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.

Paper Details

Date Published: 31 March 2009
PDF: 9 pages
Proc. SPIE 7290, Industrial and Commercial Applications of Smart Structures Technologies 2009, 729005 (31 March 2009); doi: 10.1117/12.815905
Show Author Affiliations
Sung-Joo Kim, Yonsei Univ. (Korea, Republic of)
Chul-Jin Kim, Yonsei Univ. (Korea, Republic of)
No-Cheol Park, Yonsei Univ. (Korea, Republic of)
Hyun-Seok Yang, Yonsei Univ. (Korea, Republic of)
Young-Pil Park, Yonsei Univ. (Korea, Republic of)

Published in SPIE Proceedings Vol. 7290:
Industrial and Commercial Applications of Smart Structures Technologies 2009
Benjamin K. Henderson; M. Brett McMickell, Editor(s)

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