Mobile station for sleeving protective sleeve and robot system

Abstract

The present disclosure relates to the field of robot control, and discloses a mobile station for sleeving a protective sleeve, comprising: a base movable relative to the ground; the at least one sleeving arm is arranged on the base; the actuator is arranged at the tail end of at least one sleeving arm and used for keeping the opening of the protective sleeve; and the control device is connected with the base and the at least one sleeving arm and is configured to control the base and / or the at least one sleeving arm to move, so that the actuator sleeves at least one part of the 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 and a robot system for wearing 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; at least one cover arm, disposed on the base; an actuator, disposed at the end of at least one cover arm, for maintaining an opening of the protective cover; and a control device, connected to the base and at least one cover arm, configured to control the movement of the base and / or at least one cover arm so that the actuator applies the protective cover to at least a portion of the surgical robot.

[0005] In some embodiments, the present disclosure provides a robot system, comprising: a surgical robot, comprising at least one moving arm; a mobile station of any one of some embodiments of the present disclosure, comprising a base, at least one set arm arranged on the base and an actuator arranged at the end of at least one set arm; a positioning sensing unit, for providing positioning information to indicate the posture of the surgical robot and / or the mobile station; a control system, configured to connect the mobile station, the surgical robot, and the positioning sensing unit, so as to control the mobile station to put a protective cover on at least one moving arm based on the positioning information. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] 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.

[0007] Figure 1 A structural block diagram of a mobile station according to some embodiments of the present disclosure is shown;

[0008] 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;

[0009] Figure 3 A schematic diagram showing the structure of a mobile station according to some embodiments of the present disclosure is shown;

[0010] Figure 4 A schematic diagram showing the structure of an actuator according to some embodiments of the present disclosure is shown;

[0011] Figure 5 A schematic structural diagram showing an opening portion of a protective cover according to some embodiments of the present disclosure;

[0012] Figure 6 An enlarged structural schematic diagram showing the cooperation between the fastener and the locking member of the protective cover according to some embodiments of the present disclosure;

[0013] Figure 7 A schematic diagram showing the structure of a surgical robot according to some embodiments of the present disclosure is shown;

[0014] Figure 8 A schematic diagram showing the matching of a mobile station and a surgical robot according to some embodiments of the present disclosure;

[0015] Fig. 9 A schematic diagram showing a method of controlling a mobile station to perform a protective cover installation operation according to some embodiments of the present disclosure;

[0016] Fig.10 A schematic diagram showing a positioning tag according to some embodiments of the present disclosure;

[0017] Fig.11 A schematic diagram showing ArUco identification according to some embodiments of the present disclosure;

[0018] Fig.12 A schematic diagram of a robot system according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0019] 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.

[0020] In the description of the present disclosure, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying 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 a limitation on the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. 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 connection of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances. 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.

[0021] 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.

[0022] 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 the 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 initial posture of the base may be the posture of the base at the starting point of the motion path, and the target posture of the base may be the posture of the base at the end point of the motion path. In the present disclosure, the motion path of the base of the mobile station refers to the path that the mobile station travels from one posture to another. In the present disclosure, the motion path of the base may include a global path or a local path (e.g., a matching path and a set path) of the base in the environment in which it is located.

[0023] In the present disclosure, the position and posture of a part of the suit arm (e.g., the end of the suit arm) refers to the coordinate system defined by the part of the suit arm (e.g., Figure 3 The coordinate system {T} of the end of the execution arm shown is 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 multiple joints included in the suit arm when the suit arm is in this 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 of rotation of 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 a point on or outside the end of the suit arm (e.g., Figure 3 The path that a point T) shown outside the end of the sheathing arm travels from one configuration to the other.

[0024] In this disclosure, the pose of an actuator refers to the coordinate system defined by the actuator (e.g. Figure 3 The position of the actuator coordinate system {E}) relative to a reference coordinate system (e.g., a coordinate system defined by a portion of the suit arm where the actuator is located, or a world coordinate system). In the present disclosure, the motion path of the actuator refers to the path that the actuator coordinate system moves from one position 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 3 The actuator 300 or Figure 4 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.

[0025] Similar to the mobile station, in the present disclosure, the position and posture of a robot (e.g., a surgical robot) refers to the position and 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 position and posture of a part of the motion arm (e.g., the end of the motion arm) refers to the position and posture of a part of the motion arm (e.g., the end of the motion arm) defined by the part of the motion arm (e.g., the end of the motion arm) Figure 8 The position of the motion arm matching coordinate system {B}) relative to the reference coordinate system (e.g., the coordinate system defined by the support, trolley, pan-tilt head or robot where the motion arm is located, or the world coordinate system). In the present disclosure, the configuration of the motion arm can be represented by a set of joint values ​​of multiple joints included in the motion arm when the motion 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.

[0026] 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, at least one 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. At least one suit arm 130 may be disposed on the base 110. The actuator 150 may be disposed at the end of at least one suit arm 130, for maintaining the opening of the protective cover (for example, Figure 5 The control device 170 can be connected to the base 110, at least one suit arm 130 and the actuator 150, and can control the surgical robot (for example, Figure 2 or Figure 7 At least a portion of the surgical robot 700 shown in the figure is covered with a protective cover. 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 cover arm 130 through the CAN bus to control the movement of the cover arm 130, thereby driving the actuator 170 disposed at the end of the cover arm 130 to achieve the cover operation of the protective cover.

[0027] 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, at least one set arm 230, an actuator 250, and a control device (not shown in the figure). In some embodiments, the mobile station 200 may determine a matching path for matching with 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, so as to move along the matching path (e.g. Fig. 9 The matching path 9110 shown in the figure) moves toward the surgical robot 700 to achieve automatic matching, and the mobile station 200 can move to the surgical robot 700 based on the predetermined set path (for example Fig. 9 The protective cover is set on at least a portion of the surgical robot 700 (as shown in the predetermined set path 9120). In some embodiments, the surgical robot 700 may include a robot body 710 and at least one moving arm 720 disposed on the robot body 710. At least a portion of the surgical robot 700 includes, for example, at least one moving arm 720. It should be understood by those skilled in the art that the surgical robot may be a special or general-purpose robot applied to multiple medical fields, such as a laparoscopic surgical robot. It should be understood that the present disclosure is not limited to the provision of a protective cover on a surgical robot, but may also be applied to special or general-purpose robots in other fields (e.g., logistics, industrial manufacturing, etc.).

