Design and control of 2-axis tilting actuator for endoscope using ionic polymer metal composites

Sung Joo Kim, Chul Jin Kim, No Cheol Park, Hyun Seok Yang, Young Pil Park

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationIndustrial and Commercial Applications of Smart Structures Technologies 2009
DOIs
Publication statusPublished - 2009 Jun 15
EventIndustrial and Commercial Applications of Smart Structures Technologies 2009 - San Diego, CA, United States
Duration: 2009 Mar 92009 Mar 10

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
Volume7290
ISSN (Print)0277-786X

Other

OtherIndustrial and Commercial Applications of Smart Structures Technologies 2009
CountryUnited States
CitySan Diego, CA
Period09/3/909/3/10

Fingerprint

Ionic Polymer-metal Composite
Endoscope
endoscopes
Endoscopy
Tilting
Actuator
Polymers
Actuators
actuators
Metals
capsules
composite materials
Composite materials
polymers
metals
Angle
Capsules
Peristalsis
Camera
cameras

All Science Journal Classification (ASJC) codes

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering

Cite this

Kim, S. J., Kim, C. J., Park, N. C., Yang, H. S., & Park, Y. P. (2009). Design and control of 2-axis tilting actuator for endoscope using ionic polymer metal composites. In Industrial and Commercial Applications of Smart Structures Technologies 2009 [729005] (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 7290). https://doi.org/10.1117/12.815905
Kim, Sung Joo ; Kim, Chul Jin ; Park, No Cheol ; Yang, Hyun Seok ; Park, Young Pil. / Design and control of 2-axis tilting actuator for endoscope using ionic polymer metal composites. Industrial and Commercial Applications of Smart Structures Technologies 2009. 2009. (Proceedings of SPIE - The International Society for Optical Engineering).
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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.",
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Kim, SJ, Kim, CJ, Park, NC, Yang, HS & Park, YP 2009, Design and control of 2-axis tilting actuator for endoscope using ionic polymer metal composites. in Industrial and Commercial Applications of Smart Structures Technologies 2009., 729005, Proceedings of SPIE - The International Society for Optical Engineering, vol. 7290, Industrial and Commercial Applications of Smart Structures Technologies 2009, San Diego, CA, United States, 09/3/9. https://doi.org/10.1117/12.815905

Design and control of 2-axis tilting actuator for endoscope using ionic polymer metal composites. / Kim, Sung Joo; Kim, Chul Jin; Park, No Cheol; Yang, Hyun Seok; Park, Young Pil.

Industrial and Commercial Applications of Smart Structures Technologies 2009. 2009. 729005 (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 7290).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Kim SJ, Kim CJ, Park NC, Yang HS, Park YP. Design and control of 2-axis tilting actuator for endoscope using ionic polymer metal composites. In Industrial and Commercial Applications of Smart Structures Technologies 2009. 2009. 729005. (Proceedings of SPIE - The International Society for Optical Engineering). https://doi.org/10.1117/12.815905