CN100518683C - Active and passive type inner-mirror operation robot - Google Patents

Abstract

The present invention aims at disclosing an active-passive-typed endoscopic surgical robot, which is used for the necessary endoscopic pose adjustment in the minimally invasive operations. The invention includes a carrying vehicle, an ascending and descending mechanism, a big swivel arm and a small swivel arm, a stepping motor, an endoscope clamping device and a control system which is composed of a control panel, a DSP digital signal processor and a stepping motor driver. The information which can be received by the DSP digital signal processor is generated by using the invention and pushing the operation buttons on the operation panel, and the relevant instructions can be also emitted with the help of the stepping motor driver, so as to change the rotation direction and angle of the big swivel arm and the small swivel arm; then, the endoscope which penetrates the abdominal (chest) wall of the patients is moved under the restraints of the skin at the insertion point, so as to obtain the best image of the surgical site on a display. The active-passive type is differentiated by whether a moving bar is provided with a controllable motor for dragging. The invention has simple structure and control principle, relatively low production cost and can facilitate the development and production of the products.

Description

Active and passive type inner-mirror operation robot

Technical field

A kind of active and passive type inner-mirror operation robot is used for scope (endoscope) pose adjustment.Belong to the operation auxiliary facilities.

Background technology

Along with progress of science and technology, people progressively organically combine technology such as traditional medical apparatus and information, microelectronics, new material, automatization, accurate manufacturings, robot, with the raising quality of medical care.

Compare with traditional open operation, advantage such as endoscope minimally invasive operation is little with its wound surface, patient's pain is little, convalescent period is short, operation risk and expense are low is subjected to doctor and patient's popular welcome, has broad application prospects.In the process of carrying out this type of operation, need constantly to adjust the orientation of scope, so that observe the image of operative site from the display timely and accurately according to the requirement of operating doctor.For this reason, people have developed the equipment of various control scope motions.Patent of invention " ROBOTIZED SYSTEM FORTHE CONTROLAND MICROMETRIC ACTUATION OF AN ENDOSCOPE " (robot system is made in endoscope's control and the fine motion) (patent No.: WO2006016390) disclose a kind of accurately robot system of operation of endoscope that is used to control, in addition, it can also be used for neonatal endoscopic surgery.Its primary structure is by keeping three to five self-balancing mechanical arms (also can be used for Passive Control) of robot physical location to form by aggressive mode control.At least two mechanical arms support the motor system of Minimally Invasive Surgery endoscope, wherein each mechanical arm can both drive endoscope around two orthogonal axle rotations, and the independent clamping of energy endoscope inserts in patient's the body along otch, also can rotate simultaneously moving of other operation tools and Control Shaft, the controlled micron order that is accurate to of energy is in position gone up in the action of operation tool (comprise cut, tweezer etc.).Installing and using of force transducer felt the doctor effectively when doing various surgical action.The effect that keeps mechanical arm be clamping various other adnexa (video camera, insufflator etc.) and under doctor's control, move them, order and control signal are sent by control station.The purpose of this complete equipment development is accurately to control moving of robot, the randomness of people's hand operated in avoiding performing the operation, and this cover surgical robot system will be applied in the hospital clinical practice soon.

Its weak point is: the system structure complexity, and the control difficulty is bigger, and production cost is higher.

Summary of the invention

The objective of the invention is to disclose a kind of active and passive type inner-mirror operation robot, requirement according to operating doctor, button on the manual control operation panel, produce the acceptable information of DSP digital signal processor, and send dependent instruction, change the direction of rotation and the angle of lifting motor and large and small cursor motor; So the scope that penetrates patient's abdomen (breast) chamber wall moves under the constraint of insertion point skin, so that on display, obtain the optimized image of operative site.Described " active/passive " is to have or not controllable motor to drag with the motion rod member to distinguish.Structure of the present invention and control principle are simple, and cost of manufacture is not high relatively, is convenient to product development and production.

