Mobile station for arranging protective sleeve

Abstract

The present disclosure relates to the field of robot control, and discloses a mobile station for setting a protective jacket, comprising: a base movable relative to the ground; the sleeving arm assembly comprises a first sleeving arm arranged on the base and a second sleeving arm arranged on the base and opposite to the first sleeving arm, and the actuator assembly is used for keeping an opening of the protective sleeve and comprises a first actuator arranged at the tail end of the first sleeving arm and a second actuator arranged at the tail end of the second sleeving arm; and the control device is connected with the base, the sleeving arm assembly and the actuator assembly and is configured to control the base and / or the sleeving arm assembly to move, so that the actuator assembly sleeves at least one part of the surgical robot with the protective sleeve.

Description

Technical Field

[0001] The present disclosure relates to the field of robot control, and more particularly to a mobile station for setting a protective cover. Background Art

[0002] With the continuous development of automation technology, in the field of robotics, human-machine collaborative operation or automated operation is a development direction. During the operation process, it is sometimes necessary to isolate at least a part of the robot from the environment to meet the sterility requirements of the operating area or to protect the robot from environmental erosion. For example, at least a part of the surgical robot is in a surgical environment with sterility requirements to perform surgical operations in different parts of the human body. Since surgical robots usually contain electrical and mechanical modules, they cannot generally be sterilized by conventional methods such as steam, hot pressing or chemicals. Therefore, it is necessary to put a sterile protective cover on at least a part of the surgical robot to separate the non-sterile surgical robot from the sterile area.

[0003] However, the existing protective cover is manually put on the robot by the staff, which is difficult to install and time-consuming, and is also easy to contaminate the sterile area or cause the protective cover to fail. Therefore, it is necessary to provide a device for putting on the protective cover, which can automatically perform the protective cover putting operation according to the posture and configuration of the robot. Summary of the invention

[0004] In some embodiments, the present disclosure provides a mobile station for setting a protective cover, comprising: a base, movable relative to the ground; a cover arm assembly, comprising a first cover arm set on the base and a second cover arm set on the base and opposite to the first cover arm, an actuator assembly, used to maintain the opening of the protective cover, comprising a first actuator set at the end of the first cover arm and a second actuator set at the end of the second cover arm; and a control device, connected to the base, the cover arm assembly and the actuator assembly, configured to control the movement of the base and / or the cover arm assembly so that the actuator assembly sets the protective cover on at least a portion of the surgical robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0005] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. For ordinary technicians in this field, other embodiments can be obtained based on the contents of the embodiments of the present disclosure and these drawings without creative work.

[0006] Figure 1 A structural block diagram of a mobile station according to some embodiments of the present disclosure is shown;

[0007] Figure 2A schematic diagram showing a mobile station putting a protective cover on a surgical robot according to some embodiments of the present disclosure;

[0008] Figure 3 A schematic diagram showing the structure of a mobile station according to some embodiments of the present disclosure is shown;

[0009] Figure 4 A schematic diagram showing a collapsed state of an actuator assembly according to some embodiments of the present disclosure;

[0010] Figure 5 A schematic structural diagram showing an opening portion of a protective cover according to some embodiments of the present disclosure;

[0011] Figure 6 An enlarged structural schematic diagram showing the cooperation between a fastener and a locking member of a protective cover according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0012] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clearly, the technical solutions of the embodiments of the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0013] In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present disclosure. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0014] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "coupled" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0015] In the present disclosure, the end away from the suit object (such as a robot or a part of a robot) is defined as the proximal end, the near end, the rear end, or the rear end, and the end close to the suit object is defined as the distal end, the far end, the front end, or the front end. Those skilled in the art will appreciate that the embodiments of the present disclosure can be used for medical instruments or surgical robots, and can also be used for other non-medical devices.

[0016] In the present disclosure, the term "position" refers to the positioning of an object or a part of an object in three-dimensional space (e.g., three translational degrees of freedom can be described using changes in Cartesian X, Y, and Z coordinates, such as three translational degrees of freedom along the Cartesian X axis, Y axis, and Z axis, respectively). In the present disclosure, the term "attitude" refers to the rotational setting of an object or a part of an object (e.g., three rotational degrees of freedom, which can be described using roll, pitch, and yaw). In the present disclosure, the term "pose" refers to the combination of the position and attitude of an object or a part of an object, such as can be described using six parameters of the six degrees of freedom mentioned above.

[0017] In the present disclosure, the posture of a mobile station refers to the posture of a coordinate system defined by the base of the mobile station (e.g., a base coordinate system or a mobile station base coordinate system) relative to the spatial coordinate system or the world coordinate system in which it is located. In the present disclosure, the posture of the base of a mobile station may include the position and attitude of the base, wherein the position of the base may be a two-dimensional coordinate of the base in the spatial coordinate system or the world coordinate system, and the attitude of the base may be the orientation or movement direction of the base. In the present disclosure, the movement path of the base of a mobile station refers to the path that the mobile station travels from one posture (e.g., the posture of the base when the protective cover is started to be put on) to another posture (e.g., the posture of the base when the protective cover is completed).

[0018] In the present disclosure, the posture of a part of the suit arm assembly (e.g., the end of the first suit arm or the end of the second suit arm) refers to the posture of the coordinate system defined by the part of the suit arm assembly relative to the reference coordinate system (e.g., the coordinate system defined by the base where the suit arm assembly is located, or the world coordinate system). In the present disclosure, the configuration of the suit arm assembly may include the configuration of the suit arm (e.g., the first suit arm or the second suit arm) in the suit arm assembly, and the configuration of the suit arm may be represented by a set of joint values ​​of multiple joints included in the suit arm when the suit arm is in the configuration (e.g., a one-dimensional matrix composed of these joint values). In the present disclosure, the joint value of the joint indicates the angle rotated by the corresponding joint relative to the corresponding joint axis or the distance moved relative to the initial position. In the present disclosure, the motion path of the suit arm assembly refers to the path that a point on the suit arm assembly (e.g., the end of the first suit arm or the end of the second suit arm) or outside the suit arm assembly (e.g., outside the end of the first suit arm or the end of the second suit arm) moves from one configuration to another configuration.

[0019] In the present disclosure, the pose of an actuator assembly refers to the pose of a coordinate system defined by the actuator assembly relative to a reference coordinate system (e.g., a coordinate system defined by a portion of an arm assembly where the actuator assembly resides, or a world coordinate system). In the present disclosure, the motion path of an actuator assembly refers to the path that the actuator assembly coordinate system travels from one pose to another. In the present disclosure, the origin of the actuator assembly coordinate system may be a point on or outside the actuator assembly, such as the center of the actuator assembly (e.g., Figure 4 The center P of the annular structure A surrounded by the first actuator 410 and the second actuator 420 is shown. The motion path of the actuator assembly can be the path that the actuator coordinate system passes through under the combined motion of the base and the sheath arm assembly, and can include the base path of the base and the sheath arm path of the sheath arm assembly.

