Mobile station for sleeving protective sleeve

Abstract

The invention relates to the field of robot control, and discloses a mobile station for sleeving a protective sleeve, and the mobile station comprises a base which can move relative to the ground; the sleeving arm is arranged on the base and comprises a support and a telescopic arm arranged on the support; the actuator is arranged at the tail end of the telescopic arm and used for keeping the opening of the protective sleeve; and the control device is connected with the base, the sleeving arm and the actuator, and is configured to control the base and / or the sleeving arm to move, so that the actuator 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 in particular to a mobile station for covering 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 applying a protective cover, comprising: a base, movable relative to the ground; a cover arm, disposed on the base, comprising a support and a telescopic arm disposed on the support; an actuator, disposed at the end of the telescopic arm, for maintaining an opening of the protective cover; and a control device, connected to the base, the cover arm and the actuator, configured to control the movement of the base and / or the cover arm so that the actuator applies 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 2 A schematic diagram showing a mobile station putting a protective cover on a surgical robot according to some embodiments of the present disclosure;

[0008] Figure 3A 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 of a driving structure of a telescopic arm according to some embodiments of the present disclosure is shown;

[0010] Figure 5 A schematic diagram showing the structure of an actuator according to some embodiments of the present disclosure is shown;

[0011] Figure 6 A schematic structural diagram showing an opening portion of a protective cover according to some embodiments of the present disclosure;

[0012] Figure 7 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

[0013] 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.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] 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).

[0019] In the present disclosure, the posture of a part of the suit arm (e.g., the end of the suit arm) refers to the posture of the coordinate system defined by the part of the suit arm relative to the reference coordinate system (e.g., the coordinate system defined by the base on which the suit arm is located, or the world coordinate system). In the present disclosure, the configuration of the suit arm can be represented by a set of joint values ​​of a plurality of 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 a 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 refers to the path taken by a point on or outside the end of the suit arm to move from one configuration to another configuration.

[0020] In the present disclosure, the position and posture of an actuator refers to the position and posture of a coordinate system defined by the actuator relative to a reference coordinate system (e.g., a coordinate system defined by a portion of a suit arm where the actuator is located, or a world coordinate system). In the present disclosure, the motion path of an actuator refers to the path that the actuator coordinate system travels from one position and posture to another. In the present disclosure, the origin of the actuator coordinate system can be a point on or outside the actuator, such as the center of the actuator (e.g., Figure 5 The motion path of the actuator may be a path that the actuator coordinate system passes through under the combined motion of the base and the sheath arm, and may include a base path of the base and an arm path of the sheath arm.

[0021] 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.

[0022] 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 130, an actuator 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 130 may be disposed on the base 110, including a support (e.g., Figure 3 The support 331 shown) and the telescopic arm (for example, Figure 3 The actuator 150 may be disposed at the end of the telescopic arm of the suit arm 130 to maintain the opening of the protective sleeve (e.g., Figure 6 The control device 170 may be connected to the base 110, the suit arm 130, and the actuator 150, and may be configured to control the movement of the base 110 and / or the suit arm 130 so that the actuator sets the protective cover on the surgical robot (e.g., Figure 2 For example, the control device 170 may send a driving signal to the base 110 via 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 may send a driving signal to the suit arm 130 via the CAN bus to control the movement of the suit arm 130 to adjust the configuration of the suit arm 130, thereby driving the actuator 150 disposed at the end of the suit arm 130 to implement the installation operation of the protective cover.

[0023] 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 set arm 230, an actuator 250, and a control device (not shown in the figure). 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 setting a protective cover on a surgical robot, and may also be applied to special or general robots in other fields (e.g., logistics, industrial manufacturing, etc.).

[0024] 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 330, an actuator 350, and a control device (not shown in the figure).

[0025] 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, for example Figure 3 The arm 330 is shown. For example, Figure 3 As shown, the base body 311 can be opened upward to accommodate at least a portion of the suit arm 330, which will be described in detail later. The wheel 312 can be connected to a drive unit (not shown in the figure). 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 can be an omnidirectional wheel, such as an active omnidirectional wheel. For example, the wheel 312 is a continuously switching wheel (OmniWheel) or a Mecanum Wheel. In this way, the base 310 can achieve omnidirectional movement under the control of the control device.

[0026] In some embodiments, Figure 3 As shown, the suit arm 330 may include a support 331 and a telescopic arm 332 disposed on the support 331. The suit arm 330 may be connected to the base 310 through the support 331 at the proximal end (e.g., the end close to the base 310), and may include a telescopic arm end at the distal end (e.g., the end away from the base 310) for setting the actuator 350.