Active and passive type inner-mirror operation robot comprises the control system that carrying cart, elevating mechanism, big cursor, little cursor, motor, the scope clamping device that has spherical hinge and DSP digital signal processor, stepper motor driver, control panel are formed; Wherein, elevating mechanism is a screw-nut body; Liftable sleeve slides along the vertical guide rail by the slide block on the side outer wall; Nut is packed in the sleeve lower end; The leading screw outer end that screws in the nut links to each other with motor; So under the drive of this motor, sleeve can slide up and down along guide rail; Big cursor flatly places the sleeve top, and links to each other with the output shaft of motor in being packed in sleeve; So under the drive of this motor, big cursor can rotate around sleeve axis; Little cursor can rotate around the end horizontal of big cursor, and its power is from motor that is fixed in the big cursor other end and cog belt transmission; Little cursor is formed by two sections that are convenient to dismantle, be spirally connected mutually, one section straight, and two penlight sources are equipped with in 45 ° of another section bendings downwards on it, the light beam that light beam source sends intersects at a point at perpendicular, is used to demarcate the position of the relative robot base's coordinate system of operative incision; The scope clamping device is packed in the end of little cursor by spherical hinge, becomes hook solid also to make the axis of scope pass the spherical hinge centre of sphere.The vertical guide rail is connected in the box carrying cart, and sleeve extends to outside the compartment together with large and small cursor and scope clamping device.The roller of with locking mechanism, the carrying and the location of convenient whole device are equipped with in the carrying cart bottom.

Control panel is fixed on the side top of carrying cart casing, is equipped with on it that on and off switch and display lamp thereof, model selection button and display lamp thereof, robotary startup and SR and display lamp, location and action button and display lamp thereof, speed are regulated button and indication LED light beam thereof, control knob, lifting control knob, (scope) pull and push control knob all around.Wherein, the model selection button is used to be provided with the use location of the present invention that operative site determined by the patient, and promptly it places the left side or the right side of operating-table---and the basic rotation direction when this works with large and small cursor is relevant; Robotary start and SR can be directly, expansion and the big or small cursor of postoperative resets and below that little cursor draws big cursor in before the art of the big or small cursor of quick control; Location and action button define the state of machine man-hour respectively---and the location is operation still, the position that robot will write down relative its coordinate system of patient's otch automatically the push button time after finish the location; Speed when speed adjusting button is used to regulate the robot rotation, its movement velocity is higher relatively when robot is used to locate, and its movement velocity is relatively low when being used for operation technique, is convenient to practical operation and has higher safety again; Six operation direction (front, rear, left and right, ascending, descending) buttons are used to control the direction of motion of the little cursor end of robot; Pull and push control knob and be used to control the turnover of scope under the constant situation of locus maintenance pose.The DSP digital signal processor is loaded in the casing of carrying cart; Be used for date processing and send pulse signal, drive coupled motor and rotate to stepper motor driver; Control panel links to each other with the DSP digital signal processor by data wire.

Kinematical equation and positive inverse kinematics model: the present invention is the PRRRRR structure, has 6 degree of freedom, and wherein 3 passive joints are the spherical hinge structure that converges, no drive motors (referring to Fig. 7).Transformation matrix between each rod member: ${}_1{}^{0}T=\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& 1& 0& 0\\ 0& 0& 1& d_1\\ 0& 0& 0& 1\end{array}\right]$ ${}_2{}^1\mathrm{<figure-callout\; id="2"\; label="T"\; filenames="C200710072692E00111.png"\; state="\{\{state\}\}">T</figure-callout>}=\left[\begin{array}{cccc}{c}_2& {-\mathrm{<figure-callout\; id="2"\; label="s"\; filenames="C200710072692E00111.png"\; state="\{\{state\}\}">s</figure-callout>}}_2& 0& 0\\ s_2& {\mathrm{<figure-callout\; id="2"\; label="c"\; filenames="C200710072692E00111.png"\; state="\{\{state\}\}">c</figure-callout>}}_2& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right]$

${}_3{}^2\mathrm{<figure-callout\; id="3"\; label="T"\; filenames="C200710072692E00111.png,C200710072692E00142.png"\; state="\{\{state\}\}">T</figure-callout>}=\left[\begin{array}{cccc}{c}_3& {-\mathrm{<figure-callout\; id="3"\; label="s"\; filenames="C200710072692E00111.png,C200710072692E00142.png"\; state="\{\{state\}\}">s</figure-callout>}}_3& 0& a_2\\ s_3& {\mathrm{<figure-callout\; id="3"\; label="c"\; filenames="C200710072692E00111.png,C200710072692E00142.png"\; state="\{\{state\}\}">c</figure-callout>}}_3& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right]$ ${}_4{}^3\mathrm{<figure-callout\; id="4"\; label="T"\; filenames="C200710072692E00111.png,C200710072692E00142.png"\; state="\{\{state\}\}">T</figure-callout>}=\left[\begin{array}{cccc}{c}_4& {-\mathrm{<figure-callout\; id="4"\; label="s"\; filenames="C200710072692E00111.png,C200710072692E00142.png"\; state="\{\{state\}\}">s</figure-callout>}}_4& 0& a_3\\ s_4& {\mathrm{<figure-callout\; id="4"\; label="c"\; filenames="C200710072692E00111.png,C200710072692E00142.png"\; state="\{\{state\}\}">c</figure-callout>}}_4& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right]$