[0020] Similar to the mobile station, in the present disclosure, the posture of a robot (e.g., a surgical robot) refers to the posture of a robot coordinate system (e.g., a robot base coordinate system) defined by the robot relative to the spatial coordinate system or the world coordinate system in which it is located. Similar to the suit arm, in the present disclosure, the posture of a portion of a moving arm (e.g., the end of a moving arm) refers to the posture of a coordinate system defined by a portion of the moving arm relative to a reference coordinate system (e.g., a coordinate system defined by a support, trolley, pan-tilt head, or robot in which the moving arm is located, or a world coordinate system). In the present disclosure, the configuration of a moving arm can be represented by a set of joint values ​​of a plurality of joints included in the moving arm when the moving arm is in the configuration (e.g., a one-dimensional matrix composed of these joint values). In the present disclosure, the environment can refer to the area where the robot system is located, such as a factory workshop, a laboratory, or an operating room.

[0021] Figure 1 FIG. 1 is a block diagram showing a structure of a mobile station 100 according to some embodiments of the present disclosure. Figure 1 As shown, the mobile station 100 may include a base 110, a suit arm assembly 130, an actuator assembly 150, and a control device 170 connected thereto. In some embodiments, the base 110 may be movable relative to the ground, for example, it may be a mobile platform with wheels installed at the bottom for wheeled movement, such as a steering wheel trolley, a differential trolley, an omnidirectional trolley, etc. The suit arm assembly 130 may include a first suit arm (for example, Figure 2 The first set arm 231 or Figure 3 The first set arm 331 is shown and the second set arm (for example, Figure 2 The second set arm 232 or Figure 3 The actuator assembly 150 is used to maintain the opening of the protective cover (e.g., Figure 5The protective cover 500 may include an opening 511 of the protective cover 500, which may include a first actuator (eg, Figure 2 The first actuator 251 shown, Figure 3 The first actuator 351 or Figure 4 The first actuator 410 shown in FIG. 1 and the second actuator (eg, Figure 2 The second actuator 252 shown, Figure 3 The second actuator 352 or Figure 4 The control device 170 may be connected to the base 110, the suit arm assembly 130, and the actuator assembly 150, and may be configured to control the movement of the base 110 and / or the suit arm assembly 130 so that the actuator assembly sets the protective cover on the surgical robot (e.g., Figure 2 For example, the control device 170 can send a driving signal to the base 110 through the CAN bus to control the movement of the base 110 in the form of differential drive or synchronous drive, so as to adjust the travel position and posture of the base 110, and can send a driving signal to the suit arm assembly 130 through the CAN bus to control the movement of each suit arm in the suit arm assembly 130 to adjust the configuration of each suit arm, thereby driving the actuator assembly 150 disposed on the suit arm assembly 130 to implement the installation operation of the protective cover.

[0022] Figure 2 FIG. 2 is a schematic diagram showing a mobile station 200 putting a protective cover on a surgical robot 700 according to some embodiments of the present disclosure. Figure 2As shown, in some embodiments, the mobile station 200 may include a base 210, a suit arm assembly 230, an actuator assembly 250, and a control device (not shown in the figure). The suit arm assembly 230 may include a first suit arm 231 disposed on the base 210 and a second suit arm 232 disposed on the base 210 and opposite to the first suit arm 231. The actuator assembly 250 may include a first actuator 251 disposed at the end of the first suit arm 231 and a second actuator 252 disposed at the end of the second suit arm 232. In some embodiments, the mobile station 200 may set a protective cover on at least a part of the surgical robot 700 based on the posture of the surgical robot 700 or at least a part of the surgical robot 700 located in the environment. In some embodiments, the surgical robot 700 may include a robot body 710 and at least one motion arm 720 disposed on the robot body 710. At least a part of the surgical robot 700, for example, includes at least one motion arm 720. It should be understood by those skilled in the art that the surgical robot may be a special or general robot applied to multiple medical fields, such as a laparoscopic surgical robot. It should be understood that the present disclosure is not limited to providing a protective cover for a surgical robot, but can also be applied to special or general robots in other fields (e.g., logistics, industrial manufacturing, etc.).

[0023] Figure 3 FIG. 2 shows a schematic diagram of the structure of a mobile station 300 according to some embodiments of the present disclosure. Figure 3 As shown, the mobile station 300 may include a base 310, a suit arm assembly 330, an actuator assembly 350, and a control device (not shown in the figure).

[0024] In some embodiments, the base 310 may include a base body 311 and a plurality of wheels 312 disposed at the bottom of the base body 311, such as four wheels 312. The base body 311 may be used to carry the suit arm assembly, such as Figure 3 The arm assembly 330 is shown. In some embodiments, the base 310 may further include at least one drive unit (not shown in the figure), and the at least one drive unit may be connected to the wheel 312. The drive unit may include a motor, which drives the wheel 312 to rotate under the control of a control device (not shown in the figure) so that the base body 311 moves relative to the ground. In some embodiments, the wheel 312 may be an omni-directional wheel, such as an active omni-directional wheel. For example, the wheel 312 is an omni wheel or a mecanum wheel. In this way, the base 310 can achieve omnidirectional movement under the control of the control device.

[0025] In some embodiments, the base 310 may also include a protective cover (eg, Figure 5The protective cover 500 shown in FIG. 5 is a housing chamber 313, which can be disposed on the top of the base 310 and open upward. Figure 3 As shown, the accommodating cavity 313 may be opened upward at the top of the base body 311 to face the end of the suit arm assembly 330 , so that the protective cover is opposite to the actuator assembly 350 disposed at the end of the suit arm assembly 330 .

[0026] In some embodiments, the suit arm assembly 330 may include a first suit arm 331 and a second suit arm 332 that are arranged opposite to each other. In some embodiments, the first suit arm 331 and the second suit arm 332 may respectively include suit arms with multiple degrees of freedom formed by multiple suit arm joints. For example, the first suit arm 331 may include multiple first arm bodies, first suit arm joints corresponding to the multiple first arm bodies, and at least one first driving device for driving the first suit arm joints. The first suit arm 331 may be connected to the first position of the base 310 at the proximal end (e.g., an end close to the base 310), and may include a first suit arm end at the distal end (e.g., an end away from the base 310) for setting the first actuator 351 in the actuator assembly 350. The second suit arm 332 may include multiple second arm bodies, second suit arm joints corresponding to the multiple second arm bodies, and at least one second driving device for driving the second suit arm joints. The second set arm 332 may be connected to a second position opposite to the first position of the base 310 at a proximal end (e.g., an end close to the base 310), and may include a second set arm end at a distal end (e.g., an end away from the base 310) for setting a second actuator 352 in the actuator assembly 350. In some embodiments, the first set arm 331 and the second set arm 332 may be mirror structures of each other and symmetrically arranged on the left and right sides of the base 310. For example, the first set arm 331 and the second set arm 332 may be arranged at opposite positions on the top of the base 310 at the proximal end.