[0028] 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, at least one set arm 330, an actuator 350, and a control device (not shown in the figure). Figure 3 The definition of the coordinate system is as follows: The mobile station base coordinate system {V}, the origin can be located on the base of the mobile station, In line with the orientation of the base, Direction vertically upward, such as Figure 3 As shown. The origin of the suit arm base coordinate system {M} may be located on the support of the suit arm (e.g., the center of the support 331). Direction vertically upward, Direction Figure 3 As shown. The origin of the suit arm end coordinate system {T} can be located at point T outside the suit arm. The axis direction is consistent with the end of the suit arm (such as the end arm 334), Direction Figure 3 In the present disclosure, point T may be a point located at a predetermined distance (e.g. Figure 3The TCP (Tool Central Point) shown by the dashed line) moves with the suit arm. The actuator coordinate system {E} is fixed to the actuator of the mobile station and rotates with the actuator. The origin can be located at the center P of the actuator (for example Figure 3 At the center P) of the annular structure of the actuator 350 shown, Orthogonal to the plane of the actuator's ring structure, Direction Figure 3 In some embodiments, point T may be a point that coincides with the center P of the annular structure of the actuator carried by the end of the suit arm, as shown in FIG. Figure 3 The actuator coordinate system {E} and the suit arm end coordinate system {T} may have a predetermined transformation relationship. The reference coordinate system {w} may be a coordinate system of the space where the mobile station or surgical robot is located, such as a world coordinate system, such as Figure 3 As shown. It can be understood that for the sake of clarity, Figure 3 In the figure, the arm base coordinate system {M} is shown as being separated from the support, the arm end coordinate system {T} is shown as being separated from the point T, and the actuator coordinate system {E} and the center P of the ring structure of the actuator 350 are shown as being separated, but they are coincident. It can be understood that the origin T of the arm end coordinate system {T} can also be located at the end of the arm (e.g., the end arm 334).

[0029] In some embodiments, the base may include a plurality of wheels and at least one first driving device (eg, Figure 1 For example, Figure 3 As shown, the base 310 may be provided with a plurality of wheels 311 at the bottom, for example, four wheels 311, and at least one first driving device (not shown in the figure) may be connected to the wheels 311. In some embodiments, the first driving device may include a motor, which drives the wheels 311 to rotate under the control of a control device (not shown in the figure) so that the base 310 moves relative to the ground. In some embodiments, the wheels 311 may be active omni-directional wheels, for example, continuously switching wheels (Omni Wheel) or Mecanum wheels (Mecanum Wheel). In this way, the base 310 can achieve omnidirectional movement under the control of the control device.

[0030] In some embodiments, at least one suit arm may include at least one suit arm joint and at least one second driving device (eg, Figure 1In some embodiments, the suit arm 330 may include a suit arm with multiple degrees of freedom composed of a plurality of suit arm joints. For example, the suit arm 330 may include a plurality of arm bodies, suit arm joints corresponding to the plurality of arm bodies, and a second driving device for driving the suit arm joints. The suit arm 330 may be connected to the base 310 at a proximal end (e.g., an end close to the base 310), and may include a suit arm end at a distal end (e.g., an end away from the base 310) for setting the actuator 350.

[0031] In some embodiments, Figure 3 As shown, the suit arm 330 may include a support 331, and the support 331 may be disposed on the base 310 to support the suit arm 330. In some embodiments, the mobile station 300 may include a plurality of suit arms 330, and the plurality of suit arms 330 may be connected to the base 310 through respective supports 331, or the plurality of suit arms 330 may be coaxially connected to the base 310 through one support 331. In some embodiments, as Figure 3 As shown, the suit arm 330 also includes a vertical arm 332 and a vertical arm rotation joint as a suit arm joint. The proximal end of the vertical arm 332 is rotatably connected to the support 331 through the vertical arm rotation joint to rotate relative to the support 331 around the rotation axis of the vertical arm rotation joint (for example, an axis perpendicular to the horizontal plane). In some embodiments, the vertical arm 332 may also include a linear motion joint as a suit arm joint to adjust the length of the vertical arm 332. In some embodiments, as Figure 3 As shown, the suit arm 330 may also include at least one swing arm 333 and a swing arm rotating joint as a suit arm joint. The proximal end of at least one swing arm 333 is rotatably connected to the distal end of the vertical arm 332 through the swing arm rotating joint, so that the swing arm 333 rotates relative to the vertical arm 332 around the rotation axis of the swing arm rotating joint (for example, an axis parallel to the horizontal plane). In some embodiments, the suit arm 330 may also include a terminal arm 334 and a terminal arm rotating joint as a suit arm joint. The proximal end of the terminal arm 334 is rotatably connected to the distal end of the swing arm 333 through the terminal arm rotating joint, so that the terminal arm 334 rotates relative to the swing arm 333 around the rotation axis of the terminal arm rotating joint (for example, an axis coinciding with the axis of the swing arm 333). In some embodiments, a second driving device (not shown in the figure) may be provided in each suit arm joint of at least one suit arm 330, and the second driving device may include a motor, which drives the corresponding suit arm joint to rotate or move linearly under the control of the control device, so that the suit arm 330 moves along the motion path in the space to achieve the sheathing operation of the protective cover, and the specific content will be described later. It should be understood that the structure of the suit arm 330 is not limited to the above structure, as long as it is a robotic arm with multiple degrees of freedom composed of multiple joints, it does not deviate from the scope of the present disclosure.

[0032] In some embodiments, Figure 3 As shown, the actuator 350 can be disposed at the end of at least one set arm 330, for example, disposed on the end arm 334, and moves with the end arm 334 to maintain the opening of the protective sleeve (for example, Figure 5 The protective cover 500 is shown with an opening 511 ).

[0033] Figure 4 FIG. 4 is a schematic diagram showing the structure of an actuator 400 according to some embodiments of the present disclosure. Figure 4 As shown, the actuator 400 may include an actuator body 410 and an actuator portion 420 disposed on the actuator body 410. The actuator body 410 may be disposed at the end of at least one set arm, for example, Figure 3 The arm 330 is shown mounted on the end arm 334 .

[0034] In some embodiments, the actuator 420 may be disposed at the distal end of the actuator body 410. In some embodiments, the actuator 420 may be an annular structure, which may be used to maintain the opening of the protective sleeve (eg, 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 or Figure 7 Motion arm 720 shown).

[0035] 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 5As shown, the protective cover 500 may include a protective cover body 510, and an opening 511 is formed at at least one 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 can be folded inward or outward 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, multiple accommodating channels 515 may be formed at intervals along the circumference of the opening 511. The fastener 520 may extend along multiple accommodating channels 515, and the two ends may be exposed at the gap between 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 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 in detail later.

[0036] In some embodiments, Figure 4 As shown, the actuator 420 of the actuator 400 may include a first actuator 421a and a second actuator 421b that can cooperate with the first actuator 421a. Figure 4 As shown, the actuator 420 may include a first actuator 421a and a second actuator 421b, each of which is formed into a roughly semi-circular shape. The first actuator 421a and the second actuator 421b may be disposed at the distal end of the actuator body 410 with their openings facing each other, thereby forming a ring-shaped structure with a cavity in the middle. In this way, the actuator 420 may open the opening 511 of the protective cover 500 to form a shape roughly the same as the cavity of the ring-shaped structure while maintaining the opening 511 of the protective cover 500, 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.

