CN219921207U - Instrument box of soft mirror robot - Google Patents

Abstract

The utility model discloses an instrument box of a soft lens robot, which comprises a box body, a rotating shaft and an elastic blocking piece, wherein a cavity is formed in the box body; the rotating shaft is rotatably arranged in the cavity around the central axis of the rotating shaft; an annular groove is formed in the rotating shaft and used for coiling a traction rope of the soft lens robot; the elastic baffle piece is arranged on the inner wall of the box body and is positioned on the bottom surface of the cavity; the top of the elastic blocking piece is elastically abutted with the rotating shaft. The flexibility of the rotating shaft is restrained by the friction force generated by the butt joint between the elastic baffle piece and the rotating shaft, namely the rotating shaft cannot accidentally rotate, the pulling rope on the rotating shaft can be prevented from loosening in the process of transportation or use, the stability of the internal structure of the product is improved, the control precision of the instrument box is improved, and the reliability of the function is guaranteed.

Description

Instrument box of soft mirror robot

Technical Field

The utility model relates to the technical field of medical instruments, in particular to an instrument box of a soft mirror robot.

Background

With the increasing maturity of the application of robots in the medical field, clinicians put higher and higher demands on robots, and in particular, in recent years, with the popularity of minimally invasive surgery, surgical instruments involved therein are also being updated and developed continuously. Specifically, the minimally invasive surgery is a medical means for directly working at a lesion site by allowing medical instruments to enter a human body through a natural cavity without opening the surgery. For example, in a pulmonary surgical robot system, a soft-mirror robot is used to perform an examination or operation by being placed into the human body through the airway.

The common soft mirror robot utilizes the driving instrument box to connect the interventional catheter, and winds the haulage ropes in the driving instrument box by using the rotating shaft, and utilizes the expansion and contraction of a plurality of haulage ropes to achieve the effect of accurately controlling the rotation of the interventional catheter. For example, a catheter control device and a catheter apparatus (patent publication No. CN 115054292A) are disclosed in the published patent, which are used for a minimally invasive bronchus operation, and a guide wire is tensioned by a guide wheel.

In addition, the existing soft mirror robot belongs to disposable consumables in actual use, so that the instrument box and the interventional catheter often need to be split-packed, transported and stored separately and are not connected until the soft mirror robot is used. The traction rope is wound in the manufacturing process of the instrument box, and the traction rope and the interventional catheter are directly connected during assembly, so that the instrument box does not need to be disassembled.

However, the flexibility of the rotating shaft arranged in the existing instrument box is high, the traction rope is wound in advance in the production and manufacturing process, after the rotating shaft is assembled on the instrument box, the tension of the traction rope cannot be maintained due to the influence of natural stretching or shaking of the rope body in the transportation and moving processes, so that the instrument box is easy to cause insufficient control precision and even functional failure of the control intervention catheter in final use, or medical staff is required to disassemble the instrument box again for adjustment, and the instrument box is inconvenient to use.

Accordingly, the prior art is still in need of improvement and development.

Disclosure of Invention

In view of the above-mentioned shortcomings of the prior art, the present utility model aims to provide an instrument box of a soft mirror robot, which aims to solve the problems that the interior of the instrument box of the existing soft mirror robot is not stable enough, and the control precision is possibly reduced and the reliability of functions is affected in the process from production to use.

The technical scheme of the utility model is as follows:

the instrument box of the soft mirror robot comprises a box body, a rotating shaft and an elastic blocking piece, wherein a cavity is formed in the box body; the rotating shaft is rotatably arranged in the cavity around the central axis of the rotating shaft; an annular groove is formed in the rotating shaft and used for coiling a traction rope of the soft lens robot; the elastic baffle piece is arranged on the inner wall of the box body and is positioned on the bottom surface of the cavity; the top of the elastic blocking piece is elastically abutted with the rotating shaft.