[0027] In some embodiments, Figure 3 As shown, the first set arm 331 may include a first support 3311, and the first support 3311 may be set on the base 310 to support the first set arm 331. In some embodiments, the set arm 330 may include at least one first proximal arm 3312 (for example, two first proximal arms 3312) and a proximal arm rotation joint as a first set arm joint. The proximal end of at least one first proximal arm 3312 is rotationally connected to the first support 3311 through the proximal arm rotation joint to rotate around the rotation axis of the proximal arm rotation joint (for example, a horizontal axis parallel to the horizontal plane) relative to the first support 3311. Multiple first proximal arms 3312 (for example, two first proximal arms 3312) can be rotatably connected to each other, and the rotation axes can be parallel to each other (for example, a horizontal axis parallel to the horizontal plane).

[0028] In some embodiments, Figure 3 As shown, the first set arm 331 also includes a first intermediate arm 3313 and an intermediate arm rotation joint as a first set arm joint. The proximal end of the first intermediate arm 3313 is connected to the distal end of at least one first proximal arm 3312 through the intermediate arm rotation joint to rotate around the rotation axis of the intermediate arm rotation joint (e.g., an axis coinciding with the distal axis of at least one first proximal arm 3312) relative to the distal end of the at least one first proximal arm 3312. For example, the distal axis of at least one first proximal arm 3312 is along the axial direction of the first proximal arm 3312 located at the farthest end, and the first intermediate arm 3313 rolls around the axial direction, as shown in FIG. Figure 3 shown.

[0029] In some embodiments, the first set arm 331 may further include a first distal arm 3314 and a distal arm rotation joint as a set arm joint. The proximal end of the first distal arm 3314 is rotationally connected to the distal end of the first intermediate arm 3313 through the distal arm rotation joint, so that the first distal arm 3314 rotates relative to the first intermediate arm 3313 around the rotation axis of the distal arm rotation joint (e.g., a horizontal axis parallel to the horizontal plane).

[0030] Similar to the first set arm 331, Figure 3 As shown, the second set arm 332 may also include a second support 3321, at least one second proximal arm 3322 (for example, two second proximal arms 3322), a second intermediate arm 3323 and a second distal arm 3324 connected in sequence, the second support 3321 is arranged on the base 310, the proximal end of at least one second proximal arm 3322 is rotationally connected to the second support 3321 so as to rotate around a horizontal axis relative to the second support 3321, the proximal end of the second intermediate arm 3323 is rotationally connected to the distal end of at least one second proximal arm 3322 so as to rotate relative to at least one second proximal arm 3322 around an axis coinciding with the distal axis of at least one second proximal arm 3322, and the proximal end of the second distal arm 3324 is connected to the distal end of the second intermediate arm 3323 so as to rotate around a horizontal axis relative to the second intermediate arm 3323.

[0031] In some embodiments, a first driving device (not shown in the figure) may be provided in each arm joint of the first set arm 331, and a second driving device (not shown in the figure) may be provided in each arm joint of the second set arm 332. The first driving device and the second driving device may include motors, which respectively drive the corresponding arm joints to rotate under the control of the control device, so that the first set arm 331 and the second set arm 332 move along their respective corresponding motion paths in space to achieve the set operation of the protective cover, and the specific content will be described later. It should be understood that the structure of the set arm 330 is not limited to the above structure. For example, the first set arm 331 and the second set arm 332 may also be different in structure or size, such as different arm bodies or connection methods or different numbers of degrees of freedom.

[0032] In some embodiments, the first set arm 331 may further include a first end arm 3315 for setting the first actuator 351 in the actuator assembly 350, and the first end arm 3315 may be rollably set at the distal end of the first set arm 331 (for example, roll-connected to the distal end of the first distal arm 3314). For example, the first set arm 331 may further include an end arm rotation joint as a first set arm joint. The proximal end of the first end arm 3315 is rotationally connected to the distal end of the first distal arm 3314 through the end arm rotation joint (for example, roll-connected to the distal end of the first distal arm 3314), so that the first end arm 3315 rolls relative to the first distal arm 3314 around the rotation axis of the end arm rotation joint (for example, an axis coinciding with the axis of the first distal arm 3314). Similar to the first set arm 331, the second set arm 332 can also include a second end arm 3325 for setting the second actuator 352 in the actuator assembly 350. The second end arm 3325 can be rollably set at the distal end of the second set arm 332, for example, rollably connected to the distal end of the second distal arm 3324.

[0033] In some embodiments, Figure 3 As shown, the actuator assembly 350 can be arranged at the end of the set arm assembly 330. For example, the first actuator 351 and the second actuator 352 in the actuator assembly 350 can be respectively arranged on the first end arm 3315 of the first set arm 331 and the second end arm 3325 of the second set arm 332, and move together with the first end arm 3315 of the first set arm 331 and the second end arm 3325 of the second set arm 332. In some embodiments, the control device (e.g. Figure 1The control device 170 shown in the figure can be configured to control the first set arm 331 and the second set arm 332 to move synchronously, so that the actuator assembly 350 maintains the retracted state in which the first actuator 351 cooperates with the second actuator 352 during the process of putting the protective cover on at least a part of the surgical robot. In the present disclosure, the retracted state of the actuator assembly can be an opening (for example, Figure 5 The closed state of the actuator assembly may include the first actuator and the second actuator cooperating with each other under the drive of the first set arm and the second set arm to form an opening capable of holding the protective cover (for example, Figure 5 The opening 511 of the protective cover 500 is fully opened for the sheathing operation. For example, the closed state of the actuator assembly may include the actuators of the first actuator and the second actuator being driven by the first sheathing arm and the second sheathing arm to move closer to each other to form a ring structure (for example Figure 4 The state of at least a portion of the annular structure A) shown is described in detail later.

[0034] Figure 4 Schematic diagram showing the collapsed state of the actuator assembly 400 according to some embodiments of the present disclosure. Figure 4 As shown, the actuator assembly 400 includes a first actuator 410 and a second actuator 420. In some embodiments, the first actuator 410 may include a first actuator body 4110 and a first actuator 4120 disposed on the first actuator body 4110. The first actuator body 4110 may be disposed at the end of the first set arm, for example, Figure 3 The first actuator 4120 may be disposed at the distal end of the first actuator body 4110 .