[0037] In some embodiments, the first actuator 421a and / or the second actuator 421b may be configured to rotate relative to the actuator body 410 so that the actuator 420 switches between an open state and a closed state. In the present disclosure, the closed state of the actuator 420 may refer to a state in which the first actuator 421a and the second actuator 421b are closed into a ring structure, for example Figure 4As shown. In the retracted state, the annular structure of the actuator 420 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 420 can refer to a state in which the distal ends of the first actuator 421a and the second actuator 421b are separated from each other so that the annular structure is opened circumferentially to form an opening. In the open state, the actuator 420 can allow at least a part of the surgical robot (for example, at least one moving arm) to separate from the actuator 400 through the opening of the annular structure. In some embodiments, the actuator may further include at least one third drive device (for example Figure 1 The third driving device shown in the figure is used to drive the actuator 420 to move. In some embodiments, the first actuator 421a can be configured to be pivotally disposed on the actuator body 410 at the proximal end, and the proximal end is coupled to the third driving device. The third driving device can drive the proximal end of the first actuator 421a to drive the first actuator 421a to rotate around the axis of the proximal end, so that the distal end of the first actuator 421a approaches or moves away from the distal end of the second actuator 421b opposite to the first actuator 421a, so that the actuator 420 switches between the open state and the retracted state. It should be understood that in some embodiments, the second actuator 421b can also be configured to rotate relative to the actuator body 410. Alternatively, both the first actuator 421a and the second actuator 421b can be configured to rotate relative to the actuator body 410. The first actuator 421a and the second actuator 421b can rotate around the axis of their respective proximal ends under the drive of the third driving device, so that the actuator 420 switches between the open state and the retracted state. The third driving device may be, for example, a motor disposed in the actuator body 410, which drives the proximal end of the first actuator 421a and / or the second actuator 421b to rotate via a transmission mechanism (eg, gears or a transmission belt).

[0038] In some embodiments, the first actuator 421a may include a first groove 422a formed along the circumference for maintaining the first side of the opening of the protective cover, and the second actuator 421b may include a second groove 422b formed along the circumference for maintaining the second side of the opening of the protective cover. In some embodiments, the first groove 422a may be formed along the circumference of the first actuator 421a. For example, Figure 4As shown, the first groove 422a can extend from the proximal end of the first actuator 421a to the distal end along the circumferential direction, and notches are formed at both ends of the first actuator 421a. Similar to the first actuator 421a, the second groove 422b of the second actuator 421b can also be formed along the circumferential direction of the second actuator 421b, and notches are formed at both ends of the second actuator 421b. In some embodiments, the first groove 422a can be formed to allow a portion of the opening 511 of the protective cover 500 to be embedded in the groove to achieve the first side of the opening 511. The second groove 422b can be formed to allow another portion of the opening 511 to be embedded in the groove to achieve 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 420 can maintain and open the opening 511 in a retracted state, so that the opening 511 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 500 through the cavity. In some embodiments, a plurality of protrusions (not shown) may be formed on the inner walls of the first groove 422a and the second groove 422b. The plurality of protrusions may reduce the width of the groove in the radial direction to prevent the opening 511 from falling off from the groove.

[0039] In some embodiments, Figure 4 As shown, the accommodating channel 515 formed on the opening 511 of the protective cover 500 and at least a portion of the fastener 520 that runs through the accommodating channel 515 can be embedded in the first groove 422a, and one end of the fastener 520 can extend from the end of the first actuator 421a through the notch of the first groove 422a. The accommodating channel 515 and at least another portion of the fastener 520 can be embedded in the second groove 422b, and the other end of the fastener 520 can extend from the end of the second actuator 421b through the notch of the second groove 422b. In some embodiments, a first special-shaped groove 412a and a second special-shaped groove 412b can be formed on the actuator body 410. The first special-shaped groove 412a and the second special-shaped groove 412b can extend circumferentially along the side of the actuator body 410. Among them, the first special-shaped groove 412a can correspond to the first groove 422a, and is used to pass through one end of the fastener 520 extending from the end of the first actuator 421a. The second special-shaped groove 412b may correspond to the second groove 422b, and is used to pass the other end of the fastener 520 extending from the end of the second actuator 421b. In some embodiments, a clamping and winding mechanism (such as a clamping and winding mechanism 411a and 411b) for winding the fastener 520 may also be respectively provided in the first special-shaped groove 412a and / or the second special-shaped groove 412b, and the details are described later.

[0040] 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.

[0041] In the present disclosure, the mobile station further includes a control device (eg Figure 1 The control device 170 is used to control the mobile station to perform the installation of the protective cover. In some embodiments, the control device can be configured to control the movement of the base and / or at least one installation arm so that the actuator installs the protective cover on at least a part of the surgical robot. 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.

[0042] Figure 7 FIG. 7 is a schematic diagram showing the structure of a surgical robot 700 according to some embodiments of the present disclosure. Figure 2 and Figure 7 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 vertically extending from the base 711, and a beam 713 installed on the top of the column 712. The beam 713 may extend horizontally from the top of the column 712 perpendicular to the height direction of the base 711, and a pan-tilt platform 714 may be fixedly or rotatably provided at the end of the beam 713 to support the at least one moving arm 720. In some embodiments, the pan-tilt platform 714 may rotate relative to the end of the beam 713 to drive the at least one moving arm 720 to rotate as a whole, and adjust the angle of the at least one moving arm 720 relative to the robot body 710.

[0043] In some embodiments, the motion arm 720 may include a motion arm with multiple degrees of freedom composed of multiple joints. For example, the motion arm 720 may be connected to the pan-tilt head through a joint at the proximal end (e.g., the end close to the surgical robot), and may include a motion arm end at the distal end (e.g., the end away from the surgical robot). Figure 7As shown, the motion arm 720 may include a first cross arm 721 and a first rotation joint 7211. The proximal end of the first cross arm 721 is rotationally connected to the pan-tilt head 713 via the first rotation joint 7211, so that the first cross arm 721 rotates relative to the pan-tilt head 713 around the rotation axis of the first rotation joint 7211 (e.g., an axis perpendicular to the horizontal plane). In some embodiments, the surgical robot 700 may include a plurality of motion arms 720, for example, four motion arms 720. The plurality of motion arms 720 may be rotationally connected to the pan-tilt head 713 via their respective first rotation joints 7211, or the rotation axes of the first rotation joints 7211 of the plurality of motion arms 720 may be coaxially arranged. In some embodiments, as Figure 7 As shown, the motion arm 720 may further include at least one second cross arm 722 and a second rotation joint. The proximal end of the at least one second cross arm 722 is rotationally connected to the distal end of the first cross arm 721 through the second rotation joint, so that the second cross arm 722 rotates relative to the first cross arm 721 around the longitudinal axis. In some embodiments, as Figure 7 As shown, at least one motion arm 720 also includes a vertical arm 723 and a vertical arm rotation joint. The vertical arm 723 is connected to the distal end of the second horizontal arm 722 through the vertical arm rotation joint to rotate around the longitudinal axis relative to the distal end of the second horizontal arm 722. The vertical arm 723 may also include a linear motion joint to adjust the length of the vertical arm 723. In some embodiments, at least one motion arm 720 also includes an oblique arm 724 and an oblique arm rotation joint, wherein the proximal end of the oblique arm 724 is connected to the distal end of the vertical arm 723 through the oblique arm rotation joint, and the rotation axis of the oblique arm rotation joint can be angled relative to the longitudinal direction. In some embodiments, at least one motion arm 720 may also include a terminal arm 728. The terminal arm 728 may be a telecentric motion mechanism, which may include a movable arm connected in sequence through a plurality of movable joints to allow the distal end of the motion arm located at the end to rotate around the RCM (Remote Center of Motion).