Wherein, s ₂=sin θ ₂c ₂=cos θ ₂s ₂₃=sin (θ ₂+ θ ₃); c ₂₃=cos (θ ₂+ θ ₃), wherein, a ₂, a ₃Be respectively the length of big or small cursor, θ ₂Be the corner of big cursor, θ ₃Corner for little cursor.

By ${}_4{}^0\mathrm{<figure-callout\; id="4"\; label="T"\; filenames="C200710072692E00111.png,C200710072692E00142.png"\; state="\{\{state\}\}">T</figure-callout>}={}_1{}^{0}T\left(d_1\right){}_2{}^1\mathrm{<figure-callout\; id="2"\; label="T"\; filenames="C200710072692E00111.png"\; state="\{\{state\}\}">T</figure-callout>}\left({\mathrm{\&theta;}}_2\right){}_3{}^2\mathrm{<figure-callout\; id="3"\; label="T"\; filenames="C200710072692E00111.png,C200710072692E00142.png"\; state="\{\{state\}\}">T</figure-callout>}\left({\mathrm{\&theta;}}_3\right){}_4{}^3\mathrm{<figure-callout\; id="4"\; label="T"\; filenames="C200710072692E00111.png,C200710072692E00142.png"\; state="\{\{state\}\}">T</figure-callout>}\left({\mathrm{\&theta;}}_4\right),{}_4{}^0\mathrm{<figure-callout\; id="4"\; label="T"\; filenames="C200710072692E00111.png,C200710072692E00142.png"\; state="\{\{state\}\}">T</figure-callout>}=\left[\begin{array}{cccc}{c}_{23}& {-s}_{23}& 0& a_2{\mathrm{<figure-callout\; id="2"\; label="c"\; filenames="C200710072692E00111.png"\; state="\{\{state\}\}">c</figure-callout>}}_2+a_3{c}_{23}\\ s_{23}& c_{23}& 0& a_2{\mathrm{<figure-callout\; id="2"\; label="s"\; filenames="C200710072692E00111.png"\; state="\{\{state\}\}">s</figure-callout>}}_2+a_3{s}_{23}\\ 0& 0& 1& d_1\\ 0& 0& 0& 1\end{array}\right]$ The position at passive joint of the present invention as can be known center is (a ₂c ₂+ a ₃c ₂₃, a ₂s ₂+ a ₃s ₂₃, d ₁), promptly $\left\{\begin{array}{c}{x}_p=a_2{\mathrm{<figure-callout\; id="2"\; label="c"\; filenames="C200710072692E00111.png"\; state="\{\{state\}\}">c</figure-callout>}}_2+a_3{c}_{23}\\ y_p=a_2{\mathrm{<figure-callout\; id="2"\; label="s"\; filenames="C200710072692E00111.png"\; state="\{\{state\}\}">s</figure-callout>}}_2+a_3{s}_{23}\\ z_p=d_1\end{array}\right.;$ And inverse kinematics model of the present invention is $\left\{\begin{array}{c}{\mathrm{\&theta;}}_3=\mathrm{\&pi;}-\mathrm{\&alpha;}\\ {\mathrm{\&theta;}}_2=\arctan \left(\frac{y_p}{x_p}\right)-\arctan \left(\frac{a_3{s}_2}{a_2+a_3{c}_3}\right)\\ \mathrm{\&alpha;}=\arccos \left(\frac{-(x_{\mathrm{<figure-callout\; id="2"\; label="p"\; filenames="C200710072692E00111.png"\; state="\{\{state\}\}">p</figure-callout>}}^2+y_p^2)+a_2^2+a_3^2}{{2a}_2{a}_3}\right)\\ d_1=z_p\end{array}\right..$

