CN116269784A - Surgical robot system and scanning method thereof - Google Patents

Abstract

The invention provides a surgical robot system and a scanning method thereof, and relates to the technical field of robots. According to the invention, after the mechanical arm drives the surgical instrument assembly to reach the surgical position between the two connecting arms, the two rotating connecting arms can just avoid the mechanical arm, so that the connecting arms can rotate 360 degrees when the mechanical arm is positioned at the surgical position, and the position of the surgical instrument assembly in a surgical object body can be monitored.

Description

Surgical robot system and scanning method thereof

Technical Field

The invention relates to the technical field of robots, in particular to a surgical robot system and a scanning method thereof.

Background

The head operation is the related operation aiming at the head of a human body, and the more common head operation is brain trauma operation, craniotomy operation, head minimally invasive operation and the like. The traditional head operation needs doctors to use instruments such as a knife, a scissors, a needle and the like to operate on the head of a human body so as to remove pathological tissues and repair injuries, but the traditional head operation has the problems of large incision, great blood loss and the like. Recently, with the development of robot technology, surgical robot systems have been widely used, and the problems of large incision, blood loss and the like have been improved.

In order to realize the integration of surgical images, a C-arm CT (computed tomography) mechanism and a mechanical arm are generally integrated in the current surgical robot system, and the mechanical arm is designed above the CT mechanism, which can cause mutual interference between the mechanical arm in operation and the rotating arm of the CT mechanism in the rotating scanning process, so that the rotating arm of the CT mechanism cannot perform 360 ° scanning in the surgery.

Disclosure of Invention

The invention aims to solve the problems that a rotating arm of a CT mechanism in the current surgical robot system cannot scan 360 degrees in an operation and cannot monitor the position of a surgical instrument assembly in an operation object.

In order to solve the above problems, the present invention provides a surgical robot system comprising:

a robot body;

the scanning mechanism comprises a rotating seat and two connecting arms, wherein the rotating seat is rotatably arranged on the robot body around a first axis extending along the front-back direction, through holes extending along the first axis are formed in the rotating seat, and the rear ends of the two connecting arms are respectively connected to two sides of the rotating seat; and

the mechanical arm is arranged on the robot body, the front end of the mechanical arm penetrates through the through hole and extends between the two connecting arms, and a surgical instrument assembly is arranged at the front end of the mechanical arm.

Optionally, a mounting portion is formed on the top of the robot body, and a mounting hole extending along the first axis is formed in the mounting portion;

the rotating seat is arranged on the mounting part, so that the through hole is sleeved on the periphery of the mounting part;

the mechanical arm penetrates through the mounting hole.

Optionally, a bearing is disposed between the inner wall of the via hole and the mounting portion.

Optionally, the device further comprises a driving assembly for driving the rotating seat to rotate, the driving assembly comprises a driving motor, a gear and a gear ring which are meshed with each other, the driving motor is arranged on the mounting part, the gear is fixedly connected with an output shaft of the driving motor, and the gear ring is fixedly connected with the rotating seat.

Optionally, the scanning mechanism further includes a radiation source and a detector, where the radiation source and the detector are respectively disposed at front ends of the two connecting arms.

Optionally, the mechanical arm comprises a plurality of joint arms which are sequentially connected from back to front, and two adjacent joint arms can move relatively, wherein among the joint arms, the joint arm at the rear end is connected with the robot body, and the joint arm at the front end is connected with the surgical instrument assembly.

Optionally, a sliding rail extending along the first axis is formed on the robot body;

the plurality of articulated arms include first slide arm, first rocking arm, second rocking arm and second slide arm, first slide arm is followed the first axis extend and sliding fit in the slide rail, first rocking arm rotate connect in first slide arm, the second rocking arm rotate connect in first rocking arm, the second rocking arm rotate connect in the second rocking arm, the second slide arm with surgical instrument subassembly sliding connection.

Optionally, the robot body comprises a base, a lifting mechanism arranged on the base, and a mounting seat arranged on the top of the lifting mechanism;

the scanning mechanism and the mechanical arm are mounted on the mounting seat.