The instrument box of the soft mirror robot is characterized in that at least one boss and at least two support columns are arranged on the bottom surface of the cavity in a protruding mode, and an assembly hole site is arranged on the boss and used for loading the rotating shaft; the top surface of the boss is provided with the elastic baffle; and two sides of the boss are respectively provided with one supporting column; the instrument box of the soft lens robot comprises a limiting plate, wherein two ends of the limiting plate are respectively connected with two support columns on two sides of the boss, and the limiting plate transversely spans above the assembly hole site; the limiting plate is provided with a limiting hole; the bottom of pivot is equipped with down grafting portion, down grafting portion inserts and establishes in the assembly hole site, the top of pivot is equipped with grafting portion, go up grafting portion and insert and establish in the spacing hole.

The soft mirror robot instrument box is characterized in that an arc-shaped limiting bone plate is arranged on the bottom surface of the cavity around the boss, the height value of the arc-shaped limiting bone plate is larger than that of the boss, and the part, higher than the boss, of the arc-shaped limiting bone plate surrounds the periphery of the rotating shaft.

The soft mirror robot instrument box is characterized in that a stop block is formed on the side wall of the rotating shaft in a protruding mode, and when the rotating shaft rotates to the limit position, the stop block is abutted to the side wall of the arc-shaped limit bone plate.

The soft mirror robot instrument box is characterized in that a movable gap is formed between the bottom surface of the limiting plate and the top surface of the rotating shaft, and the width value of the movable gap is 0.2-0.6 mm.

The instrument box of the soft lens robot is characterized in that the elastic blocking piece is annular; the top surface of the boss is provided with an annular groove for accommodating the elastic baffle, and the depth value of the groove is greater than one half of the thickness value of the elastic baffle and less than the thickness value of the elastic baffle.

The instrument box of the soft lens robot is characterized in that the shape of the radial cross section of the elastic blocking piece is round.

The soft mirror robot instrument box, wherein, spacing hole with the assembly hole site sets up along vertical direction coaxial.

The instrument box of the soft mirror robot is characterized in that the elastic blocking piece is one of an elastic rubber ring, an elastic plastic ring or an elastic latex ring.

The soft mirror robot instrument box, wherein the elastic blocking piece is fixedly adhered in the box body.

Compared with the prior art, the embodiment of the utility model has the following advantages:

the instrument box disclosed by the utility model is used in a soft mirror robot system, is connected with an interventional catheter when in use, and controls a traction rope of the interventional catheter to play a role in controlling the steering of the interventional catheter. The inside cavity that forms of box body of apparatus box sets up the pivot in the cavity, and haulage rope then can be accomodate in the cavity through winding mode in the pivot.

In the manufacturing process, the traction rope is tensioned and coiled on the rotating shaft in advance, then the rotating shaft is assembled into the box body, and friction force is generated by abutting the top of the elastic baffle piece arranged in the box body with the lower surface of the rotating shaft, so that the flexibility of the rotating shaft is reduced, and in the leaving factory and transportation process of the instrument box, the rotating shaft cannot rotate accidentally under the condition of no external force, so that the tension of the traction rope can be maintained and cannot loosen; when the instrument box is used, the traction rope is connected with the interventional catheter, the instrument box is in butt joint with the driving piece, the driving force generated by the driving piece is large enough, the rotating shaft can be driven after the friction force between the elastic blocking piece and the rotating shaft is overcome, and then the angle of the interventional catheter can be flexibly adjusted.

Therefore, the instrument box disclosed by the utility model can maintain the rotating shaft still after being produced and assembled, and keeps the internal structure stable until being put into use, and the traction rope cannot be loosened, so that medical staff can directly assemble the instrument box with an interventional catheter after taking the instrument box, the instrument box can be used without readjusting, and the instrument box is convenient to use, high in operation precision and reliable in function.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present utility model, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.

FIG. 1 is a schematic view of the structure of an instrument box of a soft mirror robot in the utility model;

FIG. 2 is an exploded view of the structure of the instrument box of the soft lens robot according to the present utility model;

fig. 3 is a partial cross-sectional view of the instrument pod of the soft mirror robot of the present utility model.

10, a box body; 11. a cavity; 12. a boss; 121. assembling hole sites; 122. an annular groove; 13. a support column; 14. arc-shaped limiting bone plates; 20. a rotating shaft; 21. an annular groove; 22. a lower plug-in part; 23. an upper plug-in part; 24. a stop block; 30. an elastic stopper; 40. a limiting plate; 41. and a limiting hole.