[0027] In some embodiments, the support 331 is movably disposed on the base 310, and the telescopic arm 332 is rotatably connected to the side of the support 331. The support 331 can be accommodated in the opening of the base body 311, and is movably connected to the base body 311 through a lifting mechanism (not shown in the figure). The lifting mechanism is, for example, a hydraulic lifting mechanism or a mechanical lifting mechanism. By driving the lifting mechanism, the support 331 can be extended upward or retracted downward relative to the base body 311, so as to drive the telescopic arm 332 to rise and fall as a whole. In some embodiments, the support 331 may include a protective cover (for example, Figure 6 The protective cover 600 is configured to have a receiving cavity 3310, and the receiving cavity 3310 is configured to open toward the end of the telescopic arm 322 so that the protective cover is opposite to the actuator 350 disposed at the end of the telescopic arm 322. In some embodiments, the protective cover can be configured to be installed on the mobile station 300 in the following manner: the protective cover body (for example, Figure 6 The protective cover 600 shown in the figure is accommodated in the accommodating cavity 3310, the distal end of the protective cover (the end away from the accommodating cavity) extends along the axial direction of the telescopic arm 332, and the opening of the protective cover is maintained on the actuator 350. In the process of the mobile station 300 covering at least a part of the surgical robot with the protective cover, the opening of the protective cover always matches the opening of the accommodating cavity 3310, so that the protective cover can be prevented from contacting the telescopic arm to be contaminated or even rolled into the telescopic arm during the covering operation.

[0028] In some embodiments, the telescopic arm 332 includes a proximal arm 3321 and at least one distal arm (eg, Figure 3 The first distal arm 3322 and the second distal arm 3323, or Figure 4 The first distal arm 402, the second distal arm 403 and the third distal arm 404 are shown). In some embodiments, the proximal arm 3321 is rotatably disposed on the side of the support 331, and at least one distal arm is configured to be telescopic along the axis of the proximal arm 3321. For example, the telescopic arm 332 may also include a first rotation joint as a telescopic arm joint. The proximal end of the first distal arm 3322 is rotationally connected to the side of the support 331 through the first rotation joint to rotate relative to the support 331 around the rotation axis of the first rotation joint (for example, an axis parallel to the horizontal plane), thereby driving at least one distal arm to rotate together. In some embodiments, at least one distal arm may include a first distal arm (for example, Figure 3 The first distal arm 3322 or Figure 4The telescopic arm 332 may be a first distal arm 402, the first distal arm 402 being telescopically connected to the distal end of the proximal arm. For example, the proximal arm 332 is formed with an opening at the distal end, and the telescopic arm 332 may also include a first linear joint as a telescopic arm joint. The first distal arm 3322 is accommodated in the opening of the proximal arm 332, and the proximal end is connected to the proximal arm 3321 through the first linear joint to extend or retract relative to the proximal arm 3321. In some embodiments, at least one distal arm may also include a second distal arm (e.g., Figure 3 The second distal arm 3323 or Figure 4 The second distal arm 403 is shown, and the second distal arm can be telescopically connected to the distal end of the first distal arm. For example, the first distal arm 3322 is formed with an opening at the distal end, and the telescopic arm 332 can also include a second linear joint as a telescopic arm joint. The second distal arm 3323 is accommodated in the opening of the first distal arm 3322, and the proximal end is connected to the first distal arm 3322 through the second linear joint to extend or retract relative to the first distal arm 3322.

[0029] In some embodiments, the telescopic arm 332 also includes a driving device for driving at least one distal arm to telescope, and the control device is further configured to control the driving device to cause at least one distal arm to telescope, for example, synchronously. Figure 4 FIG. 4 is a schematic diagram showing a driving structure of a telescopic arm 400 according to some embodiments of the present disclosure. Figure 4 As shown, the telescopic arm 400 may include a proximal arm body 401 and at least one distal arm body, and the at least one distal arm body may include a first distal arm body 402, a second distal arm body 403, and a third distal arm body 404 connected in sequence. In some embodiments, the telescopic arm 400 may also include a driving device for driving the first distal arm body 402, the second distal arm body 403, and the third distal arm body 404 to telescope synchronously.