[0035] In some embodiments, the second actuator 420 may have a structure similar to the first actuator 410, including a second actuator body 4210 and a second actuator 4220 disposed on the second actuator body 4210. The second actuator body 4210 may be disposed at the end of the second set arm, for example, Figure 3 The second actuator 4220 may be disposed at the distal end of the second actuator body 4210 .

[0036] In some embodiments, the first actuator 410 and the second actuator 420 are formed into structures that can cooperate with each other to maintain the opening of the protective cover when the actuator assembly 400 is in the collapsed state (for example, Figure 5In some embodiments, the first actuator 410 and the second actuator 420 can cooperate with each other to form at least a portion of the annular structure A in the collapsed state of the actuator assembly 400, and the annular structure A can be used to maintain the opening of the protective sleeve (for example, Figure 5 The protective cover 500 has an opening 511 for passing at least a portion of the surgical robot, such as at least one moving arm (eg Figure 2 Motion arm 720 shown).

[0037] Figure 5 A schematic structural diagram of an opening portion of a protective cover 500 according to some embodiments of the present disclosure is shown. Figure 6 FIG. 5 is a schematic diagram showing an enlarged structure of the fastener 520 and the locking member 530 of the protective cover 500 according to some embodiments of the present disclosure. Figure 5 As shown, the protective cover 500 may include a protective cover body 510, and an opening 511 is formed at at least one end (e.g., distal end) of the protective cover body 510. In some embodiments, the protective cover body 510 is formed with at least one accommodating channel 515 along the circumference at the end of the opening 511. For example, the protective cover body 510 may be folded inwardly or outwardly at the opening 511, so as to form an accommodating channel 515 at the intersection of the inner and outer surfaces. In some embodiments, the protective cover 500 may also include a fastener 520, which may be arranged in at least one accommodating channel 515 through and at both ends outside the accommodating channel 515. For example, the fastener 520 and the accommodating channel 515 may be formed along the circumference of the opening 511 and have a notch. The fastener 520 may extend along the accommodating channel 515, and the two ends may be exposed from the notch of the accommodating channel 515. Alternatively, a plurality of accommodating channels 515 may be formed at intervals along the circumference of the opening 511. The fastener 520 may extend along the plurality of accommodating channels 515, with both ends exposed at the gap between the two accommodating channels 515. In some embodiments, the fastener 520 may include at least one of a rope, a belt, or a retractable extension strip. In some embodiments, the fastener 520 may include a silicone material, such as a silicone rope. In some embodiments, the fastener 520 may be elastic. In some embodiments, the protective cover 500 may further include a locking member 530, which may be slidably disposed on the fastener 520 to tighten or loosen the opening 511, as described later.

[0038] In some embodiments, Figure 4As shown, the first actuator 4120 of the first actuator 410 may be in a first arc-shaped structure, and the second actuator 4120 of the second actuator 420 may be in a second arc-shaped structure, and the first arc-shaped structure can cooperate with the second arc-shaped structure to form at least a portion of the annular structure A surrounded by a cavity in the middle. In this way, the actuator assembly 400 can fully open the opening 511 of the protective cover 500 to form a shape substantially the same as the cavity of the annular structure A while maintaining the opening 511 of the protective cover 500, thereby allowing at least a portion of the surgical robot (for example, at least one moving arm) to enter the interior of the protective cover 500 through the cavity.

[0039] In some embodiments, Figure 4 As shown, the first actuator 4120 may include a first groove 4121 formed along the circumference for maintaining the first side of the opening of the protective cover, and the second actuator 4220 may include a second groove 4221 formed along the circumference for maintaining the second side of the opening of the protective cover. In some embodiments, the first groove 4121 may extend circumferentially from one end of the first actuator 4120 to the other end, and open at both ends of the first actuator 4120. Similar to the first actuator 4120, the second groove 4221 of the second actuator 4220 may also be formed along the circumference of the second actuator 4220 and open at both ends of the second actuator 4220. In some embodiments, the first groove 4121 may be formed to allow a portion of the opening 511 of the protective cover 500 to be embedded in the groove to maintain the first side of the opening 511. The second groove 4221 may be formed to allow another portion of the opening 511 to be embedded in the groove to maintain the second side of the opening 511. In this way, by respectively maintaining the first side and the second side of the opening 511, the actuator assembly 400 can maintain and fully open the opening 511 in the retracted state, so that the opening 511 forms a shape substantially the same as the cavity of the annular structure A, thereby allowing at least a portion of the surgical robot (e.g., at least one moving arm) to enter the interior of the protective cover 500 through the cavity. In some embodiments, a plurality of protrusions (not shown in the figure) may be formed on the inner wall of the first groove 4121 and / or the second groove 4221. The plurality of protrusions may reduce the width of the groove in the radial direction to prevent the opening 511 from falling out of the groove.

[0040] In some embodiments, the protective cover 500 can be retained on the actuator assembly 400 in a form in which the two ends of the fastener 520 extend toward the first actuator 410 or the second actuator 420. Figure 4As shown, the first actuator 4120 may also include at least one first slot 4122 for passing through both ends of the fastener 520, at least one first slot 4122 is connected to the first groove 4121 and opens toward the first actuator body 4110, and / or, the second actuator 4220 may also include at least one second slot 4222 for passing through both ends of the fastener 520, at least one second slot 4222 is connected to the second groove 4221 and opens toward the second actuator body 4210.

[0041] like Figure 4 and Figure 5 As shown, when the actuator assembly 400 maintains the opening 511 of the protective cover 500 in the retracted state, the accommodating channel 515 formed on the opening 511 of the protective cover 500 and at least a portion of the fastener 520 extending through the accommodating channel 515 can be embedded in the first groove 4121 of the first actuator 4120 or the second groove 4221 of the second actuator 4220, and both ends of the fastener 520 can extend to the corresponding first actuator body 4110 or the second actuator body 4210 via the first slot 4122 or the second slot 4222.

[0042] In some embodiments, a pair of first special-shaped grooves 4112a and 4112b may be formed on the first actuator body 4110. The first special-shaped grooves 4112a and 4112b may extend circumferentially along the side of the first actuator body 4110, and are used to pass through the two ends of the fastener 520 extending from the first notch 4122. Similarly, a pair of second special-shaped grooves 4212a and 4212b may be formed on the second actuator body 4210. The second special-shaped grooves 4212a and 4212b may extend circumferentially along the side of the second actuator body 4210, and are used to pass through the two ends of the fastener 520 extending from the second notch 4222. In some embodiments, a clamping and winding mechanism for winding the fastener 520 (for example, the first clamping and winding mechanism 4111a, 4111b or the second clamping and winding mechanism 4212a, 4212b) may be respectively provided in the first special-shaped groove 4112a, 4112b and / or the second special-shaped groove 4212a, 4212b, and the details will be described later.