Detailed Description

In order to make the present utility model better understood by those skilled in the art, the following description will make clear and complete descriptions of the technical solutions of the embodiments of the present utility model with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1, 2 and 3, in an embodiment of the present application, an instrument box of a soft lens robot is disclosed, wherein the instrument box comprises a box body 10, a rotating shaft 20 and an elastic blocking piece 30, and a cavity 11 is formed inside the box body 10; the rotating shaft 20 is rotatably arranged in the cavity 11 around the central axis thereof; the rotating shaft 20 is provided with an annular groove 21 for coiling a traction rope (not shown in the drawing) of the soft lens robot; the elastic baffle 30 is arranged on the inner wall of the box body 10 and is positioned on the bottom surface of the cavity 11; the top of the elastic blocking member 30 is elastically abutted against the rotating shaft 20.

The instrument box disclosed by the embodiment is used in a soft mirror robot system, is connected with an interventional catheter when in use, controls a traction rope of the interventional catheter, and plays a role in controlling the steering of the interventional catheter. The cavity 11 is formed in the box body 10 of the instrument box, the rotating shaft 20 is arranged in the cavity 11, and the traction rope can be stored in the cavity 11 in a winding mode on the rotating shaft 20.

Specifically, the traction rope disclosed in the embodiment can be a rope body with higher tensile strength, fatigue resistance and impact toughness such as a steel wire rope and a nylon rope, so that stability and safety in the use process are ensured, and the working reliability of the instrument box is improved.

Specifically, in the manufacturing process, the traction rope is tensioned and coiled on the rotating shaft 20 in advance, then the rotating shaft 20 is assembled into the box body 10, and friction force is generated by abutting the top of the elastic baffle 30 arranged in the box body 10 with the lower surface of the rotating shaft 20, so that the flexibility of the rotating shaft 20 is reduced, and in the leaving factory and transportation process of the instrument box, the rotating shaft 20 cannot rotate accidentally under the condition of not receiving external force, namely, the tension of the traction rope can be maintained and cannot be loosened; when the instrument box is used, the traction rope is connected with the interventional catheter, the instrument box is in butt joint with the driving piece, the driving force generated by the driving piece is large enough, the rotating shaft 20 can be driven after the friction force between the elastic blocking piece 30 and the rotating shaft 20 is overcome, and then the angle of the interventional catheter can be flexibly adjusted.

It can be seen that the apparatus box disclosed in this embodiment can maintain the rotation shaft 20 motionless after production and assembly, keeps the stability of inner structure, and the haulage rope can not produce the pine and take off until put into use, so after medical personnel brought the apparatus box, direct and intervention pipe assembly can use, need not adjust once more, convenient to use, the operation precision of apparatus box is high, and the function is reliable.

As shown in fig. 2, as an implementation manner of this embodiment, at least one boss 12 and at least two support columns 13 are convexly arranged on the bottom surface of the cavity 11, and an assembly hole site 121 is arranged on the boss 12 and used for loading the rotating shaft 20; the elastic stopper 30 is provided on the top surface of the boss 12. The instrument box disclosed in this embodiment needs to be driven by a driving member when in use, so that the assembly hole site 121 is provided, so that the output shaft of the driving member can be inserted into the assembly hole site 121 and is in transmission connection with the rotating shaft 20 in the cavity 11, thereby driving the rotating shaft 20 to rotate so as to release or tighten the traction rope on the rotating shaft 20. The assembling hole 121 is arranged at the center of the boss 12, the rotating shaft 20 is positioned at the middle of the boss 12 when the rotating shaft 20 is assembled, the boss 12 can play a role in stably supporting the rotating shaft 20, and the stability of the rotating shaft 20 in the box body 10 is further improved.

As shown in fig. 2 and 3, two sides of the boss 12 are respectively provided with one support column 13; the instrument box of the soft lens robot comprises a limiting plate 40, two ends of the limiting plate 40 are respectively connected with the two supporting columns 13, and the limiting plate 40 transversely spans above the assembly hole site 121; the limiting plate 40 is provided with a limiting hole 41; the bottom of the rotating shaft 20 is provided with a lower plug-in part 22, the lower plug-in part 22 is inserted into the assembly hole 121, the top of the rotating shaft 20 is provided with an upper plug-in part 23, and the upper plug-in part 23 is inserted into the limit hole 41.