[0044] In some embodiments, the control device may be configured to determine whether the surgical robot meets the conditions for installing the protective cover. In the present disclosure, the conditions for installing the protective cover may include that the configuration of at least one motion arm of the surgical robot matches a predetermined configuration of the motion arm. Figure 8 A schematic diagram showing the matching of a mobile station and a surgical robot according to some embodiments of the present disclosure is shown. Figure 8 The definition of the coordinate system is as follows: the motion arm matches the coordinate system {B}, the origin can be located at the end of the motion arm, coincides with the axis of the end arm of the moving arm and points to the end arm of the moving arm, Direction Figure 8 As shown. The robot base coordinate system {C}, the origin of which can be located on the robot body 710 of the surgical robot, It is consistent with the direction of the surgical robot or the direction of the beam extension line. Direction Figure 8 The reference coordinate system {w} can be the coordinate system of the space where the mobile station or surgical robot is located, such as the world coordinate system, as shown in Figure 8 As shown. It can be understood that for the sake of clarity, Figure 8 In the figure, the motion arm matching coordinate system {B} is shown as being separated from the end of the motion arm, and the robot base coordinate system {C} is shown as being separated from the robot body, but they are coincident.

[0045] In the present disclosure, the predetermined configuration of the motion arm may 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 may be an expanded configuration in which the joint values ​​of some or all joints of the motion arm are close to the upper limit of the joint value. Figure 8 As shown, the predetermined configuration of the motion arm 720 may be that the joint values ​​of the distal joints on the motion arm 720 are close to the upper limit of their joint values, so that the motion arm 720 is extended into a substantially straight configuration. 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.

[0046] In some embodiments, the predetermined configuration of at least one of the moving arms may correspond to a predetermined set path of the actuator. The predetermined set path of the actuator may include an actuator coordinate system (e.g., Figure 3 The path of the actuator coordinate system {E}) shown in FIG. 1 under the combined motion of the base and the sheathing arm. For example, the predetermined sheathing path may be a path with the origin at the center P of the actuator (e.g. Figure 3 The actuator 300 or Figure 4 The path that the actuator coordinate system {E} of the center P) of the actuator 400 shown in FIG. 4 passes through when performing the set operation, for example Fig. 9The predetermined package path 9520 is shown. In some embodiments, the predetermined package path can be based on a teaching path, which can be obtained by teaching the mobile station based on a predetermined configuration of at least one moving arm. In some embodiments, the teaching path can be taught by a teaching personnel through a teaching pendant or dragging teaching, etc., in the form of a package space formed by the opening of the protective cover held by the actuator along the teaching path that can accommodate the moving arm in a predetermined configuration. The specific content will be described later. Therefore, when the configuration of at least one moving arm matches the predetermined configuration, the mobile station can set the protective cover on the at least one moving arm along the predetermined package path corresponding to the predetermined configuration of the moving arm, and the specific content will be described later. It should be understood that the predetermined package path and the teaching path can have a shape roughly the same as the predetermined configuration of at least one moving arm, and the specific content will be described later. In some embodiments, the predetermined package path can also be obtained by pre-calculation.

[0047] In some embodiments, the control device may be configured to obtain the configuration of at least one moving arm of the surgical robot; and determine whether the configuration matches the predetermined configuration of at least one moving arm. In some embodiments, the control device may be configured to connect to the surgical robot to obtain a set of joint values ​​of multiple joints included in at least one moving arm (e.g., a one-dimensional matrix composed of these joint values). In some embodiments, the control device may be configured to obtain a set of joint values ​​of multiple joints corresponding to the predetermined configuration of the moving arm (e.g., read from the memory of the surgical robot or the mobile station), and compare the set of joint values ​​of at least one moving arm with the set of joint values ​​of the predetermined configuration to determine whether the configuration of at least one moving arm matches the predetermined configuration. In the present disclosure, the matching of the configuration of at least one moving arm with the predetermined configuration may include that each joint value in the set of joint values ​​of at least one moving arm is consistent with the corresponding joint value in the set of joint values ​​of the predetermined configuration or the difference is less than a threshold value. In some embodiments, at least one moving arm of the surgical robot may include multiple predetermined configurations suitable for sleeve protection. The control device may also be configured to determine whether the configuration of at least one moving arm matches at least one of the multiple predetermined configurations.

[0048] In some embodiments, the control device may be configured to control the mobile station to match the surgical robot and perform the operation of installing the protective cover in response to the configuration of at least one moving arm matching the predetermined configuration, which will be described in detail later. In some embodiments, the control device is further configured to generate a configuration adjustment signal instructing to adjust the configuration of at least one moving arm of the surgical robot in response to determining that the configuration of at least one moving arm does not match the predetermined configuration. After receiving the configuration adjustment signal, the surgical robot can adjust the moving arm to the predetermined configuration by driving the joint of the moving arm to rotate.

[0049] Fig. 9FIG. 1 is a schematic diagram showing a method of controlling a mobile station to perform a protective cover installation operation according to some embodiments of the present disclosure. Fig. 9 As shown, the motion path of the base 910 of the mobile station may include a matching path 9110 for matching the mobile station with the surgical robot and a predetermined base path 9120 for driving at least one set arm and an actuator to implement the sheathing operation of the protective sheath.

[0050] In some embodiments, the control device can be configured to determine a matching posture for matching the mobile station with the surgical robot based on the posture of the surgical robot or at least a part of the surgical robot located in the environment, and control the mobile station to move to the matching posture to achieve matching with the surgical robot. For example, the control device can determine the matching posture 9102 of the base 910 based on the posture of at least a part of the surgical robot, thereby controlling the base 910 to move along the matching path 9110 to the matching posture 9102 to achieve automatic matching between the mobile station and the surgical robot. In the present disclosure, the matching of the mobile station and the surgical robot includes the base of the mobile station being in place with a matching posture, and when at least one suit arm is in an initial suit configuration, the actuator of the mobile station is matched with at least one moving arm of the surgical robot, and the specific content is described later.

[0051] In some embodiments, the control device can be configured to obtain the posture of at least a portion of the surgical robot; determine the matching posture of the base based on the posture of at least a portion of the surgical robot; obtain the initial posture of the base; determine a matching path for the base based on the initial posture and the matching posture; and control the base to move to the matching posture based on the matching path.

[0052] In some embodiments, the control device may be configured to obtain the position and posture of at least a portion of the surgical robot based on the positioning information of the surgical robot. The position and posture of at least a portion of the surgical robot may include the position and posture of the robot body of the surgical robot or the position and posture of the end of at least one motion arm (for example, the position and posture of the motion arm matching coordinate system {B} relative to the reference coordinate system {w}). In some embodiments, the robot body (for example, Figure 2 or Figure 7 The robot body 710 shown) or at least one motion arm (e.g. Figure 2 or Figure 7 The robot positioning unit may be provided on the moving arm 720 shown in the figure. The robot positioning unit may provide positioning information for positioning at least a part of the surgical robot. The robot positioning unit may include at least one of an acoustic wave positioning unit, an electromagnetic positioning unit, and an optical positioning unit, and the positioning information may include at least one of acoustic wave positioning information, electromagnetic positioning information, and optical positioning information, and the like. In some embodiments, the mobile station (e.g., Figure 1 The mobile station 100 shown, Figure 2The mobile station 200 shown, Figure 3 The mobile station 300 shown in the figure may also include a positioning sensing unit. The positioning sensing unit may be used to sense the positioning information provided by the robot positioning unit. The control device 170 may be connected to the positioning sensing unit to determine the position and posture of the surgical robot based on the positioning information. Those skilled in the art will appreciate that the positioning sensing unit may be integrated into the mobile station (e.g., integrated into the control device 170), or may be separated from the mobile station, e.g. Figure 2 The positioning sensing unit 290 is shown. 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.