[0030] In some embodiments, the driving device may include a driving mechanism, and the driving mechanism is used to connect the proximal arm and the first distal arm to drive the first distal arm to extend or retract relative to the proximal arm. In some embodiments, the driving mechanism may include a linear driving mechanism, such as Figure 4The linear drive mechanism 410 is shown. The linear drive mechanism 410 can be configured to connect the proximal arm 401 and the first distal arm 402 to drive the first distal arm 402 to extend or retract relative to the proximal arm 401. In some embodiments, the linear drive mechanism 410 can include a guide rail 411 and a moving member 412 that can move along the guide rail, and is configured such that the guide rail 411 is fixedly connected to the proximal arm 401, and the moving member 412 is fixedly connected to the first distal arm 402, and the moving member 412 is driven to move to drive the first distal arm 402 to extend in a direction away from the proximal arm 401, or to drive the first distal arm 402 to retract in a direction close to the proximal arm 401. The linear drive mechanism 410 can be, for example, a pneumatic linear drive mechanism, including a guide rod as the guide rail 411 and a cylinder as the moving member 412. A piston may be formed at the distal end of the guide rod to separate the internal space of the cylinder sleeved on the guide rod into two chambers, a distal chamber and a proximal chamber. By filling compressed gas into one of the two chambers and discharging compressed gas from the other chamber, the cylinder can be reciprocated relative to the guide rod, thereby realizing the extension of the first distal arm body 402 relative to the proximal arm body 401 (towards the distal end). Figure 4 rightward movement) or retraction (toward Figure 4 Those skilled in the art will appreciate that the linear drive mechanism 410 may adopt any suitable structure, such as a guide rail 411 and a moving member 412 connected by threads.

[0031] In some embodiments, the driving device may further include a first motion mechanism, the first motion mechanism being used to connect the first distal arm and the second distal arm so that the second distal arm moves relative to the first distal arm. Figure 4 As shown, the first motion mechanism may include a first axle mechanism 420 associated with the first distal arm 402, and the first axle mechanism 420 may be configured to drive the second distal arm 403 to extend from the first distal arm 402 in equal length when the first distal arm 402 extends. In some embodiments, the first axle mechanism 420 may include a first pulley 421 and a first rope 422. The first pulley 421 is rotatably disposed at the distal end of the moving member 412 of the linear drive mechanism 410, and the first rope 422 is wound around the first pulley 421 in the form of connecting the proximal arm 401 and the second distal arm 403 at both ends. When the linear drive mechanism 410 drives the first distal arm 402 to extend relative to the proximal arm 401, the first pulley 421 moves synchronously with the first distal arm 402, and the second distal arm 403 is pulled to move at twice the speed of the first distal arm 402 by the first rope 422 wound around the first pulley 421, so that the second distal arm 403 is extended from the first distal arm 402 with a length equal to the extension length of the first distal arm 402 relative to the proximal arm 401.

[0032] In some embodiments, Figure 4 As shown, the first motion mechanism may further include a second axle mechanism 430 associated with the first distal arm 402, and the second axle mechanism 430 may be configured to drive the second distal arm 403 to retract to the first distal arm 402 by the same length when the first distal arm 402 retracts. In some embodiments, the second axle mechanism 430 may include a second pulley 431 and a second rope 432. The second pulley 431 is disposed at the proximal end of the first distal arm 402 so as to roll around an axis, and the second rope 432 is wound around the second pulley 431 in the form of connecting the proximal arm 401 and the second distal arm 403 at both ends. When the linear drive mechanism 410 drives the first distal arm 402 to retract relative to the proximal arm 401, the second pulley 431 moves synchronously with the first distal arm 402, and the second rope 432 wound around the second pulley 431 pulls the second distal arm 403 to move at twice the speed of the first distal arm 402, thereby causing the second distal arm 403 to retract toward the first distal arm 402 by a length equal to the retraction length of the first distal arm 402 relative to the proximal arm 401.

[0033] In some embodiments, the driving device may further include a second motion mechanism, which is used to connect the second distal arm and the third distal arm so that the third distal arm moves relative to the second distal arm. Figure 4 As shown, the second motion mechanism may include a third wheel-axle mechanism 440 associated with the second distal arm 403, and the third wheel-axle mechanism 440 may be configured to drive the third distal arm 404 to extend from the second distal arm 403 in equal length when the second distal arm 403 extends. For example, the third wheel-axle mechanism 440 may include a third pulley 441 and a third rope 442, wherein the third pulley 441 is disposed at the distal end of the second distal arm 403 so as to roll around an axis, and the third rope 442 is wound around the third pulley 441 in a form in which both ends are connected to the first distal arm 402 and the third distal arm 404, respectively. When the linear drive mechanism 410 drives the first distal arm 402 to extend relative to the proximal arm 401, the third pulley 441 moves synchronously with the second distal arm 403, and the third distal arm 404 is pulled by the third rope 442 wound around the third pulley 441 to move at a speed three times that of the first distal arm 402, so that the third distal arm 404 is extended from the second distal arm 403 with a length equal to the extension length of the second distal arm 403 relative to the first distal arm 402.