Determine principle and process that the relative base coordinate of the present invention of operative incision is the locus during use: after the present invention location, energising, the startup, carry out model selection, the initialization rear lifting mechanism is raised to big or small cursor the peak of its stroke, big or small cursor launches according to the good corner of program setting simultaneously, the removable section of the little cursor of mounting robot, and startup is installed in two light beam sources of its underpart, two light beam sources are tilted to be placed and becomes different angles, make its intersection point be positioned at the spherical hinge centre of sphere under the 200mm place.At this moment, impinge upon luminous point on the human body skin by observing two light beams, press the arrow button on the control panel, controlling big or small cursor rotates, make the centre of sphere of spherical hinge be in otch directly over, reduce the height of big or small cursor then by the control of the lifting button on control panel elevating mechanism, the distance that this moment, two light beams impinged upon two luminous points on the human body skin reduces gradually, when moving to incision simultaneously, two luminous points stop to descend, and press the console switch of control panel, then can note the position (x of operative incision in base coordinate of the present invention system _Otch, y _Otch, z _Otch) i.e. (x _p, y _p, z _p-200), finish this operation.The sketch map that it is the locus that Fig. 8 has provided the relative base coordinate of the present invention of definite operative incision, wherein, 8 for being installed in two light beam sources of little cursor end, 9 light beams that send for light beam source, 02 is operative incision, 4 is little cursor.

The space vector that pulls and pushes implementation procedure and scope of scope in the operating process of the present invention: when scope inserts abdomen (breast) intracavity portion along operative incision after, owing to observe the whole and partial needs of focus in the operation, scope must keep the constant situation of original pose along its axial-movement, is pulling and pushing of scope.The process that scope is taken out in the operation can be decomposed into that elevating mechanism drives that big or small cursor rises and cursor to the base coordinate rotating process, slotting process can be decomposed into elevating mechanism and drive big or small cursor decline and cursor away from the base coordinate rotating process.Because the axis of scope passes the centre of sphere of spherical hinge, and the location aware (x of operative incision and the relative robot base's coordinate system of the spherical hinge centre of sphere _Otch, y _Otch, z _Otch), (x _P0, y _P0, z _P0), scope place space vector

Can try to achieve, i.e. (x _Otch-x _P0, y _Otch-y _P0, z _Otch-z _P0), then the space line parametric equation of scope in operating robot base coordinate system is

The scope edge

The position of the robot spherical hinge centre of sphere is ((x during motion _P0-x _Otch) t+x _Otch, (y _P0-y _Otch) t+y _Otch, (z _P0-z _Otch) t+z _Otch), promptly

Scope in incision along its space vector The distance of motion is $\mathrm{\&Delta;l}=\sqrt{{(x-x_{p0})}^2+{(y-y_{p0})}^2+{(z-z_{p0})}^2}.$

The terminal straight-line rudimentary algorithm of the little cursor of horizontal plane: the Jacobian matrix of big or small cursor is in the horizontal plane $J\left(q\right)=\left[\begin{array}{cc}{-a}_2{s}_2-a_3{s}_{23}& {-a}_3{s}_{23}\\ a_2{\mathrm{<figure-callout\; id="2"\; label="c"\; filenames="C200710072692E00111.png"\; state="\{\{state\}\}">c</figure-callout>}}_2+a_3{c}_{23}& a_3{c}_{23}\end{array}\right];$ When little cursor end moved with the vertical y axle of the speed of 10mm/s at horizontal plane, two joint rotational angular were respectively ${\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_1=0.01\frac{c_{23}}{a_2{\mathrm{<figure-callout\; id="3"\; label="s"\; filenames="C200710072692E00111.png,C200710072692E00142.png"\; state="\{\{state\}\}">s</figure-callout>}}_3},$ ${\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_2=-0.01(\frac{c_2}{a_3{\mathrm{<figure-callout\; id="3"\; label="s"\; filenames="C200710072692E00111.png,C200710072692E00142.png"\; state="\{\{state\}\}">s</figure-callout>}}_3}+\frac{c_{23}}{a_2{s}_3}).$

When little cursor end moved with the vertical x axle of the speed of 10mm/s at horizontal plane, two joint rotational angular were ${\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_1=0.01\frac{s_{23}}{a_2{\mathrm{<figure-callout\; id="3"\; label="s"\; filenames="C200710072692E00111.png,C200710072692E00142.png"\; state="\{\{state\}\}">s</figure-callout>}}_3},$ ${\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_2=-0.01(\frac{s_2}{a_3{\mathrm{<figure-callout\; id="3"\; label="s"\; filenames="C200710072692E00111.png,C200710072692E00142.png"\; state="\{\{state\}\}">s</figure-callout>}}_3}+\frac{s_{23}}{a_2{s}_3}).$

The lifting button that moves through on the control panel of elevating mechanism of the present invention is directly controlled.