In this embodiment, the two ends of the limiting plate 40 and the two supporting columns 13 may be screwed together, the upper inserting portion 23 of the rotating shaft 20 is inserted into the limiting hole 41, the lower inserting portion 22 of the rotating shaft 20 is inserted into the assembling hole 121, and the rotating shaft 20 is restrained up and down by setting the limiting plate 40 and the boss 12, so as to keep the rotating shaft 20 stable, and the upper and lower ends are restrained along the vertical direction, but the horizontal rotation of the rotating shaft 20 is not restrained, so that the effect of stable rotation on the boss 12 can be achieved, and the rotating shaft 20 is prevented from generating offset in the moving, using and rotating processes, thereby keeping the stable tightening state of the traction rope.

Specifically, as another implementation manner of this embodiment, the limiting hole 41 and the assembling hole 121 are coaxially disposed along a vertical direction. The limiting block disclosed in the embodiment is coaxially arranged with the assembly hole, that is, the upper plug-in part 23 and the lower plug-in part 22 of the rotating shaft 20 are both positioned in the vertical direction, so that the rotating shaft 20 is ensured to rotate stably, and the inclination is reduced.

As another implementation manner of this embodiment, as shown in fig. 2, an arc-shaped limiting bone plate 14 is disposed on the bottom surface of the cavity 11 around the boss 12, the height value of the arc-shaped limiting bone plate 14 is greater than the height value of the boss 12, and the portion of the arc-shaped limiting bone plate 14 above the boss 12 surrounds the rotating shaft 20.

In this embodiment, by arranging the arc-shaped limiting bone plates 14 around the boss 12, the rotating shaft 20 is further protected and limited by surrounding the rotating shaft 20 from the side, so as to avoid the offset caused by the cooperation between the rotating shaft 20 and the boss 12, and maintain the stability of the rotating shaft 20 during the moving and using processes.

Specifically, as another implementation manner of this embodiment, a stop block 24 is formed on the side wall of the rotating shaft 20 in a protruding manner, and when the rotating shaft 20 rotates to the limit position, the stop block 24 abuts against the side wall of the arc-shaped limit bone plate 14. The instrument box disclosed in the embodiment controls the rotation angle of the steel wire rope to be smaller due to the high precision and micro-operation requirements in the working process of the soft-mirror robot, so that the problem that the interventional catheter is overlarge in bending angle in a natural cavity of a human body and damages natural tissues is avoided.

Specifically, the arc of the arc-shaped limiting bone plate 14 is set to be greater than 180 degrees, when the rotating shaft 20 rotates, if the maximum rotation angle is reached, the stop block 24 is abutted with the side wall of the arc-shaped limiting bone plate 14, so that the rotating shaft cannot continue to rotate, namely, the effect of preventing the rotating shaft 20 from rotating excessively is achieved, and the safety of interventional operation is improved.

Specifically, as another implementation manner of this embodiment, a movable gap is formed between the bottom surface of the limiting plate 40 and the top surface of the rotating shaft 20, and the width value of the movable gap is 0.2-0.6 mm. In order to keep the rotating shaft 20 freely rotatable between the limiting plate 40 and the boss 12 and reduce friction, the rotating shaft 20 and the limiting plate 40 are provided with a certain gap, namely a movable gap, so that the rotating shaft 20 is kept stable and meanwhile the rotating shaft 20 is ensured to flexibly rotate and is not blocked. If the width of the movable gap is too small, the rotating shaft 20 is easily contacted with the limiting plate 40, and the rotation is affected; if the width of the movable gap is too large, the stability of the rotating shaft 20 may be affected, and the movable gap may be easily separated from the boss 12. The width of the movable gap is set to be within the range of 0.2-0.6 mm according to the sizes of the box body 10, the rotating shaft 20 and the limiting plate 40 in actual production and manufacture. As another implementation of this embodiment, as shown in fig. 2, the elastic baffle 30 is disclosed as having a ring shape; an annular recess 122 is formed in the top surface of the boss 12 for receiving the resilient stop 30.