[0034] Similar to the first motion mechanism, the second motion mechanism may further include a fourth wheel-axle mechanism 450 associated with the second distal arm 403, and the fourth wheel-axle mechanism 450 may be configured to drive the third distal arm 404 to retract to the second distal arm 403 by the same length when the second distal arm 403 retracts. For example, the fourth wheel-axle mechanism 450 may include a fourth pulley 451 and a fourth rope 452, wherein the fourth pulley 451 is disposed at the proximal end of the first distal arm 402 so as to roll around an axis, and the fourth rope 452 is wound around the fourth pulley 451 in a form in which both ends are connected to the first distal arm 402 and the third distal arm 404, respectively. When the linear drive mechanism 410 drives the first distal arm 402 to retract relative to the proximal arm 401, the fourth pulley 451 moves synchronously with the first distal arm 402, and the third distal arm 404 is pulled by the fourth rope 452 wound around the fourth pulley 451 to move at a speed three times that of the first distal arm 402, thereby causing the third distal arm 404 to retract toward the second distal arm 403 by a length equal to the retraction length of the second distal arm 403 relative to the first distal arm 402.

[0035] It should be understood that the driving device is not limited to the above structure, and any driving device that can drive the telescopic arms to extend and retract does not deviate from the scope of the present disclosure. In some embodiments, the driving device may also be a hydraulic driving device, or the driving device may also be a mechanical driving device, such as a traction wheel driven by a motor, a gear rack transmission mechanism, or a lead screw slider mechanism, etc., to achieve synchronous or independent extension and retraction of each arm.

[0036] In some embodiments, Figure 3 As shown, the telescopic arm 332 may further include an end arm body 3324 for setting the actuator 350, and the end arm body 3324 may be rollably set at the distal end of the telescopic arm 332. For example, the telescopic arm 332 may further include a second rotary joint as a telescopic arm joint. The proximal end of the end arm body 3324 is rotatably connected to the distal end of the second distal arm body 3323 through the second rotary joint, so that the end arm body 3324 rotates relative to the second distal arm body 3323 around the rotation axis of the second rotary joint (e.g., an axis parallel to the horizontal plane).

[0037] In some embodiments, Figure 3 As shown, the actuator 350 can be disposed at the end of the set arm 330, for example, disposed on the end arm body 3324, and moves with the end arm body 3324 to maintain the opening of the protective sleeve (for example, Figure 6 The protective cover 600 is shown with an opening 611).

[0038] Figure 5 FIG. 5 is a schematic diagram showing the structure of an actuator 500 according to some embodiments of the present disclosure. Figure 5As shown, the actuator 500 may include an actuator body 510 and an actuator portion 520 disposed on the actuator body 510. The actuator body 510 may be disposed at the end of the suit arm, for example, Figure 3 The arm 330 is shown mounted on the end arm body 3324 .

[0039] In some embodiments, the actuator 520 may be disposed at the distal end of the actuator body 510. In some embodiments, the actuator 520 may be an annular structure, which may be used to maintain the opening of the protective sleeve (for example, Figure 6 The protective cover 600 has an opening 611 for passing at least a portion of the surgical robot, such as at least one moving arm (eg Figure 2 Motion arm 720 shown).

[0040] Figure 6 FIG. 1 is a schematic structural diagram showing an opening portion of a protective cover 600 according to some embodiments of the present disclosure. Figure 7 FIG. 6 is a schematic diagram showing an enlarged structure of the fastener 620 and the locking member 630 of the protective cover 600 according to some embodiments of the present disclosure. Figure 6 As shown, the protective cover 600 may include a protective cover body 610, and an opening 611 is formed at at least one end (e.g., distal end) of the protective cover body 610. In some embodiments, the protective cover body 610 is formed with at least one accommodating channel 615 along the circumference at the end of the opening 611. For example, the protective cover body 610 may be folded inwardly or outwardly at the opening 611, so as to form an accommodating channel 615 at the intersection of the inner and outer surfaces. In some embodiments, the protective cover 600 may also include a fastener 620, which may be arranged in at least one accommodating channel 615 through and at both ends outside the accommodating channel 615. For example, the fastener 620 and the accommodating channel 615 may be formed along the circumference of the opening 611 and have a notch. The fastener 620 may extend along the accommodating channel 615, and the two ends may be exposed from the notch of the accommodating channel 615. Alternatively, a plurality of accommodating channels 615 may be formed at intervals along the circumference of the opening 611. The fastener 620 may extend along the plurality of accommodating channels 615, with both ends exposed at the gap between the two accommodating channels 615. In some embodiments, the fastener 620 may include at least one of a rope, a belt, or a retractable extension strip. In some embodiments, the fastener 620 may include a silicone material, such as a silicone rope. In some embodiments, the protective cover 600 may further include a locking member 630, which may be slidably disposed on the fastener 620 to tighten or loosen the opening 611, as described later.