Optionally, the surgical instrument assembly comprises a connecting seat and an instrument frame, wherein the connecting seat is arranged at the front end of the mechanical arm, the instrument frame is detachably connected with the connecting seat, and the instrument frame is used for installing surgical tools.

Compared with the prior art, the surgical robot system provided by the invention has the following technical effects:

in the surgical robot system, the rotating seat of the scanning mechanism is rotatably arranged on the robot body around the first axis extending along the front-back direction, and the rear ends of the two connecting arms are respectively connected to the two sides of the rotating seat, so that the rotating seat can drive the two connecting arms to rotate when rotating so as to realize the rotating scanning of the scanning mechanism.

In addition, the invention also provides a scanning method of the surgical robot system, which is based on the surgical robot system and comprises the following steps:

controlling the mechanical arm to move so that the surgical instrument assembly reaches a preset surgical position between the two connecting arms;

the rotating seat of the scanning mechanism is controlled to rotate to drive the two connecting arms to rotate so as to perform rotary scanning of the scanning mechanism.

Compared with the prior art, the scanning method of the robot system provided by the invention has the following technical effects:

according to the scanning method, the rotation scanning of the scanning mechanism is carried out when the surgical instrument assembly performs the surgical operation, the common image of the surgical instrument assembly and the surgical object is established, the state of the surgical instrument assembly in the surgical object can be observed by utilizing the image, and therefore whether the relative position of the surgical instrument assembly and the surgical object is consistent with the preoperative planning is judged, so that an operator can more conveniently confirm whether the surgical instrument assembly completes the surgical object according to the expectation, the surgical image integration of the surgical process is facilitated, meanwhile, the pose of the surgical instrument assembly is judged without tracking by means of the binocular vision system, the configuration of the binocular vision system is saved, and the cost is lower.

Drawings

FIG. 1 is a schematic diagram of a surgical robotic system according to an embodiment of the present invention;

FIG. 2 is a schematic view of a portion of the surgical robotic system of FIG. 1;

FIG. 3 is a front view of the surgical robotic system of FIG. 2;

FIG. 4 is a schematic view of the robot body of the surgical robot system of FIG. 2, partially cut away;

FIG. 5 is a schematic view of the surgical robotic system of FIG. 4 from another perspective;

FIG. 6 is a schematic structural view of a robotic arm portion of the surgical robotic system of FIG. 1;

FIG. 7 is an exploded schematic view of an instrument assembly portion of the surgical robotic system of FIG. 1;

fig. 8 is a schematic workflow diagram of a surgical robotic system in accordance with an embodiment of the invention.

Reference numerals illustrate:

1-robot body, 11-mount, 111-mounting hole, 112-bearing, 12-slide rail, 13-base, 14-elevating mechanism, 15-mount, 2-scanning mechanism, 21-rotating mount, 211-via, 22-connecting arm, 23-ray source, 24-detector, 3-mechanical arm, 31-first slide arm, 32-first swivel arm, 33-second swivel arm, 34-second slide arm, 4-surgical instrument assembly, 41-connecting mount, 42-instrument rack, 43-surgical tool, 44-instrument motor, 45-instrument drill bushing, 5-drive assembly, 51-drive motor, 52-gear, 53-gear ring, 6-image display cart, 61-cart body, 62-display, 63-operating keyboard.

Detailed Description

In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.

In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "left", "right", "front", "rear", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

Moreover, the forward direction of the X axis in the drawing represents the front, and correspondingly, the reverse direction of the X axis represents the rear; the positive direction of the Y axis in the figure represents the right direction, and correspondingly, the negative direction of the Y axis represents the left direction; the positive direction of the Z axis represents the upper direction, and the negative direction of the Z axis represents the lower direction, and it should be noted that the foregoing X axis, Y axis and Z axis are meant only for convenience in describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

The terms "first" and "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The present invention provides a surgical robot system, and fig. 1 to 7 are embodiments of the surgical robot system provided by the present invention.