The elastic blocking member 30 disclosed in this embodiment is annular and is disposed on the top surface of the boss 12, and the rotating shaft 20 is disposed at the middle position of the boss 12, so that the annular elastic blocking member 30 is fully contacted with the bottom surface of the rotating shaft 20, and friction force can be generated in the radial circumferential direction of the rotating shaft 20, so that the elastic blocking member 30 can have a better blocking effect, thereby ensuring the stable state of the rotating shaft 20 under the condition of not receiving external force. In addition, the annular elastic blocking piece 30 is abutted with the rotating shaft 20, so that stress on all parts of the rotating shaft 20 in the radial direction is uniform, and the situation that the rotating shaft 20 is inclined is avoided.

Specifically, the depth of the groove is greater than one half of the thickness of the elastic stopper 30 and less than the thickness of the elastic stopper 30. The grooves are provided in this embodiment to stabilize the elastic stopper 30, so that the elastic stopper 30 is fixed on the boss 12, and is prevented from being pulled by the rotating shaft 20 to move, and the elastic stopper 30 is prevented from falling off from the boss 12. Therefore, the depth value of the groove is set to be greater than one half of the thickness value of the elastic baffle 30, so that the side wall of the groove can well restrict the elastic baffle 30 to avoid the elastic baffle 30 from being separated from the groove; meanwhile, the depth value of the groove is smaller than the thickness value of the elastic baffle 30, so that at least a part of the elastic baffle 30 protrudes out of the groove, and can be contacted with the rotating shaft 20 to restrain the rotating shaft 20.

Specifically, as another implementation of this embodiment, the elastic stopper 30 is disclosed to be adhesively fixed in the case 10. In this embodiment, the elastic blocking member 30 is adhered and fixed in the groove by solid glue, double-sided glue, etc., so that the connection is stable, the operation is convenient, the physical assembly is not needed on the boss 12, and the production is convenient.

Specifically, as another implementation of this embodiment, it is disclosed that the shape of the radial cross section of the elastic stopper 30 is a circle. The elastic stopper 30 disclosed in the present embodiment is abutted against the rotating shaft 20, so that the friction force generated between the elastic stopper and the rotating shaft can prevent the rotating shaft 20 from rotating accidentally; however, the frictional resistance between the two should not be too large so as to prevent the normal driving of the rotating shaft 20 from being affected, and the shape of the radial cross section of the elastic baffle 30 is circular, so that the area of the top surface of the elastic baffle 30 is small, the contact area with the rotating shaft 20 is small, and the occurrence of excessive frictional resistance can be avoided.

Specifically, as another implementation manner of this embodiment, the elastic blocking member 30 is disclosed as one of an elastic rubber ring, an elastic plastic ring or an elastic latex ring. The elastic baffle 30 disclosed in this embodiment adopts an O-shaped rubber ring, a latex ring or a plastic ring, has the advantages of high surface friction coefficient and enough friction resistance, can achieve the effect of restraining the rotating shaft 20, and has low cost and convenient production.

It should be noted that, in the present embodiment, the type of the elastic blocking member 30 is merely exemplified, but the scope of the present utility model is not limited thereto, and other types of elastic blocking members 30 can achieve the technical effects disclosed in the present utility model, and as equivalent substitutions of the inventive concept, the scope of the present utility model should also be considered.

Specifically, the rotating shafts 20 disclosed in this embodiment may be provided in plurality, and a plurality of bosses 12 may be provided in the box 10, and a plurality of rotating shafts 20 may be assembled, so as to draw out a plurality of traction ropes, and apply the traction ropes to the soft lens robot, and control the multidirectional rotation of the interventional catheter through the plurality of traction ropes, so that the use flexibility of the soft lens robot is further improved.

In summary, the utility model discloses an instrument box of a soft mirror robot, which comprises a box body 10, a rotating shaft 20 and an elastic blocking piece 30, wherein a cavity 11 is formed in the box body 10; the rotating shaft 20 is rotatably arranged in the cavity 11 around the central axis thereof; an annular groove 21 is formed in the rotating shaft 20 and is used for coiling a traction rope of the soft lens robot; the elastic baffle 30 is arranged on the inner wall of the box body 10 and is positioned on the bottom surface of the cavity 11; the top of the elastic blocking member 30 is elastically abutted against the rotating shaft 20.