[0041] In some embodiments, Figure 5As shown, the actuator 520 of the actuator 500 may include a first actuator 521a and a second actuator 521b that can cooperate with the first actuator 521a. Figure 5 As shown, the actuator 520 may include a first actuator 521a and a second actuator 521b, each of which is formed into a roughly semi-circular shape. The first actuator 521a and the second actuator 521b may be disposed at the distal end of the actuator body 510 with their openings facing each other, thereby forming a ring-shaped structure surrounded by a cavity in the middle. In this way, the actuator 520 may open the opening 611 of the protective cover 600 to form a shape roughly the same as the cavity of the ring-shaped structure while maintaining the opening 611 of the protective cover 600, 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 600 through the cavity.

[0042] In some embodiments, the first actuator 521a and / or the second actuator 521b may be configured to rotate relative to the actuator body 510 so that the actuator 520 switches between an open state and a closed state. In the present disclosure, the closed state of the actuator 520 may refer to a state in which the first actuator 521a and the second actuator 521b are closed into a ring structure, for example Figure 5As shown. In the retracted state, the annular structure of the actuator 520 can enclose at least one part of the surgical robot (for example, at least one moving arm) in the cavity. The open state of the actuator 520 can refer to a state in which the distal ends of the first actuator 521a and the second actuator 521b are separated from each other so that the annular structure is opened circumferentially to form an opening. In the open state, the actuator 520 can allow at least a part of the surgical robot (for example, at least one moving arm) to separate from the actuator 500 from the opening of the annular structure. In some embodiments, the actuator may further include at least one actuator drive device for driving the actuator 520 to move. In some embodiments, the first actuator 521a can be configured so that the proximal end is pivotally disposed on the actuator body 510, and the proximal end is coupled to the actuator drive device. The actuator driving device can drive the proximal end of the first actuator 521a to drive the first actuator 521a to rotate around the axis of the proximal end, so that the distal end of the first actuator 521a approaches or moves away from the distal end of the second actuator 521b opposite to the first actuator 521a, so that the actuator 520 switches between the open state and the retracted state. It should be understood that in some embodiments, the second actuator 521b can also be configured to rotate relative to the actuator body 510. Alternatively, both the first actuator 521a and the second actuator 521b can be configured to rotate relative to the actuator body 510. The first actuator 521a and the second actuator 521b can rotate around the axis of their respective proximal ends under the drive of the actuator driving device, so that the actuator 520 switches between the open state and the retracted state. The actuator driving device can be, for example, a motor disposed in the actuator body 510, which drives the proximal ends of the first actuator 521a and / or the second actuator 521b to rotate through a transmission mechanism (such as a gear or a transmission belt).

[0043] In some embodiments, the first actuator 521a may include a first groove 522a formed along the circumference for maintaining the first side of the opening of the protective cover, and the second actuator 521b may include a second groove 522b formed along the circumference for maintaining the second side of the opening of the protective cover. In some embodiments, the first groove 522a may be formed along the circumference of the first actuator 521a. For example, Figure 5As shown, the first groove 522a can extend from the proximal end of the first actuator 521a to the distal end along the circumferential direction, and notches are formed at both ends of the first actuator 521a. Similar to the first actuator 521a, the second groove 522b of the second actuator 521b can also be formed along the circumferential direction of the second actuator 521b, and notches are formed at both ends of the second actuator 521b. In some embodiments, the first groove 522a can be formed to allow a portion of the opening 611 of the protective cover 600 to be embedded in the groove to achieve the first side of the opening 611. The second groove 522b can be formed to allow another portion of the opening 611 to be embedded in the groove to achieve the second side of the opening 611. In this way, by respectively maintaining the first side and the second side of the opening 611, the actuator 520 can maintain and open the opening 611 in a retracted state, so that the opening 611 is formed to form a shape substantially the same as the cavity of the annular structure, 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 600 through the cavity. In some embodiments, a plurality of protrusions (not shown) may be formed on the inner walls of the first groove 522a and the second groove 522b. The plurality of protrusions may reduce the width of the groove in the radial direction to prevent the opening 611 from falling off from the groove.