[0053] In some embodiments, the robot positioning unit may include at least one positioning tag. 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.

[0054] In some embodiments, the control device may be configured to determine the position and posture of at least a portion of the surgical robot based on the positioning image. The control device may perform image processing based on the positioning image of at least a portion of the surgical robot captured by the image acquisition device to determine the position and posture of the surgical robot. For example, at least one positioning tag may be provided on the surgical robot (the positioning tag may be, for example, Fig.10 The label shown is 1000 or Fig.11 ArUco identification 1100 shown), at least one positioning tag can be set on the pan / tilt platform of the surgical robot (for example, Figure 7 The pan / tilt head 713 shown) or the end of at least one moving arm (eg Figure 7 By identifying the positioning tag in the positioning image captured by the image acquisition device, the position and posture of at least a part of the surgical robot can be determined. In the present disclosure, the position and posture of the surgical robot may include the position and posture of the surgical robot in the environment.

[0055] Fig.10 FIG. 1 is a schematic diagram of a positioning tag 1000 according to some embodiments of the present disclosure. Fig.10 As shown, in some embodiments, the positioning tag 1000 may include multiple posture identifiers (in this disclosure, the "0" symbol represents the corner point of the posture identifier pattern) and multiple angle identifiers (in this disclosure, the "△" symbol represents the corner point of the angle identifier pattern) arranged side by side. The multiple posture identifier patterns 1011 may be the same or similar, and the multiple posture identifier pattern corner points are located in the multiple posture identifier patterns 1011. The multiple angle identifier patterns 1021-1026 may be different, and the multiple angle identifier pattern corner points are located in the multiple angle identifier patterns 1021-1026.

[0056] Each angle identifier may have a position association relationship with one of the posture identifiers. Fig.10 As shown, in the direction indicated by the arrow, some posture identifiers (such as posture identifier pattern 1011) and corresponding angle identifiers (such as angle identifier pattern 1021) are arranged along the arrow direction and have an interval distance d1. In the circumferential arrangement state, the tag 1000 becomes a tag with a spatial structure of a cylinder, and the position association relationship between each angle identifier and one of the posture identifiers may include the angle identifier and the posture identifier in the axial direction (such as Figure 7 Based on the axial correspondence, when the positions of one or more posture identifiers are known, the area where the angle identifier may exist can be determined by offsetting a certain distance (such as distance d1) along the axial direction. In some embodiments, the axial correspondence between the angle identifier and the posture identifier can be represented by the axial correspondence between the corner points of the angle identifier pattern and the corner points of the posture identifier pattern.

[0057] Those skilled in the art should understand that the positioning tag 1000 includes but is not limited to the above structure, and the positioning tag can also be configured as other structures. For example, the positioning tag can be configured to have multiple posture identification patterns and composite identification patterns distributed on the same pattern distribution belt, or the positioning tag can also be configured to have multiple different posture identification patterns distributed on the same pattern distribution belt.

[0058] In some embodiments, the positioning tag may also be an ArUco marker. Fig.11 FIG. 1 is a schematic diagram showing an ArUco marker 1100 according to some embodiments of the present disclosure. Fig.11As shown, the ArUco logo 1100 is a square logo with a black border, which may include a black border and a binary matrix (such as a QR code) distributed within the black border, and the binary matrix is ​​used to identify the unique ID of the logo. The ArUco logo 1100 has four corner points distributed at the four corners of the black border. In some embodiments, at least one set of ArUco logos may be provided on the surgical robot for capturing positioning images by an image acquisition device. Based on the positioning image including the ArUco logo 1100 captured by the image acquisition device, the position and posture of at least a portion of the surgical robot where the ArUco logo 1100 is located can be determined.

[0059] In some embodiments, the control device can be configured to determine the matching posture of the base of the mobile station based on the posture of the end of at least one moving arm of the surgical robot. For example, the control device can be configured to determine the matching posture of the base based on the matching relationship between the actuator and the end of at least one moving arm. The matching relationship between the actuator and the end of at least one moving arm can include that when the base of the mobile station is in place with a matching posture and at least one suit arm is in an initial suit configuration, the posture of the actuator (e.g., the posture of the actuator coordinate system {E} relative to the reference coordinate system {w}) matches the posture of at least one moving arm end (e.g., the posture of the moving arm matching coordinate system {B} relative to the reference coordinate system {w}), for example, the z-axis direction of the actuator coordinate system {E} can be consistent with the z-axis direction of the moving arm matching coordinate system {B}. In some embodiments, when the mobile station is matched with the surgical robot, the center P of the actuator (the origin of the actuator coordinate system {E}) coincides with or deviates from the predetermined distance of the end of at least one moving arm (the origin of the moving arm matching coordinate system {B}), and the posture of the actuator (e.g., the z-axis direction of the actuator coordinate system {E}) is consistent with the posture of the end of at least one moving arm (e.g., the z-axis direction of the moving arm matching coordinate system {B}), thereby allowing the actuator to cover the protective cover on the at least one moving arm along the predetermined covering path under the combined movement of the base and the covering arm. It should be understood that the matching relationship between the actuator and the end of at least one moving arm is not limited to the above matching relationship. For example, the matching relationship between the actuator and the end of at least one moving arm may also include that when the base of the mobile station is in place with a matching posture and at least one covering arm is in an initial covering configuration, the center P of the actuator coincides with the end of at least one moving arm, and the posture of the actuator is located in the zero direction (e.g., a direction parallel to the horizontal plane) or a preset posture with an angle between the actuator and the posture of the end of at least one moving arm being less than a threshold.

[0060] In the present disclosure, the initial suit configuration of at least one suit arm is a ready configuration for the mobile station to perform suit operations after the mobile station completes matching. When the base of the mobile station is in place with a matching posture, the actuator carried by the end of at least one suit arm in the initial suit configuration matches the end of at least one motion arm in a predetermined configuration. In some embodiments, the initial suit configuration of at least one suit arm can be a configuration in which at least one suit arm has a greater motion capacity when the origin T of the end coordinate system {T} is located at the matching height H of the actuator and the end of the motion arm (for example, the height of the end of at least one motion arm in a predetermined configuration). For example, the initial suit configuration of the suit arm can be a configuration when each joint of the suit arm is in the middle value of the respective motion range or close to the middle value. In some embodiments, as a ready configuration for a predetermined suit arm path, the initial suit configuration of the suit arm can correspond to the predetermined configuration of at least one motion arm. It should be understood that the initial suit configuration of at least one suit arm can be obtained in the process of precalculating the predetermined suit path, or generated by the teaching staff during the teaching process, and pre-stored in the memory of the mobile station.

