Design and Control of 2-Axis Tilting Actuator for Endoscope singIonic Polymer Metal Composites

摘要

In field of endoscopy, in order to overcome limitation in conventional endoscopy, capsule endoscope has been developedand has been recently applied in medical field in hospital. However, since capsule endoscope moves passively throughGI tract by peristalsis, it is not able to control direction of head including camera. It is possible to miss symptoms ofdisease. 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 energyconsumption and low working voltage. Since IPMC is emerging material that exhibits a large bending deflection at lowvoltage, consume low energy and it can be fabricated in any size or any shape, IPMC are selected as an actuator. Thesystem tilts camera module of endoscope to reduce invisible area of the intestines and a goal of tilting angle is selected tobe an angle of 5 degrees for each axis. In order to control tiling angle, LQR controller and the full order observer isdesigned.