[0043] Those skilled in the art can understand that the protective cover 500 may include two fasteners 520 and two locking members 530, and the accommodating channel 515 may include notches arranged on opposite sides, and the two fasteners 520 pass through the accommodating channel 515, and the two ends are respectively exposed from the notches on both sides of the accommodating channel 515 and are respectively connected to the two locking members 530. The two fasteners 520 and the two locking members 530 can be respectively connected to the first actuator body 4110 or the second actuator body 4210, which is similar to the above description and will not be repeated here.

[0044] In some embodiments, the mobile station can be described by a kinematic model. The kinematic model of the mobile station can be determined based on the structure of the mobile station. For example, the kinematic model of the mobile station can be obtained by coupling the kinematic model of the base and the kinematic model of the suit arm assembly. In some embodiments, the kinematic model of the suit arm assembly can be determined based on the structure of each suit arm in the suit arm assembly. It should be understood that the kinematic model can represent a mathematical model of the motion relationship between the joint space and the task space of each suit arm. For example, the kinematic model can be obtained by DH

[0045] The Denavit-Hartenberg parameter method and the exponential product representation method are used to establish the kinematic model of the suit arm assembly. For example, the DH matrix corresponding to the joints of each suit arm is determined, and the kinematic model of the suit arm assembly is determined based on the DH matrix of the joints.

[0046] In the present disclosure, the mobile station further includes a control device (eg Figure 1 In some embodiments, the control device can be configured to coordinately adjust the posture of the base and / or the configuration of the arm assembly so that the actuator assembly can put the protective cover on at least one moving arm (e.g. Figure 2 As shown in at least one moving arm 720). It can be understood that the control device can be a single controller in a centralized setting, or can include multiple controllers in a distributed setting.

[0047] In some embodiments, Figure 2 As shown, the surgical robot 700 may include a robot body 710 and at least one moving arm 720. In some embodiments, the robot body 710 may include a base 711, a column 712 extending vertically from the base 711, and a crossbeam 713 installed on the top of the column 712. The crossbeam 713 may extend horizontally from the top of the column 712 perpendicular to the height direction of the base 711, and a pan-tilt 714 may be fixedly or rotatably provided at the end of the crossbeam 713 to support at least one moving arm 720. In some embodiments, at least one moving arm 720 may include a moving arm with multiple degrees of freedom composed of multiple joints. For example, the moving arm 720 may be connected to the pan-tilt 714 through a joint at the proximal end (e.g., the end close to the mobile station), and may include a moving arm end at the distal end (e.g., the end away from the mobile station) for setting surgical instruments.

[0048] In some embodiments, the control device can be configured to control the base to adjust its posture and / or control the first and second suit arms to synchronously adjust their configurations, so that the actuator assembly puts the protective cover on at least one moving arm along a suit path that roughly coincides with the axis of at least one moving arm of the surgical robot. In the present disclosure, the suit path of the actuator assembly can be the path that the actuator assembly coordinate system with its origin located on or outside the actuator assembly passes through under the combined motion of the base and the suit arm assembly, and can include a base path for the base and a suit arm path for the suit arm assembly. For example, the suit path can be a path with its origin located at the center P of the actuator assembly in the folded state (e.g. Figure 4 The path that the actuator assembly coordinate system (center P) of the actuator assembly 400 in the collapsed state travels when performing the sheathing operation.

[0049] In some embodiments, the installation path of the actuator assembly can be based on a predetermined configuration of at least one motion arm. In the present disclosure, the predetermined configuration of the motion arm can be a configuration suitable for the mobile station to be covered with a protective cover. In some embodiments, the predetermined configuration of the motion arm can be an expanded configuration of the motion arm. For example, the predetermined configuration of the motion arm can be a configuration in which the joint values ​​of the distal joints on the motion arm are close to their upper joint value limits, so that the motion arm is extended into a substantially straight line, for example Figure 2 The configuration of the motion arm 720 shown. In some embodiments, the motion arm may include a plurality of predetermined configurations. It should be understood that the predetermined configuration of the motion arm may be predetermined, and the predetermined configuration of the motion arm may be pre-stored in the memory of the surgical robot and the mobile station. In some embodiments, the set path of the actuator assembly may correspond to the predetermined configuration of at least one motion arm. For example, the set path may be based on a teaching path, and the teaching path may be obtained by teaching the mobile station based on the predetermined configuration of at least one motion arm. In some embodiments, the teaching path may be taught by the teaching personnel through teaching pendant teaching or dragging teaching, in the form of a set space formed by the opening of the protective cover held by the actuator assembly along the teaching path that can accommodate the motion arm in the predetermined configuration. In some embodiments, the set path of the actuator assembly may also be pre-calculated based on the predetermined configuration of at least one motion arm. It should be understood that the set path of the actuator assembly is not limited to the predetermined configuration based on at least one motion arm, and may also be calculated based on the actual configuration of at least one motion arm.

[0050] In some embodiments, the control device may also generate a base control signal sequence corresponding to the base path for the base based on the base path and the kinematic model of the base, and the base control signal sequence may be used to control the drive unit on the base to drive the base to move. In addition, the control device may generate a set arm control signal sequence corresponding to the set arm path of the set arm based on the kinematic model of the set arm path and the set arm assembly. In some embodiments, the set arm path of the set arm assembly may include a first set arm path corresponding to the first set arm in the set arm assembly and a second set arm path corresponding to the second set arm, and the set arm control signal sequence may include a first set arm control signal sequence corresponding to the first set arm path and a second set arm control signal sequence corresponding to the second set arm path. The first set arm control signal sequence is used to control the first drive device on the first set arm to drive the first set arm to move, and the second set arm control signal sequence is used to control the second drive device on the second set arm to drive the second set arm to move. Those skilled in the art will appreciate that the first set arm control signal sequence and the second set arm control signal sequence are aligned in time, thereby allowing the control device to control the first set arm and the second set arm to move synchronously so that the actuator assembly remains in a retracted state during the sheathing operation of the protective cover. Furthermore, the base control signal sequence and the set arm control signal sequence are also aligned in time, thereby allowing the control device to control the coupled movement of the base and the set arm assembly to perform the sheathing operation of the protective cover. It should be understood that the sheathing path can also be obtained by pre-calculation, including a base control signal sequence corresponding to the base path of the base and a set arm control signal sequence corresponding to the set arm path of the set arm assembly. In some embodiments, the base control signal sequence for the base and the set arm control signal sequence for the set arm assembly can be pre-stored in the memory of the mobile station.