During use, the present invention is shifted onto on the other relevant position of operating-table, the locking wheel is located; Energized; Select the artificial operation mode of machine (patient's left side or right side); Pressing the robotary start button makes elevating mechanism be raised to peak and big or small cursor rapid deployment; Press the navigation button on the control panel, press arrow button then and adjust the height of elevating mechanism and the position of little cursor end, make the intersection point in the two-beam source on the little cursor focus on incision, the push button is write down the position of the relative robot base's coordinate system of operative incision; Press the rising button in the direction button, provide necessary initial pose in patient's body for scope inserts along the scope clamping device.In the operation process, press the orientation button in the control panel, make scope under the drive of large and small cursor, adjust pose, arrive the best orientation that operating doctor is observed the corrective surgery position.After operation finishes, press the pose of the arrow button change scope in the guidance panel, it is taken off from the scope clamping device; Take off dismountable little cursor outer section, disinfect, so that next time, operation was used.Press the reset key of robotary in the operation control panel, big cursor resetted, little cursor turn to big cursor under side.At last, turn off power supply, release operating room, finish this use.

Description of drawings

Fig. 1 active and passive type inner-mirror operation robot front view

The passive joint of Fig. 2 active and passive type inner-mirror operation robot and scope clamping apparatus structure sketch map (Fig. 1 I place is local amplifies)

The detachable little cursor syndeton sketch map of Fig. 3 active and passive type inner-mirror operation robot (Fig. 1 II place is local amplifies)

Fig. 4 active and passive type inner-mirror operation robot work space sketch map

Fig. 5 active and passive type inner-mirror operation robot control system block diagram

Fig. 6 active and passive type inner-mirror operation robot control panel sketch map

Fig. 7 active and passive type inner-mirror operation robot structure diagram and each link rod coordinate system

Fig. 8 active and passive type inner-mirror operation robot is determined operative incision relative position sketch map

The specific embodiment

Provide the specific embodiment of the present invention below, and be illustrated in conjunction with the accompanying drawings.

As shown in Figure 1, active and passive type inner-mirror operation robot comprises carrying cart 1, elevating mechanism 2, big cursor 3, little cursor 4, motor 5, has the scope clamping device 6 of spherical hinge and the control system of being made up of control panel 71, DSP digital signal processor 72, stepper motor driver 73 7; Wherein, elevating mechanism 2 is a screw-nut body; Liftable sleeve 21 slides along vertical guide rail 23 by the slide block 22 on the side outer wall; Nut 24 is packed in sleeve 21 lower ends, and leading screw 25 outer ends that screw in the nut 24 link to each other with motor 5; So under the drive of this motor 5, sleeve 21 can slide up and down along guide rail 23; Big cursor 3 flatly places sleeve 21 tops, and links to each other with the output shaft of motor 5 in being packed in sleeve 21; So under the drive of this motor 5, big cursor 3 can rotate around sleeve 21 axis; Little cursor 4 can rotate around the end horizontal of big cursor 3, and its power is from motor 5 that is fixed in big cursor 3 other ends and cog belt transmission; Little cursor 4 is formed by two section 41 and 42 that is convenient to dismantle, be spirally connected mutually, 41 is flat segments, 42 have downward 45 ° bending segment, and the below is fixed with 81,82, two sections of the light beam sources that two level inclinations are respectively-60 ° and-53 ° and is connected (referring to Fig. 3) with 44 by screw thread pair 43; Scope clamping device 6 is packed in scope 0 by spherical hinge the end of little cursor 4; Spherical hinge comprises spheroid 61, ball seat 62, spring 63, the trip bolt 64 (referring to Fig. 2) of being with endoclip.Vertical guide rail 23 is connected in the box carrying cart 1, and sleeve 21 extends to outside the compartment together with large and small cursor 3,4 and scope clamping device 6.The roller 11 of with locking mechanism is equipped with in carrying cart 1 bottom, the carrying and the location of convenient whole device.