[0044] In some embodiments, Figure 5 As shown, the accommodating channel 615 formed on the opening 611 of the protective cover 600 and at least a portion of the fastener 620 that runs through the accommodating channel 615 can be embedded in the first groove 522a, and one end of the fastener 620 can extend from the end of the first actuator 521a through the notch of the first groove 522a. The accommodating channel 615 and at least another portion of the fastener 620 can be embedded in the second groove 522b, and the other end of the fastener 620 can extend from the end of the second actuator 521b through the notch of the second groove 522b. In some embodiments, a first special-shaped groove 512a and a second special-shaped groove 512b can be formed on the actuator body 510. The first special-shaped groove 512a and the second special-shaped groove 512b can extend circumferentially along the side of the actuator body 510. Among them, the first special-shaped groove 512a can correspond to the first groove 522a, and is used to pass through one end of the fastener 620 extending from the end of the first actuator 521a. The second special-shaped groove 512b may correspond to the second groove 522b, and is used to pass the other end of the fastener 620 extending from the end of the second actuator 521b. In some embodiments, a clamping and winding mechanism (such as a clamping and winding mechanism 511a and 511b) for winding the fastener 620 may also be respectively provided in the first special-shaped groove 512a and / or the second special-shaped groove 512b, and the details are described later.

[0045] In some embodiments, the mobile station can be described by a kinematic model, and 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. In some embodiments, the kinematic model of the suit arm can be determined based on the structure of the suit arm. 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 the suit arm. For example, the kinematic model can be established by methods such as the DH (Denavit-Hartenberg) parameter method and the exponential product representation method. For example, the DH matrix corresponding to the joints of the suit arm is determined, and the kinematic model of the suit arm 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 may be configured to coordinately adjust the posture of the base and / or the configuration of the sleeve arm so that the actuator sleeves the protective sleeve on at least one of the moving arms (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 adjust the posture of the base and / or the configuration of the sheath arm so that the actuator puts the protective sheath on at least one moving arm along a sheath path that roughly coincides with the axis of at least one moving arm of the surgical robot. In the present disclosure, the sheath path of the actuator can be the path that the actuator coordinate system with its origin on or outside the actuator passes through under the combined motion of the base and the sheath arm, and can include a base path for the base and a sheath arm path for the sheath arm. For example, the sheath path can be a path with its origin at the center P of the actuator (e.g. Figure 5 The path that the actuator coordinate system (center P) of the actuator 500 travels when performing the assembly operation is shown.

[0049] In some embodiments, the sleeve path of the actuator may be based on a predetermined configuration of at least one motion arm. In the present disclosure, the predetermined configuration of the motion arm may be a configuration suitable for the mobile station to be sleeved with a protective sleeve. In some embodiments, the predetermined configuration of the motion arm may be an extended configuration of the motion arm. For example, the predetermined configuration of the motion arm may be a configuration in which the joint values ​​of the distal joints of the motion arm are close to the upper limit of their joint values, 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 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 a teaching pendant or dragging teaching, so that the set space formed by the opening of the protective cover held by the actuator along the teaching path can accommodate the motion arm in the predetermined configuration. In some embodiments, the set path of the actuator 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 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 can also generate a first 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 first control signal sequence can be used to control the drive unit on the base to drive the base to move. In addition, the control device can generate a second control signal sequence corresponding to the suit arm path of the suit arm based on the suit arm path and the kinematic model of the suit arm, and the second control signal sequence can be used to control the drive device on the suit arm to drive the suit arm to extend and swing. It should be understood by those skilled in the art that the first control signal sequence and the second control signal sequence are aligned in time, thereby allowing the control device to control the coupled motion of the base and the suit arm. It should be understood that the suit path can also be obtained by pre-calculation, including a first control signal sequence corresponding to the base path of the base and a second control signal sequence corresponding to the suit arm path of the suit arm. In some embodiments, the first control signal sequence for the base and the second control signal sequence for the suit arm 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 control the drive unit to adjust the configuration of the suit arm so that the suit arm moves along the suit arm path, so that the suit space formed by the opening of the protective cover held by the actuator during the movement can accommodate at least one moving arm of the surgical robot. For example, the control device can control the drive unit based on a first control signal sequence so that the base moves along the base path, and control the drive unit based on a second control signal sequence so that the suit arm moves along the suit arm path, so that the center P of the actuator moves along the suit path under the combined movement of the base and the suit arm, so that the suit space formed by the opening of the protective cover held by the actuator along the suit path can accommodate 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 adjust the end arm (eg Figure 3 The posture of the end arm 3324 is such that the normal direction of the plane where the opening of the protective cover held by the actuator is located is tangent to the set path of the actuator. Figure 5 As shown, when the center P of the actuator moves along the suit path, the control device can control the second rotary joint of the telescopic arm to keep the normal direction of the plane where the opening of the annular structure of the actuator 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. 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, thereby avoiding collision between the actuator 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 2 The 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 Base 310 shown) or a suit arm (e.g., Figure 1 The set arm 130 shown, Figure 2 The set arm 230 shown, Figure 3 The set arm 330 or Figure 4 The surgical robot is provided with a positioning arm 400 for sensing positioning information provided by a 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 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 can be based on the teaching path, or the set path of the actuator 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 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 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 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 600 is shown mounted on the moving arm 720 .