[0051] In some embodiments, the control device is further configured to control the drive unit to adjust the posture of the base so that the base moves along the base path, and respectively control the first drive device and the second drive device to adjust the configuration of the first set arm and the second set arm so that the set arm assembly moves along the set arm path, so that the set space formed by the opening of the protective cover held by the actuator assembly during the movement accommodates at least one moving arm of the surgical robot. For example, the control device can control the drive unit based on the base control signal sequence so that the base moves along the base path, and control the first drive device based on the first set arm control signal sequence and control the second drive device based on the second set arm control signal so that the first set arm and the second set arm move along the first set arm path and the second set path respectively, so that the center P of the actuator assembly moves along the set path under the combined movement of the base and the set arm assembly, so that the set space formed by the opening of the protective cover held by the actuator assembly along the set path accommodates at least one moving arm, and the protective cover is set on at least one moving arm of the surgical robot.

[0052] In some embodiments, the control device is further configured to synchronously adjust the first end arm (eg Figure 3 The posture of the first end arm 3315) and the second end arm (eg Figure 3 The posture of the second end arm 3325 is such that the normal direction of the plane where the opening of the protective sleeve held by the actuator assembly is located is tangent to the sleeve path. Figure 4 As shown, when the center P of the actuator assembly moves along the suit path, the control device can synchronously control the first driving device of the first suit arm and the second driving device of the second suit arm to keep the normal direction of the plane where the opening of the ring structure A formed by the actuator assembly is located tangent to the suit path. Thus, the normal direction of the plane where the opening of the protective cover is located is kept consistent with the movement direction of the end of the suit arm assembly. In this way, the plane where the opening of the protective cover is located can be kept orthogonal to the movement direction of the end of the suit arm assembly, thereby avoiding the collision between the actuator assembly and at least one moving arm of the surgical robot.

[0053] In some embodiments, the mobile station may further include a positioning sensing unit for sensing positioning information provided by a positioning unit carried by the surgical robot. The control device may also be configured to control the mobile station to put a protective cover on at least a portion of the surgical robot based on the positioning information.

[0054] In some embodiments, the positioning unit can be mounted on the robot body of the surgical robot (for example, Figure 2 The robot body 710 shown) or at least one motion arm (e.g., Figure 2The positioning sensing unit may be mounted on a mobile station, such as a base of the mobile station (e.g., Figure 1 The base 110 shown Figure 2 The base 210 or Figure 3 The base 310 shown in the figure or the suit arm assembly (for example, the first support or the second support in the suit arm assembly) is used to sense the positioning information provided by the positioning unit carried by the surgical robot. In some embodiments, the positioning information can be sensed by the positioning sensing unit through signal sensing and / or image acquisition. The positioning sensing unit can include at least one of an acoustic wave detection unit, a magnetic field detection unit, and an optical signal detection unit.

[0055] In some embodiments, the positioning unit may include at least one positioning tag, such as an ArUco marker, etc. The positioning sensing unit may include at least one image acquisition device for acquiring the positioning image of the surgical robot. The image acquisition device may include but is not limited to a dual-lens image acquisition device or a single-lens image acquisition device, such as a monocular camera, a binocular camera, a monocular structured light camera, a binocular structured light camera, a TOF (Time offlight, time of flight) camera, etc. Depending on different application environments, the image acquisition device may be a camera, an industrial camera, etc. In some embodiments, the image acquisition device may realize at least one of visible light band imaging, infrared band imaging, etc. Depending on the type of the acquired image, a person skilled in the art may select different image acquisition devices as image acquisition devices.

[0056] In some embodiments, the control device may be further configured to determine the position and posture of at least a portion of the surgical robot based on the positioning information. The control device may be connected to the positioning sensing unit, and based on the positioning image of at least a portion of the surgical robot captured by the image acquisition device, perform image processing to determine the position and posture of at least a portion of the surgical robot, for example Figure 2 The position of the end of the motion arm 720 is shown.

[0057] In some embodiments, the control device may also be configured to control the mobile station to set the protective cover on at least a part of the surgical robot based on the posture of at least a part of the surgical robot. For example, the control device may be configured to control the mobile station to match the surgical robot based on the posture of at least a part of the surgical robot so that the mobile station is ready, and after the mobile station is matched with the surgical robot, control the mobile station to move so that the actuator assembly sets the protective cover on at least a part of the surgical robot along the set path. Among them, the set path of the actuator assembly can be based on the teaching path, or the set path of the actuator assembly can also be calculated based on the actual configuration of at least one moving arm. In some embodiments, the control device may also be configured to generate a set path for the actuator assembly based on the posture of at least a part of the surgical robot and the actual configuration of at least one moving arm. Similar to the above-mentioned coordinated adjustment of the posture of the base and / or the configuration of the set arm assembly to achieve the set process of the protective cover, the mobile station is controlled to set the protective cover on at least a part of the surgical robot, which will not be repeated here.

[0058] In some embodiments, the control device of the mobile station can be configured to control the movement of the first set arm and / or the second set arm to switch the actuator assembly between an open state in which the first actuator is separated from the second actuator and a retracted state in which the first actuator is matched with the second actuator. In the present disclosure, the open state of the actuator assembly can be an opening for releasing the protective cover (for example, Figure 5 For example, the open state of the actuator assembly may include the actuators of the first actuator and the second actuator being driven by the first set arm and the second set arm from the annular structure (for example Figure 4 The annular structures A) are shown in a state where they are separated from each other.

[0059] In some embodiments, the mobile station may be further configured to tighten the opening of the protective cover and separate from the surgical robot after the protective cover is applied to at least a portion of the surgical robot, thereby leaving the protective cover on at least a portion of the surgical robot. Figure 2 The protective cover 500 is shown mounted on the moving arm 720 .

[0060] The following description will be made using the first actuator as an example. In some embodiments, the first actuator body may further include at least one clamping and winding mechanism and at least one force sensor. Figure 4 As shown, the first actuator body 4110 may include first clamping and winding mechanisms 4111a and 4111b. The first clamping and winding mechanisms 4111a and 4111b may be used to clamp and wind a fastener (eg, Figure 5 or Figure 6In some embodiments, the first clamping and winding mechanisms 4111a and 4111b may be disposed on opposite sides of the first actuator body 4110, for example, respectively disposed in first special-shaped grooves 4112a and 4112b formed on the first actuator body 4110. Figure 4 and Figure 5 As shown, in the closed state of the opening 511 of the protective cover 500 held by the actuator assembly 400, both ends of the fastener 520 can extend from the first notch 4122 and pass through the first special-shaped groove 4112a and the first special-shaped groove 4112b to be clamped on the first clamping and winding mechanism 4111a and the first clamping and winding mechanism 4111b respectively. In some embodiments, the first actuator body 4110 may include at least one force sensor (not shown in the figure). The force sensor may be coupled to the first clamping and winding mechanism 4111a and / or the first clamping and winding mechanism 4111b to measure the tension of the fastener 520. In some embodiments, the first clamping and winding mechanism 4111a and / or the first clamping and winding mechanism 4111b may be wound around one end of the fastener 520 in a clamped state to tension the fastener 520 in the annular groove formed by the first groove 4121 and the second groove 4221.