[0061] like Figure 3 , Figure 8 and Fig. 9 As shown, the base 910 of the mobile station reaches the matching posture 9102 along the matching path 9110, at least one suit arm is in the initial suit configuration 9302, and the actuator coordinate system {E} with its origin at the center P of the actuator matches the posture of the motion arm matching coordinate system {B} with its origin at the end of at least one motion arm in the reference coordinate system {w}. Thus, the control device can determine the posture of the actuator coordinate system {E} relative to the reference coordinate system {w} based on the posture of the motion arm matching coordinate system {B} relative to the reference coordinate system {w} and the matching relationship between the actuator and at least one motion arm end, determine the posture of the suit arm end coordinate system {T} relative to the reference coordinate system {w} based on the transformation relationship between the actuator coordinate system {E} and the suit arm end coordinate system {T}, determine the posture of the suit arm base coordinate system {M} relative to the reference coordinate system {w} based on the posture of the suit arm end coordinate system {T} relative to the reference coordinate system {w} and the initial suit configuration 9302 of at least one suit arm, and determine the posture of the mobile station base coordinate system {V} relative to the reference coordinate system {w} based on the posture of the suit arm base coordinate system {M} relative to the reference coordinate system {w} and the transformation relationship between the suit arm base coordinate system {M} and the mobile station base coordinate system {V} as the matching posture 9102 of the base of the mobile station. In some embodiments, the actuator is fixedly mounted on the end arm (e.g., end arm 334) of at least one suit arm, and the actuator coordinate system {E} and the suit arm end coordinate system {T} have a predetermined transformation relationship. Similarly, the transformation relationship between the suit arm base coordinate system {M} and the mobile station base coordinate system {V} can be predetermined, for example, the support of at least one suit arm (e.g., Figure 3 The support 331 shown can be fixedly arranged on the base of the mobile station, and the suit arm base coordinate system {M} and the mobile station base coordinate system {V} have a predetermined transformation relationship.

[0062] In some embodiments, the control device may be configured to obtain an initial pose of the base of the mobile station, e.g. Fig. 9 The initial posture 9101 is shown. In some embodiments, the initial posture of the base can be predetermined and pre-stored in the memory of the mobile station. For example, the mobile station can be parked at a predetermined position in the environment, such as a storage area of ​​the mobile station, in a predetermined posture. After receiving the operation instruction, the mobile station starts from the predetermined initial posture and performs the installation operation of the protective cover. In the present disclosure, the initial posture of the base can include the initial position and initial posture of the base of the mobile station in the environment.

[0063] In some embodiments, similar to the surgical robot, the mobile station may further include a mobile station positioning unit, which may provide positioning information for positioning the mobile station. In some embodiments, the positioning information may be provided by a positioning sensing unit (e.g. Figure 2 The positioning sensing unit 290 shown in the figure performs sensing by signal sensing and / or image acquisition. The control device can be configured to determine the initial position of the base based on the positioning information of the positioning unit of the mobile station.

[0064] In some embodiments, the control device may also be configured to determine the initial position of the base through image processing and / or signal sensing. In some embodiments, the mobile station may include an image acquisition device and / or a sensing device, wherein the image acquisition device may be, for example, a monocular camera, a binocular camera, a monocular structured light camera, a binocular structured light camera, a TOF camera, etc., and the sensing device may be, for example, an odometer, a compass, an accelerometer, an ultrasonic sensor, a laser rangefinder, a laser radar, etc. In some embodiments, the mobile station may establish an environmental model based on the information provided by the image acquisition device and / or the sensing device it carries, and construct an incremental map by continuously generating a local map, thereby determining the initial position of the base in the map.

[0065] In some embodiments, the control device may be configured to generate a matching path for the base based on the initial pose and the matching pose of the base, e.g. Fig. 9The matching path 9110 is shown. For example, the control device can determine the matching path for the base through path planning based on the initial position and target position of the base. Path planning may include static path planning and dynamic path planning. For example, path planning may include Dijkstra algorithm, AStar algorithm, DStar (DynamicAStar, dynamic A star) algorithm, spline curve fitting method, etc. In some embodiments, the control device may also determine the matching path for the base based on an intelligent path planning method, and the intelligent path planning method includes, for example, a path planning method based on swarm intelligence (such as a genetic algorithm, an ant colony algorithm, etc.) and a path planning method based on machine learning (such as a neural network algorithm, a reinforcement learning algorithm, etc.).

[0066] In some embodiments, the control device can generate a matching path for the base based on the environment map of the environment, the initial position and matching position of the base. For example, the environment map of the environment can be determined based on pre-input environment information (such as a structural diagram of the environment). Alternatively, a grid map including the global environment or the local environment can be constructed based on the environment image captured by the image acquisition device.

[0067] In some embodiments, the control device may also generate a matching path for the base by a curve fitting method based on a global map or a local map of the environment and the initial pose and matching pose of the base. In some embodiments, a matching path for the base may be generated by a spline curve fitting method. For example, a matching path from the initial pose of the base to the matching pose may be generated by quadratic spline curve fitting or cubic spline curve fitting.

[0068] In some embodiments, the control device may optimize the matching path for the base based on the path optimization condition. In some embodiments, the path optimization condition may include at least one of the following: environmental information of the environment in which the mobile station is located, position priority constraints, the configuration of at least one suit arm, etc. In some embodiments, the environmental information may include an environmental map, such as the distribution, type, size of objects in the environment, and the length and width of the channel. The position priority constraint may include the initial posture space of the base, such as the mobile station needs to enter the environment from the outside through a channel (such as the entrance of an operating room or laboratory) in a certain type of specific posture.

[0069] In some embodiments, the control device may be configured to control the mobile station to move to a matching posture based on the matching path. Fig. 9As shown, the control device can control the base 910 to move to the matching posture 9102 based on the matching path 9110. For example, the control device can control the mobile station to move to the matching posture by using control methods such as feedback control, anti-disturbance control, adaptive control, robust control, and sliding mode control to meet the real-time, robust, and driving stability requirements of the mobile station.

[0070] In some embodiments, the control device may be configured to track the actual path of the mobile station and control the mobile station to return to the matching path when the actual path deviates from the matching path. In some embodiments, the control device may control the mobile station to move along the matching path to the matching posture based on the first positioning information. For example, the control device may determine the current posture of the mobile station based on the first positioning information to track the actual path of the mobile station.

[0071] In some embodiments, the control device can be configured to control the mobile station to compare the current posture of the mobile station with the intermediate posture on the matching path during driving, and determine whether the actual path of the mobile station deviates from the matching path based on the difference between the current posture and the intermediate posture, and control the mobile station to return to the matching path through a PID (Proportional Integral Derivative) control algorithm.

[0072] In some embodiments, the control device may also be configured to determine whether the mobile station meets the conditions for setting up the protective cover. In the present disclosure, the conditions for setting up the protective cover may also include that the configuration of at least one set arm of the mobile station matches the initial set configuration of the set arm. In some embodiments, the control device may be configured to obtain a predetermined configuration of at least one moving arm of the surgical robot, and based on the predetermined configuration of at least one moving arm, determine whether the configuration of at least one set arm matches the initial set configuration of the set arm corresponding to the predetermined configuration of at least one moving arm. In some embodiments, the control device may be configured to obtain a set of joint values ​​of multiple joints included in at least one set arm (e.g., a one-dimensional matrix composed of these joint values), obtain a set of joint values ​​of multiple joints corresponding to the initial set configuration of the set arm (e.g., read from the memory of the mobile station), and compare the set of joint values ​​of at least one set arm with the set of joint values ​​of the initial set configuration to determine whether the configuration of at least one set arm matches the initial set configuration. It should be understood that the control device may be configured to detect whether the mobile station meets the conditions for setting up the protective cover at the initial posture, but is not limited thereto. The control device may also be configured to detect whether the mobile station meets the protective cover installation conditions during the process in which the base of the mobile station moves along the matching path to the matching posture.