[0059] In some embodiments, the actuator body may further include at least one clamping and winding mechanism and at least one force sensor. Figure 5 As shown, the actuator body 510 may include a first clamping and winding mechanism 511a and a second clamping and winding mechanism 511b. The first clamping and winding mechanism 511a and the second clamping and winding mechanism 511b may be used to clamp and wind a fastener (eg, Figure 6 or Figure 7 In some embodiments, the first clamping and winding mechanism 511a and the second clamping and winding mechanism 511b may be disposed on opposite sides of the actuator body 510, for example, respectively disposed in the first special-shaped groove 512a and the second special-shaped groove 512b formed on the actuator body 510. Figure 5 and Figure 6As shown, when the actuator 500 maintains the opening 611 of the protective cover 600, one end of the fastener 620 can extend from the end of the first actuator 521a and pass through the first special-shaped groove 512a to be clamped on the first clamping and winding mechanism 511a. Similarly, the other end of the fastener 620 can extend from the end of the second actuator 521b and pass through the second special-shaped groove 512b to be clamped on the clamping and winding mechanism 511b. In some embodiments, the actuator body 510 may include at least one force sensor (not shown in the figure). The force sensor can be coupled to the first clamping and winding mechanism 511a and / or the second clamping and winding mechanism 511b to measure the tension of the fastener 620. In some embodiments, the first clamping and winding mechanism 511a and / or the second clamping and winding mechanism 511b can wind one end of the fastener 620 in a clamped state to tension the fastener 620 in the annular groove formed by the first groove 522a and the second groove 522b.

[0060] 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 actuator 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 set arm to move away from the surgical robot. In some embodiments, as Figure 5As shown, the control device can also be configured to control the first actuator 521a and / or the second actuator 521b of the actuator 520 to rotate relative to the actuator body 510 after completing the installation of the protective cover, so that the annular structure of the actuator 520 opens circumferentially to release the opening 611 of the protective cover 600. In some embodiments, when the actuator 520 continues to open, causing the diameter of the annular structure to be larger than the opening 611 of the protective cover 600, or when the friction force provided by the first groove 522a and the second groove 522b is insufficient to limit the opening 611 of the protective cover 600, the protective cover 600 will fall off the actuator 520. 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 600 falls off the actuator 520 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 511a and / or the second clamping and winding mechanism 511b to wind at least one end of the fastener 620 in response to a step-down drop in the detection value of the force sensor, so that the fastener 620 slides relative to the accommodating channel 615 to tighten the opening 611 of the protective cover 600. In some embodiments, the control device may also be configured to determine whether the opening 611 of the protective cover 600 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 511a and the second clamping and winding mechanism 511b to rotate in the opposite direction and release the two ends of the fastener 620 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 set arm to move away from at least one moving arm of the surgical robot in the radial direction after tightening the opening 611 of the protective cover 600, so that at least one moving arm passes through the opening formed on the annular structure of the actuator 520, and control the base to move away from the surgical robot.

[0061] In some embodiments, Figure 6 and Figure 7 As shown, the protective cover 600 may further include a locking member 630. The locking member 630 is slidably disposed on the fastener 620, and both ends of the fastener 620 pass through the locking member 630. The locking member 630 is used to slide relative to the fastener 620 to tighten or loosen the opening 611 of the protective cover 600. In some embodiments, the locking member 630 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 620 passes through the first lock through hole and the first pressing cover through hole, and the other end of the fastener 620 passes through the second lock through hole and the second pressing cover through hole. By pressing or loosening the pressing cover, the locking member 630 can release or lock both ends of the fastener 620.

[0062] In some embodiments, Figure 5 As shown, the actuator body 510 also includes a clamping portion 513. The clamping portion 513 is used to accommodate the locking member 630 of the protective cover 600. The clamping portion 513 can be configured to switch the locking member 630 between a released state in which the locking member 630 can slide relative to the fastener 620 and a locked state in which the locking member 630 cannot slide relative to the fastener 620 by clamping or releasing the locking member 630. In some embodiments, the clamping portion 513 can also include at least one push button 514, and the locking member 630 can be clamped or released by driving the push button 514. It should be understood that the structure of the clamping portion 513 is not limited to the above, and any clamping structure that can switch the locking member 630 between the released state and the locked state does not depart from the scope of the present disclosure.