[0061] In some embodiments, the control device is further configured to drive the clamping and winding mechanism to tighten the opening of the protective cover after the protective cover is applied to at least a portion of the surgical robot. In some embodiments, the control device is further configured to: after the protective cover is applied to at least a portion of the surgical robot, control the cover arm assembly to drive the actuator assembly to switch from a retracted state to an open state to release the opening of the protective cover; control at least one clamping and winding mechanism to wind at least one end of the fastener so that the fastener slides relative to at least one accommodating channel to tighten the opening of the protective cover; in response to the measurement value of at least one force sensor exceeding a threshold value, control at least one clamping and winding mechanism to release at least one end of the fastener; and control the base and / or the cover arm assembly to move away from the surgical robot. In some embodiments, as Figure 3 and Figure 4As shown, the control device can also be configured to control the first set arm 331 and / or the second set arm 332 of the set arm assembly 330 to move after completing the set operation of the protective cover, so as to drive the first actuator 410 and the second actuator 420 to separate, so that the annular structure A formed by the actuator assembly 400 is opened outward to release the opening 511 of the protective cover 500. In some embodiments, when the actuator assembly 400 continues to open so that the diameter of the annular structure A is larger than the opening 511 of the protective cover 500 or the friction force provided by the first groove 4121 and the second groove 4221 is insufficient to limit the opening 511 of the protective cover 500, the protective cover 500 will fall off from the actuator assembly 400. In some embodiments, the control device can be connected to at least one force sensor, and the control device can also be configured to determine whether the protective cover 500 falls off from the actuator assembly 400 based on the detection value of the force sensor. For example, the control device may be configured to control the first clamping and winding mechanism 4111a and / or the first clamping and winding mechanism 4111b to wind at least one end of the fastener 520 in response to a step-down drop in the detection value of the force sensor, so that the fastener 520 slides relative to the accommodating channel 515 to tighten the opening 511 of the protective cover 500. In some embodiments, the control device may also be configured to determine whether the opening 511 of the protective cover 500 has been tightened based on the measurement value of at least one force sensor. For example, the control device may be configured to control the first clamping and winding mechanism 4111a and the first clamping and winding mechanism 4111b to rotate in the opposite direction and release the two ends of the fastener 520 in response to the measurement value of at least one force sensor exceeding a threshold. In some embodiments, the control device may also be configured to control the first set arm 331 and the second set arm 332 to move radially away from at least one moving arm of the surgical robot after tightening the opening 511 of the protective cover 500, and control the base to move away from the surgical robot.

[0062] In some embodiments, Figure 5 and Figure 6 As shown, the protective cover 500 may further include a locking member 530. The locking member 530 is slidably disposed on the fastener 520, and both ends of the fastener 520 pass through the locking member 530. The locking member 530 is used to slide relative to the fastener 520 to tighten or loosen the opening 511 of the protective cover 500. In some embodiments, the locking member 530 may include a lock and a pressing cover. The lock may include a receiving hole, a first lock through hole and a second lock through hole. In some embodiments, the pressing cover may be disposed in the receiving hole, and at least a portion of the pressing cover is exposed to the outside of the lock. The pressing cover may include a first pressing cover through hole and a second pressing cover through hole, one end of the fastener 520 passes through the first lock through hole and the first pressing cover through hole, and the other end of the fastener 520 passes through the second lock through hole and the second pressing cover through hole. By pressing or releasing the pressing cover, the locking member 530 can release or lock both ends of the fastener 520.

[0063] In some embodiments, Figure 4 As shown, the first actuator body 4110 also includes a clamping portion, such as a first clamping portion 4113. The first clamping portion 4113 is used to accommodate the locking member 530 of the protective cover 500. The first clamping portion 4113 can be configured to clamp or release the locking member 530 so that the locking member 530 switches between a released state in which it can slide relative to the fastener 520 and a locked state in which it cannot slide relative to the fastener 520. In some embodiments, the first clamping portion 4113 can also include at least one first pressing key 4114, and the locking member 530 can be clamped or released by driving the first pressing key 4114. It should be understood that the structure of the first clamping portion 4113 is not limited to the above, and any clamping structure that can switch the locking member 530 between the released state and the locked state does not depart from the scope of the present disclosure.

[0064] In some embodiments, the control device is further configured to tighten the opening of the protective cover in the following manner: control the clamping portion to clamp the locking member so that the locking member is in a released state; control at least one clamping winding mechanism to wind at least one end of the fastener so that the fastener slides relative to the locking member; and in response to the measurement value of at least one force sensor exceeding a threshold value, control the clamping portion to release the locking member so that the locking member switches to a locked state. In some embodiments, as Figure 4 As shown, the control device can also be configured to control the first pressing key 4114 to press the pressing cover of the locking member 530 for a long time to keep the locking member 530 in a released state. In some embodiments, the control device can also be configured to control the first clamping and winding mechanism 4111a and / or the first clamping and winding mechanism 4111b to wind at least one end of the fastener 520 after releasing the opening 511 of the protective cover 500, so that the fastener 520 slides relative to the locking member 530 to tighten the opening 511 of the protective cover 500. In some embodiments, the control device can also be configured to determine whether the opening 511 of the protective cover 500 has been tightened based on the measurement value of at least one force sensor. For example, the control device can be configured to control the first pressing key 4114 of the first clamping portion 4113 to release the locking member 530 in response to the measurement value of at least one force sensor exceeding a threshold value so that the locking member 530 switches to a locked state. In some embodiments, the control device may also be configured to control the first set arm and the second set arm to move radially away from at least one moving arm of the surgical robot after tightening the opening 511 of the protective cover 500 , and control the base to move away from the surgical robot.

[0065] It should be understood that the second actuator body 4210 may have a similar structure to the first actuator body 4110 to allow the protective cover 500 to be retained on the actuator assembly 400 with the two ends of the fastener 520 extending toward the second actuator 420. In some embodiments, the second actuator body 4210 may also include at least one clamping and winding mechanism, such as Figure 4 The second clamping and winding mechanism 4211a, 4211b is used to clamp and wind at least one end of the fastener 520; and at least one force sensor is coupled to the clamping and winding mechanism to measure the tension of the fastener. In addition, the second actuator body 4210 also includes a clamping portion, such as Figure 4 The second clamping portion 4213 is configured to clamp or release the locking member 530 so that the locking member 530 switches between a released state in which the locking member 530 can slide relative to the fastener 520 and a locked state in which the locking member 530 cannot slide relative to the fastener 520 .