The instrument box disclosed by the embodiment is used in a soft mirror robot system, is connected with an interventional catheter when in use, controls a traction rope of the interventional catheter, and plays a role in controlling the steering of the interventional catheter. The cavity 11 is formed in the box body 10 of the instrument box, the rotating shaft 20 is arranged in the cavity 11, and the traction rope can be stored in the cavity 11 in a winding mode on the rotating shaft 20. The apparatus box disclosed in this embodiment can maintain the pivot 20 motionless after the equipment is produced, keeps inner structure's stability, and the haulage rope can not produce the pine and take off until put into use, therefore after medical personnel took the apparatus box, direct and intervention pipe assembly both can use, need not adjust once more, convenient to use, the operation precision of apparatus box is high, the function is reliable.

It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other.

The utility model is described by taking the instrument box of the soft mirror robot as an example, but the application of the utility model is not limited by the instrument box of the soft mirror robot, and can be applied to the production and the use of other similar workpieces.

It is to be understood that the utility model is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the utility model is limited only by the appended claims.

The foregoing description of the preferred embodiments of the utility model is not intended to limit the utility model to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the utility model are intended to be included within the scope of the utility model.

Claims (10)

1. An instrument box of a soft mirror robot, comprising:

the box body is internally provided with a cavity;

the rotating shaft is rotatably arranged in the cavity around the central axis of the rotating shaft; an annular groove is formed in the rotating shaft and used for coiling a traction rope of the soft lens robot; and

the elastic blocking piece is arranged on the inner wall of the box body and is positioned on the bottom surface of the cavity; the top of the elastic blocking piece is elastically abutted with the rotating shaft.

2. The instrument box of the soft mirror robot according to claim 1, wherein at least one boss and at least two support columns are convexly arranged on the bottom surface of the cavity, and an assembly hole site is arranged on the boss and used for loading the rotating shaft; the top surface of the boss is provided with the elastic baffle; and two sides of the boss are respectively provided with one supporting column;

the instrument box of the soft lens robot comprises a limiting plate, wherein two ends of the limiting plate are respectively connected with two support columns on two sides of the boss, and the limiting plate transversely spans above the assembly hole site; the limiting plate is provided with a limiting hole;

the bottom of the rotating shaft is provided with a lower plug-in part, the lower plug-in part is inserted into the assembly hole, the top of the rotating shaft is provided with an upper plug-in part, and the upper plug-in part is inserted into the limit hole.

3. The instrument box of the soft lens robot according to claim 2, wherein an arc-shaped limit bone plate is arranged on the bottom surface of the cavity around the boss, the height value of the arc-shaped limit bone plate is larger than that of the boss, and a part of the arc-shaped limit bone plate, which is higher than the boss, surrounds the periphery of the rotating shaft.

4. The instrument box of the soft mirror robot according to claim 3, wherein a stop block is formed on the side wall of the rotating shaft in a protruding mode, and when the rotating shaft rotates to a limiting position, the stop block abuts against the side wall of the arc-shaped limiting bone plate.

5. The soft mirror robot instrument box according to claim 2, wherein a movable gap is formed between the bottom surface of the limiting plate and the top surface of the rotating shaft, and the width value of the movable gap is 0.2-0.6 mm.

6. The soft mirror robot instrument box of claim 2, wherein the elastic stopper is annular in shape; the top surface of the boss is provided with an annular groove for accommodating the elastic baffle, and the depth value of the groove is greater than one half of the thickness value of the elastic baffle and less than the thickness value of the elastic baffle.

7. The soft mirror robot of claim 6, wherein the resilient stop has a circular shape in radial cross-section.

8. The soft mirror robot instrument box of claim 2, wherein the limiting hole and the assembly hole are coaxially arranged in a vertical direction.

9. The soft-mirror robot cartridge of any one of claims 1 to 8, wherein the elastic stopper is one of an elastic rubber ring, an elastic plastic ring, or an elastic latex ring.

10. The soft mirror robot of any one of claims 1 to 8, wherein the resilient barrier is adhesively secured within the cassette.