[0063] 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 5 As shown, the control device can also be configured to control the pressing key 514 to always press the pressing cover of the locking member 630 so that the locking member 630 remains in a released state. In some embodiments, the control device can also be configured to control the first clamping and winding mechanism 511a and / or the second clamping and winding mechanism 511b to wind at least one end of the fastener 620 after releasing the opening 611 of the protective cover 600, so that the fastener 620 slides relative to the locking member 630 to tighten the opening 611 of the protective cover 600. In some embodiments, the control device can also be configured to determine whether the opening 611 of the protective cover 600 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 pressing key 514 of the clamping portion 513 to release the locking member 630 in response to the measurement value of at least one force sensor exceeding a threshold value so that the locking member 630 switches to a locked state. In some embodiments, the control device can also be configured to control the set arm to move radially away from at least one moving arm of the surgical robot after tightening the opening 611 of the protective cover 600, so that at least one moving arm passes through the opening formed on the annular structure of the actuator 520, and control the base to move away from the surgical robot.

[0064] 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.

[0065] 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 a protective cover, characterized in that: include: a base, movable relative to the ground; A set arm, arranged on the base, comprising a support and a telescopic arm arranged on the support; an actuator, disposed at the end of the telescopic arm, for maintaining the opening of the protective cover; as well as The control device is connected to the base, the sheath arm and the actuator, and is configured to control the movement of the base and / or the sheath arm so that the actuator sheathes the protective sheath on at least a portion of the surgical robot.

2. The mobile station according to claim 1, characterized in that The support is liftably arranged on the base, and the telescopic arm is rotatably connected to the side surface of the support.

3. The mobile station according to claim 1, characterized in that The telescopic arm comprises a proximal arm body and at least one distal arm body which are connected in sequence. The proximal arm body is rotatably arranged on a side surface of the support, and the at least one distal arm body is configured to be telescopic along an axis of the proximal arm body.

4. The mobile station according to claim 3, characterized in that The telescopic arm further comprises a driving device for driving the at least one distal arm body to extend and retract. The control device is also configured to control the driving device so as to cause the at least one distal arm to extend and retract synchronously.

5. The mobile station according to claim 4, characterized in that The at least one distal arm comprises a first distal arm, The driving device includes a linear driving mechanism, which includes a guide rail and a moving part that can move along the guide rail, and is configured such that the guide rail is fixedly connected to the proximal arm body, and the moving part is fixedly connected to the first distal arm body, and the moving part is driven to move so as to drive the first distal arm body to extend in a direction away from the proximal arm body, or drive the first distal arm body to retract in a direction close to the proximal arm body.

6. The mobile station according to claim 5, characterized in that The at least one distal arm further comprises a second distal arm, The driving device also includes a first axle mechanism and a second axle mechanism associated with the first distal arm, the first axle mechanism being configured to drive the second distal arm to extend from the first distal arm by an equal length when the first distal arm is extended, and the second axle mechanism being configured to drive the second distal arm to retract toward the first distal arm by an equal length when the first distal arm is retracted.

7. The mobile station according to claim 3, characterized in that The control device is also configured to cooperatively adjust the posture of the base and / or the configuration of the sleeve arm so that the actuator sleeves the protective sleeve on the at least one moving arm along a sleeve path that roughly coincides with the axis of at least one moving arm of the surgical robot.

8. The mobile station according to claim 7, characterized in that The telescopic arm further comprises an end arm body for setting the actuator, and the end arm body is rollably set at the far end of the telescopic arm. The control device is also configured to adjust the posture of the end arm so that the normal direction of the plane where the opening of the protective sleeve held by the actuator is located is tangent to the sleeve path.

9. The mobile station according to claim 1, characterized in that The support comprises a receiving cavity for receiving the protective cover, and the receiving cavity is configured to open toward the end of the telescopic arm.

10. The mobile station according to claim 1, characterized in that The actuator comprises: an actuator body, disposed at the end of the telescopic arm; and The executing part is arranged on the actuator body, and the executing part is an annular structure, and the annular structure is used to maintain the opening of the protective cover so as to pass at least a part of the surgical robot.

11. The mobile station according to claim 10, characterized in that The execution part includes a first execution member and a second execution member capable of cooperating with the first execution member. The first actuator and / or the second actuator is configured to be rotatable relative to the actuator body so that the actuator can be switched between an open state and a retracted state.

12. The mobile station according to claim 11, 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.

13. The mobile station according to claim 10, 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 actuator body also includes: 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.

14. The mobile station according to claim 13, 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 actuator body further includes a clamping portion configured to clamp or release the locking member so as 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.

15. 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.

16. The mobile station according to claim 7, 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