[0073] In some embodiments, the control device is further configured to generate a configuration adjustment signal instructing to adjust the configuration of at least one suit arm of the mobile station in response to determining that the configuration of at least one suit arm does not match the initial suit configuration. After receiving the configuration adjustment signal, the mobile station can adjust the suit arm to the initial suit configuration by driving the joint rotation of the suit arm. In some embodiments, the control device can be configured to control the at least one suit arm to adjust the configuration at the initial posture or the matching posture when the configuration of at least one suit arm does not match the initial suit configuration. Alternatively, the control device can also be configured to control the at least one suit arm to adjust the configuration during the movement of the base of the mobile station along the matching path to the matching posture.

[0074] In some embodiments, the control device may be configured to control the mobile station to cover at least a portion of the surgical robot with a protective cover after the mobile station is matched with the surgical robot. In some embodiments, the control device may be configured to control the base and / or at least one cover arm to move based on a predetermined cover path of the actuator, so that the actuator covers the protective cover on at least one moving arm of the surgical robot along the predetermined cover path. The predetermined cover path may include a predetermined base path for the base and a predetermined cover arm path for at least one cover arm.

[0075] In some embodiments, the predetermined sheathing path may be based on a taught path, which may be a path that the actuator travels under the combined motion of the base and the sheathing arm during the teaching process. Figure 8 or Fig. 9 As shown, during the teaching process, the teaching personnel can control the movement of the mobile station and / or at least one set arm by teaching with a teaching pendant or dragging teaching, so that the actuator matches the end of the motion arm used for teaching, and the configuration of at least one set arm in the matching state is used as the initial set configuration of at least one set arm. In some embodiments, the teaching personnel can obtain the teaching path for the mobile station by teaching in the matching state of the actuator and the end of the motion arm used for teaching. For example, the teaching personnel can control the movement of the base and / or at least one set arm by teaching with a teaching pendant or dragging teaching, so that the center P of the actuator passes through the axis of each arm body of the motion arm in the predetermined configuration, and / or the set space formed by the opening of the protective cover held by the actuator accommodates the motion arm in the predetermined configuration until the actuator moves to the proximal end of at least one motion arm, thereby obtaining the teaching path.

[0076] In some embodiments, the teaching path may include a predetermined base teaching path corresponding to a predetermined base path of the base and a predetermined set arm teaching path corresponding to a predetermined set arm path of at least one set arm. In some embodiments, the teaching base path and / or the teaching set arm path may include a plurality of discrete path points. The plurality of discrete path points may be interpolated to generate a continuous teaching base path and / or teaching set arm path by a fitting method. In some embodiments, the teaching base path and / or the teaching set arm path may be optimized based on a path optimization condition to obtain a continuous and smooth teaching path. The path optimization condition may include at least one of the following: a kinematic model of the base, a kinematic model of at least one set arm, the teaching path being continuous at a position corresponding to a joint of the motion arm, etc.

[0077] In some embodiments, a first control signal sequence corresponding to a predetermined base path of the base can be generated based on a predetermined base teaching path in the teaching path and a kinematic model of the base, and the first control signal sequence can be used to control at least one first driving device on the base. In addition, the control device can generate a second control signal sequence corresponding to a predetermined set arm path of at least one set arm based on a predetermined set arm teaching path in the teaching path and a kinematic model of at least one set arm, and the second control signal sequence can be used to control at least one second driving device on at least one set arm. 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 at least one set arm. It should be understood that the predetermined set path can also be obtained by pre-calculation, including a first control signal sequence corresponding to a predetermined base path of the base and a second control signal sequence corresponding to a predetermined set arm path of at least one set arm. In some embodiments, the first control signal sequence for the base and the second control signal sequence for at least one set arm can be pre-stored in the memory of the mobile station.

[0078] In some embodiments, the control device is further configured to control at least one first driving device to move the base along a predetermined base path, and control at least one second driving device to move at least one set arm along a predetermined set arm path, so that the set space formed by the opening of the protective cover along the predetermined set path accommodates the at least one moving arm. Fig. 9 As shown, the control device can control at least one first drive device (for example Figure 1 The first drive device shown in the figure moves the base 910 along the predetermined base path 9120, and controls at least one second drive device (for example Figure 1The second driving device shown in the figure makes at least one suit arm move along a predetermined suit arm path, so that the center P of the actuator moves along the predetermined suit path 9520 under the combined movement of the base and the suit arm, and the protective cover is set on at least one moving arm of the surgical robot in the form of a suit space A formed by the opening of the protective cover held by the actuator along the predetermined suit path 9520 to accommodate at least one moving arm. It can be understood that for the sake of clarity, Fig. 9 Only a portion of the set space A is shown.

[0079] In some embodiments, the control device is further configured to control at least one second driving device to adjust the end arm (eg, Figure 3 The posture of the end arm 334 shown in the figure makes the normal direction of the plane where the opening of the protective sleeve held by the actuator is located tangent to the predetermined sleeve path. Fig. 9 As shown, the control device can control the second driving device to keep the z-axis of the actuator coordinate system {E} tangent to the predetermined suit path when the center P of the actuator moves along the predetermined suit path 9520. Thus, the normal direction of the plane where the opening of the protective cover is located (the z-axis direction of the actuator coordinate system {E}) 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.

[0080] 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 8 The protective cover 500 is shown mounted on the moving arm 720 .

[0081] In some embodiments, the actuator body may further include at least one clamping and winding mechanism and at least one force sensor. Figure 4 As shown, the actuator body 410 may include a first clamping and winding mechanism 411a and a second clamping and winding mechanism 411b. The first clamping and winding mechanism 411a and the second clamping and winding mechanism 411b may be used to clamp and wind a fastener (eg, Figure 5 In some embodiments, the first clamping and winding mechanism 411a and the second clamping and winding mechanism 411b may be disposed on opposite sides of the actuator body 410, for example, respectively disposed in the first special-shaped groove 412a and the second special-shaped groove 412b formed on the actuator body 410. Figure 4 and Figure 5As shown, when the actuator 400 holds the opening 511 of the protective cover 500, one end of the fastener 520 can extend from the end of the first actuator 421a and pass through the first special-shaped groove 412a to be clamped on the first clamping and winding mechanism 411a. Similarly, the other end of the fastener 520 can extend from the end of the second actuator 421b and pass through the second special-shaped groove 412b to be clamped on the clamping and winding mechanism 411b. In some embodiments, the actuator body 410 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 411a and / or the second clamping and winding mechanism 411b to measure the tension of the fastener 520. In some embodiments, the first clamping and winding mechanism 411a and / or the second clamping and winding mechanism 411b may wind one end of the fastener 520 in a clamped state to tension the fastener 520 in the annular groove formed by the first groove 422a and the second groove 422b.