[0066] Those skilled in the art will appreciate that the arm assembly of the mobile station is not limited to including two arm assemblies, and may include, for example, more than three arm assemblies, and the actuator assembly is not limited to including two actuators, and may include, for example, more than three actuators. As long as the actuator assembly has a plurality of actuators that can surround at least a portion of the ring structure, and the arm assembly has a plurality of arm assemblies and can maintain the plurality of actuators of the actuator assembly to surround at least a portion of the ring structure under the coordinated control of the control device, they do not depart from the scope of the present disclosure.

[0067] The mobile station provided by the present disclosure has a high degree of freedom and can automatically put the protective cover on at least a part of the surgical robot, thereby avoiding the burden on the staff and the potential risk of contamination caused by manually putting on the protective cover. Moreover, after the protective cover is put on, the opening of the protective cover can be automatically tightened to retain the protective cover on at least a part of the surgical robot, thereby further reducing the burden on the staff and reducing the risk of contamination.

[0068] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure is described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A mobile station for providing a protective cover, characterized in that: include: a base, movable relative to the ground; The set arm assembly comprises a first set arm arranged on the base and a second set arm arranged on the base and opposite to the first set arm. An actuator assembly, used for maintaining the opening of the protective cover, comprising a first actuator disposed at the end of the first set arm and a second actuator disposed at the end of the second set arm; as well as The control device is connected to the base, the suit arm assembly and the actuator assembly, and is configured to control the movement of the base and / or the suit arm assembly so that the actuator assembly puts the protective cover on at least a part of the surgical robot.

2. The mobile station according to claim 1, characterized in that The control device is further configured to control the movement of the first set arm and / or the second set arm so that the actuator assembly switches between an open state in which the first actuator is separated from the second actuator and a retracted state in which the first actuator is coordinated with the second actuator.

3. The mobile station according to claim 1, characterized in that The first set arm and the second set arm are mirror images of each other. The control device is also configured to control the base to adjust its posture and / or control the first and second set arms to synchronously adjust their configurations so that the actuator assembly can put the protective cover on the at least one moving arm along a set path that roughly coincides with the axis of at least one moving arm of the surgical robot.

4. The mobile station according to claim 3, characterized in that The first suit arm comprises a first end arm for setting the first actuator, the first end arm is rollably set at the distal end of the first suit arm, and the second suit arm comprises a second end arm for setting the second actuator, the second end arm is rollably set at the distal end of the second suit arm; The control device is also configured to synchronously adjust the posture of the first end arm and the posture of the second end arm so that the normal direction of the plane where the opening of the protective sleeve held by the actuator assembly is located is tangent to the sleeve path.

5. The mobile station according to claim 4, characterized in that The first set arm comprises a first support, at least one first proximal arm, a first intermediate arm and a first distal arm connected in sequence, the first support is arranged on the base, the proximal end of the at least one first proximal arm is rotatably connected to the first support so as to rotate around a horizontal axis relative to the first support, the proximal end of the first intermediate arm is rotatably connected to the distal end of the at least one first proximal arm so as to rotate relative to the at least one first proximal arm around an axis coincident with the distal axis of the at least one first proximal arm, the proximal end of the first distal arm is connected to the distal end of the first intermediate arm so as to rotate relative to the first intermediate arm around a horizontal axis, and the proximal end of the first terminal arm is rollably connected to the distal end of the first distal arm; The second set arm includes a second support, at least one second proximal arm, a second intermediate arm and a second distal arm connected in sequence, the second support is arranged on the base, the proximal end of the at least one second proximal arm is rotationally connected to the second support so as to rotate around a horizontal axis relative to the second support, the proximal end of the second intermediate arm is rotationally connected to the distal end of the at least one second proximal arm so as to rotate relative to the at least one second proximal arm around an axis coinciding with the distal axis of the at least one second proximal arm, the proximal end of the second distal arm is connected to the distal end of the second intermediate arm so as to rotate around a horizontal axis relative to the second intermediate arm, and the proximal end of the second terminal arm is roll-connected to the distal end of the second distal arm.

6. The mobile station according to claim 1, characterized in that The first actuator comprises: A first actuator body, disposed at the end of the first set arm; and A first actuator, disposed on the first actuator body, the first actuator being in a first arc-shaped structure; The second actuator comprises: A second actuator body, disposed at a distal end of the second set arm; and A second actuator, disposed on the second actuator body, the second actuator being in a second arc-shaped structure; The first arc-shaped structure can cooperate with the second arc-shaped structure to form at least a portion of a ring-shaped structure, and the ring-shaped structure is used to maintain the opening of the protective cover to allow at least a portion of the surgical robot to pass through.

7. The mobile station according to claim 6, characterized in that The protective cover comprises a protective cover body, and the opening is located at at least one end of the protective cover body; The first actuator includes a first groove formed along the circumferential direction for maintaining the first side of the opening; The second actuator includes a second groove formed along a circumferential direction and used for maintaining the second side of the opening.

8. The mobile station according to claim 7, characterized in that The protective sleeve is formed with at least one accommodating channel along the circumferential direction at the open end, and the protective sleeve further comprises a fastener, which is arranged in the at least one accommodating channel through and through, and two ends of the fastener are located outside the at least one accommodating channel; The first actuator further includes at least one first notch communicating with the first groove and opening toward the first actuator body, and / or the second actuator further includes at least one second notch communicating with the second groove and opening toward the second actuator body, and when the actuator assembly keeps the opening of the protective cover, both ends of the fastener pass through the at least one first notch or the at least one second notch; The first actuator body and / or the second actuator body further comprises: at least one clamping and winding mechanism for clamping and winding at least one end of the fastener; as well as At least one force sensor is coupled to the clamping and winding mechanism for measuring the tension of the fastener.

9. The mobile station according to claim 8, characterized in that The protective cover further comprises a locking member, which is slidably disposed on the fastener, and both ends of the fastener pass through the locking member, and the locking member is used to slide relative to the fastener to tighten or loosen the opening; The first actuator body and / or the second actuator body further comprises a clamping portion configured to switch the locking member between a released state in which the locking member can slide relative to the fastener and a locked state in which the locking member cannot slide relative to the fastener by clamping or releasing the locking member.

10. The mobile station according to claim 1, characterized in that The base includes a plurality of wheels, and the plurality of wheels are omnidirectional wheels.

11. The mobile station according to claim 1, characterized in that The base comprises a receiving cavity for receiving the protective cover, wherein the receiving cavity is arranged on the top of the base and opens upward.

12. The mobile station according to claim 1, characterized in that The mobile station further includes a positioning sensing unit for sensing positioning information provided by a positioning unit carried by the surgical robot. The control device is further configured to control the mobile station to put the protective cover on at least a part of the surgical robot based on the positioning information.

Images