Abstract
We propose a miniature rotating mirror system using a micro-ultrasonic motor that employs a 45° angle mirror as its rotor for enlarging the angle of view of cameras. The motor assy, measuring 2 mm in diameter and 4 mm in length, is one of the smallest motors and is expected for medical applications such as endoscopes. In this paper, we build a micromirror assembly, install it into a visual feedback system with an optical system, and demonstrate a motor control with a quick and wide angle-of-view observation. The high-speed camera vision embedded in the system measures the quick motion of the motor in real-time and enables accurate positioning of the mirror angle by p-control using burst waves. The proposed system demonstrates the visual feedback control of the miniature rotating mirror to the angle information obtained by the high-speed camera. The feasibility of the mirror system driven by the micro-ultrasonic motor is shown via demonstration.
Highlights
Certain medical devices require a miniature rotating mirror for enlarging the range of view
This task is necessary for recent endoscopy, but manipulating the endoscopes needs time when looking for diseases
Whereas the optical lenses used in this paper are still large, they can be miniaturized in principle for usage inside endoscopes
Summary
Certain medical devices require a miniature rotating mirror for enlarging the range of view. T. Mashimo et al.: High-Speed Visual Feedback Control of Miniature Rotating Mirror System Using a Micro Ultrasonic Motor. After demonstrated the first micro-ultrasonic motor using one cubic millimeter stator [20], the motor outputs were improved with an optimized preload [21].Output torques obtained in experiments are much larger than comparable-sized ultrasonic motors [22], [23] This is the smallest motor that satisfies the output specification to spin a tiny mirror for a quick and wide angle-of-view observation. We propose the miniaturization of a rotating mirror device by the micro-ultrasonic motor and its control strategy. Considering that the micro-ultrasonic motor generates a torque τ and its rotor spins with angular velocity ω, the equation of motion is expressed as. Ωn is given as a constant of the system without adjusting its value
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