Control panel 71 is fixed on the side top (referring to Fig. 1) of carrying cart 1 casing, is equipped with on it that on and off switch and display lamp thereof, model selection button and display lamp thereof, robotary startup and SR and display lamp, location and action button and display lamp thereof, speed are regulated button and indication LED light beam thereof, control knob, lifting control knob, (scope) pull and push control knob (referring to Fig. 6) all around.Wherein, the model selection button is used to be provided with the use location of the present invention that operative site determined by the patient, and promptly it places the left side or the right side of operating-table---and the basic rotation direction when this works with large and small cursor is relevant; The startup of robotary and SR can be directly, launch before the big or small cursor 3 of quick control and 4 the art and the resetting and below that little cursor 4 draws big cursor 3 in of postoperative size cursor 3 and 4; Location and operation define the state of machine man-hour respectively---and the location is operation still, the position that robot will write down relative its coordinate system of patient's otch when back push button is finished in the location; Speed is regulated the speed that button is used to regulate the machine man-hour, and its movement velocity is higher relatively when robot is used to locate, and its movement velocity is relatively low when being used for operation technique, is convenient to practical operation and has higher safety again; Six operation direction (front, rear, left and right, ascending, descending) buttons are used to control the motion of the little cursor end of robot; Scope pulls and pushes control knob and is used to control the turnover of scope in the certain space position.

DSP digital signal processor 72 is loaded in the casing of carrying cart 1; Be used for date processing and send pulse signal, drive coupled motor 5 and rotate to stepper motor driver 73; Control panel 71 is by data wire link to each other with DSP digital signal processor 72 (referring to Fig. 5).

Described control panel transfers signals to responsible date processing and sends in the DSP digital signal processor 72 of pulse signal, send pulse signal through DSP digital signal processor 72 to stepper motor driver 73, the motor of controlling on large and small cursor 3 and 45 turns over different angles.Because scope 0 is to insert in patient's body along the otch of patient part, the insertion point just becomes the constraint of restriction scope 0 transverse movement, and scope 0 moves to the orientation provides operative region for operation image under the drive of big or small cursor.Fig. 4 has provided work space sketch map of the present invention, and wherein 02 is the insertion point of scope 0, and 01 and 03 is respectively scope 0 in patient's body and the moving surface of outer body.

The model of the DSP digital signal processor 72 among the present invention is TMS320LF2407A, or adopts TMS320LF2812 series; Stepper motor driver 73 adopts the two outstanding SJ-240M types in Changzhou, or Beijing SH-20402A of four-way motor company type; Motor 5 adopts 42BYG series or 57BYG series.

Structure of the present invention and control principle are simple, and cost of manufacture is relatively low, are convenient to product development and production.

Claims (2)

1. active and passive type inner-mirror operation robot is characterized in that: it comprises carrying cart (1), elevating mechanism (2), big cursor (3), little cursor (4), three motors (5), the scope clamping device (6) that has spherical hinge and control system (7); Wherein, elevating mechanism (2) is a screw-nut body; Liftable sleeve (21) slides along vertical guide rail (23) by the slide block (22) on the side outer wall; Nut (24) is packed in sleeve (21) lower end, and leading screw (25) outer end that screws in the nut (24) links to each other with first motor (5); Big cursor (3) flatly places sleeve (21) top, and the output shaft of second motor (5) interior with being packed in sleeve (21) links to each other; Little cursor (4) can rotate around the end horizontal of big cursor (3), and its power is from the 3rd motor (5) and the cog belt transmission that are fixed in big cursor (3) other end; Little cursor (4) is made up of flat segments of being convenient to dismantle, be spirally connected mutually (41) and bending segment (42), and bending segment (42) below is fixed with the light beam source (81,82) that two level inclinations are respectively-60 ° and-53 °; Scope clamping device (6) is packed in scope (0) by spherical hinge the end of little cursor (4); Vertical guide rail (23) is connected in the box carrying cart (1), and sleeve (21) extends to outside the compartment together with large and small cursor (3,4) and scope clamping device (6); The roller (11) of with locking mechanism is equipped with in carrying cart (1) bottom.

2. active and passive type inner-mirror operation robot as claimed in claim 1 is characterized in that: control system (7) comprises control panel (71), DSP digital signal processor (72), stepper motor driver (73); Wherein, control panel (71) is fixed on the side top of carrying cart (1) casing, be equipped with on it on and off switch and display lamp thereof, model selection button and display lamp thereof, robotary startup and SR and display lamp, location and action button and display lamp thereof, speed regulate button and indication LED light beam thereof, all around control knob, lifting control knob, pull and push control knob; DSP digital signal processor (72) links to each other with stepper motor driver (73) with control panel (71) respectively by data wire; Associated button on the manual operation control panel (71), produce the acceptable information of DSP digital signal processor (72), and send dependent instruction, change the direction of rotation and the angle of the second and the 3rd motor (5) of lifting motor and large and small cursor, and then change the orientation of scope (0).

Images