[0082] 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 at least one set arm to move away from the surgical robot. In some embodiments, as Figure 4As shown, the control device can also be configured to control the first actuator 421a and / or the second actuator 421b of the actuator 420 to rotate relative to the actuator body 410 after completing the installation of the protective cover, so that the annular structure of the actuator 420 opens circumferentially to release the opening 511 of the protective cover 500. In some embodiments, when the actuator 420 continues to open, causing the diameter of the annular structure to be larger than the opening 511 of the protective cover 500, or when the friction force provided by the first groove 422a and the second groove 422b is insufficient to limit the opening 511 of the protective cover 500, the protective cover 500 will fall off the actuator 420. 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 the actuator 420 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 411a and / or the second clamping and winding mechanism 411b 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 411a and the second clamping and winding mechanism 411b 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 at least one set arm to move away from at least one moving arm of the surgical robot in the radial direction after tightening the opening 511 of the protective cover 500, so that at least one moving arm passes through the opening formed on the annular structure of the actuator 420, and control the base to move away from the surgical robot.

[0083] 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.

[0084] In some embodiments, Figure 4 As shown, the actuator body 410 also includes a clamping portion 413. The clamping portion 413 is used to accommodate the locking member 530 of the protective cover 500. The clamping portion 413 can be configured to switch the locking member 530 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 by clamping or releasing the locking member 530. In some embodiments, the clamping portion 413 can also include at least one push button 414, and the locking member 530 can be clamped or released by driving the push button 414. It should be understood that the structure of the clamping portion 413 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.

[0085] 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 pressing key 414 to always press the pressing cover of the locking member 530 so that the locking member 530 remains in a released state. In some embodiments, the control device can also be configured to control the first clamping and winding mechanism 411a and / or the second clamping and winding mechanism 411b 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 pressing key 414 of the clamping portion 413 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 can also be configured to control at least one 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, so that at least one moving arm passes through the opening formed on the annular structure of the actuator 420, and control the base to move away from the surgical robot.

[0086] The present disclosure also provides a robot system, Fig.12 FIG. 1 is a schematic diagram of a robot system 1200 according to some embodiments of the present disclosure. Fig.12, the robot system 1200 may include a mobile station 1210, a robot 1230, a positioning sensing unit 1250, and a control system 1270. In some embodiments, the mobile station 1210 may include a base 1211, at least one suit arm 1213 disposed on the base 1211, and an actuator 1215 disposed at the end of at least one suit arm 1213. In some embodiments, the mobile station 1210 may further include a control device not shown.

[0087] The robot 1230 may include at least one moving arm 1232. The positioning sensing unit 1250 may be used to provide positioning information to indicate the position of the robot 1230 and / or the mobile station 1210. The control system 1270 is configured to communicate with the mobile station 1210, the robot 1230, and the positioning sensing unit 1250 to control the mobile station 1210 to put the protective cover on the at least one moving arm 1232 of the robot 1230 based on the positioning information. The control system 1270 may be separated from the mobile station 1210, or may be included in the mobile station 1210 as a control device of the mobile station 1210. In some embodiments, the mobile station 1210 may be, for example, any one of the mobile stations 100, 200, and 1100 described above.

[0088] 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 use in a protective case, characterized in that: include: a base, movable relative to the ground; At least one set arm is disposed on the base; an actuator, disposed at a distal end of the at least one set arm, for maintaining an opening of the protective sleeve; as well as A control device is connected to the base, the at least one suit arm and the actuator, and is configured to control the movement of the base and / or the at least one suit arm so that the actuator 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 also configured as: Obtaining a position and posture of at least a portion of the surgical robot; Determining a matching posture of the base based on a posture of at least a portion of the surgical robot; Obtaining an initial position of the base; Determining a matching path for the base based on the initial pose and the matching pose; as well as Based on the matching path, the base is controlled to move toward the matching posture.

3. The mobile station according to claim 2, characterized in that The control device is also configured to determine the matching posture of the base based on the posture of at least a part of the surgical robot, the matching relationship between the actuator and at least a part of the surgical robot, and the initial suit configuration of the at least one suit arm, wherein the matching relationship includes that when the base is in the matching posture and the at least one suit arm is in the initial suit configuration, the posture of the actuator matches the posture of at least a part of the surgical robot.

4. The mobile station according to claim 1, characterized in that The control device is also configured as: obtaining a configuration of at least one moving arm of the surgical robot; and A determination is made as to whether the configuration matches a predetermined configuration of the at least one moving arm.

5. The mobile station according to claim 4, characterized in that The control device is also configured to generate a configuration adjustment signal instructing to adjust the configuration of the at least one motion arm of the surgical robot in response to determining that the configuration does not match the predetermined configuration of the at least one motion arm.

6. The mobile station according to claim 1 or 2, characterized in that: The control device is also configured as: Based on a predetermined sheathing path of the actuator, the base and / or the at least one sheathing arm are controlled to move so that the actuator sheathes the protective cover on the at least one moving arm of the surgical robot along the predetermined sheathing path, wherein the predetermined sheathing path corresponds to a predetermined configuration of the at least one moving arm, including a predetermined base path for the base and a predetermined sheathing arm path for the at least one sheathing arm.

7. The mobile station according to claim 6, characterized in that The predetermined set path is based on a taught path obtained by teaching the mobile station based on a predetermined configuration of the at least one motion arm.

8. The mobile station according to claim 6, characterized in that The base includes a plurality of wheels and at least one first driving device for driving the plurality of wheels; The at least one suit arm comprises at least one suit arm joint and at least one second driving device for driving the at least one suit arm joint; The control device is also configured to control the at least one first driving device to move the base along the predetermined base path, and to control the at least one second driving device to move the at least one suit arm along the predetermined suit arm path, so that the suit space formed by the opening of the protective cover along the predetermined suit path accommodates the at least one moving arm.

9. The mobile station system according to claim 6, characterized in that: The at least one sheathing arm comprises a distal arm for setting the actuator, The control device is also configured to control the at least one second driving device to adjust the posture of the end arm when the at least one suit arm moves along the predetermined suit arm path, so that the normal direction of the plane where the opening of the protective cover held by the actuator is located is tangent to the predetermined suit path.

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

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 control device is also configured as: After the protective cover is covered on at least a portion of the surgical robot, the actuator is controlled to switch from the retracted state to the open state to release the opening of the protective cover; Controlling the at least one clamping and winding mechanism to wind at least one end of the fastener so that the fastener slides relative to the at least one accommodating channel to tighten the opening of the protective sleeve; In response to a measurement value of the at least one force sensor exceeding a threshold value, controlling the at least one clamp winding mechanism to release at least one end of the fastener; as well as The base and / or the at least one suit arm are controlled to move away from the surgical robot.

15. The mobile station according to claim 14, 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.

16. The mobile station according to claim 15, characterized in that The control device is also configured as: Controlling the clamping portion to clamp the locking member so that the locking member is in the released state; Controlling the at least one clamping and winding mechanism to wind at least one end of the fastener so that the fastener slides relative to the locking member; as well as In response to the measurement value of the at least one force sensor exceeding a threshold value, the clamping portion is controlled to release the locking member so that the locking member switches to the locking state.

17. A robot system comprising: A surgical robot comprising at least one motion arm; The mobile station according to any one of claims 1 to 16, comprising a base movable relative to the ground, at least one suit arm disposed on the base, and an actuator disposed at a distal end of the at least one suit arm; A positioning sensing unit, used to provide positioning information to indicate the position and posture of the surgical robot and / or the mobile station; as well as The control system is configured to be in communication with the mobile station, the surgical robot, and the positioning sensing unit, so as to control the mobile station to put a protective cover on the at least one moving arm based on the positioning information.

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