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首页> 外文会议>Conference on industrial and commercial applications of smart structures technologies; 20090309-10; San Diego, CA(US) >Design and Control of 2-Axis Tilting Actuator for Endoscope using Ionic Polymer Metal Composites
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Design and Control of 2-Axis Tilting Actuator for Endoscope using Ionic Polymer Metal Composites

机译：离子聚合物金属复合材料内窥镜两轴倾斜执行器的设计与控制

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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.
机译：在内窥镜领域中，为了克服常规内窥镜的局限性，胶囊内窥镜已经被开发并且最近已经在医院的医疗领域中应用。但是，由于胶囊型内窥镜由于蠕动而在胃肠道内被动地移动，因此无法控制包括照相机在内的头部的方向。有可能错过疾病的症状。因此，本文提出了一种基于离子聚合物金属复合材料（IPMC）的内窥镜两轴倾斜致动器。为了应用于胶囊内窥镜，致动器材料应满足尺寸，低能耗和低工作电压的要求。由于IPMC是新兴材料，在低压下会表现出大的挠曲挠度，消耗的能量低，并且可以制成任何尺寸或任何形状，因此选择IPMC作为执行器。该系统使内窥镜的照相机模块倾斜以减小肠的不可见区域，并且将倾斜角度的目标选择为每个轴为5度的角度。为了控制平铺角度，设计了LQR控制器和全阶观测器。

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