Referring to fig. 1, the surgical robot system includes a robot body 1, a scanning mechanism 2 and a mechanical arm 3, the scanning mechanism 2 includes a rotating base 21 and two connecting arms 22, the rotating base 21 is rotatably mounted on the robot body 1 around a first axis extending in a front-back direction, a through hole 211 extending along the first axis is formed on the rotating base 21, rear ends of the two connecting arms 22 are respectively connected to two sides of the rotating base 21, the mechanical arm 3 is disposed on the robot body 1, and a front end of the mechanical arm 3 passes through the through hole 211 and extends between the two connecting arms 22, and a surgical instrument assembly 4 for performing a surgical operation on a patient is disposed at a front end of the mechanical arm 3.

The scanning mechanism 2 is a CT mechanism, and has the main functions of rotating and scanning by X rays in the operation process in the operation robot system to provide data for three-dimensional reconstruction; the first axis is an axis extending along a front-back direction, and the specific direction of the front-back direction is not limited, and the front-back direction can be parallel to the X-axis direction shown in fig. 1 or can form a certain included angle with the X-axis direction shown in fig. 1, specifically, in this embodiment, the front-back direction is illustrated as being parallel to the Y-axis direction; the specific shape of the via hole 211 is not limited in the present invention, and may be a square hole, a round hole, etc., specifically, in this embodiment, the via hole 211 is a round hole; referring to fig. 1, two sides of the rotating seat 21 are left and right sides of the rotating seat 21; the main function of the robotic arm 3 in the surgical robotic system is to move the surgical instrument assembly 4 to a set surgical target point and adjust the pose of the surgical instrument assembly 4.

In the surgical robot system of the present invention, the rotating base 21 of the scanning mechanism 2 is rotatably mounted on the robot body 1 around the first axis extending in the front-rear direction, and the rear ends of the two connecting arms 22 are respectively connected to two sides of the rotating base 21, so that the rotating base 21 can drive the two connecting arms 22 to rotate when rotating, thereby realizing the rotation scanning of the scanning mechanism 2, in addition, the through hole 211 extending along the first axis is arranged on the rotating base 21, and the front end of the mechanical arm 3 passes through the through hole 211 and extends between the two connecting arms 22, thereby making the mechanical arm 3 not located in the rotating path of the two connecting arms 22, and after the mechanical arm 3 drives the surgical instrument assembly 4 to reach the surgical position between the two connecting arms 22, the two connecting arms 22 rotating can just dodge with the mechanical arm 3, so that the connecting arms 22 can rotate 360 ° when the mechanical arm 3 is located at the surgical position, thereby facilitating the monitoring of the position of the surgical instrument assembly 4 in the surgical object.

With continued reference to fig. 1, the scanning mechanism 2 further preferably includes a radiation source 23 and a detector 24, where the radiation source 23 and the detector 24 are respectively disposed at front ends of the two connecting arms 22.

In this embodiment, the radiation source 23 is used to release radiation, the detector 24 is used to collect light, and when the two connecting arms 22 drive the radiation source 23 and the detector 24 to rotate, the radiation source 23 and the detector 24 are combined to realize scanning of the patient and the mechanical arm 3, ensure accurate scanning data acquisition, and facilitate three-dimensional reconstruction.

Referring to fig. 2 and 3, preferably, a mounting portion 11 is formed at the top of the robot body 1, and a mounting hole 111 extending along the first axis is provided on the mounting portion 11; the through hole 211 is sleeved on the periphery of the mounting part 11; the mechanical arm 3 is inserted into the mounting hole 111.

The present invention does not limit the specific structure of the mounting portion 11, specifically, in the present embodiment, the mounting portion 11 is a mounting boss; the specific shape of the mounting hole 111 is not limited in the present invention, and the mounting hole 111 may be a square hole, a round hole, a triangular hole, or the like, and specifically, in this embodiment, the mounting hole 111 is a square hole.

Here, in this embodiment, by providing the mounting portion 11 with the mounting hole 111 on the robot body 1, and sleeving the through hole 211 of the rotating seat 21 on the outer periphery of the mounting portion 11, the mechanical arm 3 is threaded through the mounting hole 111, so that the scanning mechanism 2 and the mechanical arm 3 are integrated on the robot body 1 at the same time, and the structure is compact and the installation is convenient.

Referring to fig. 4 and 5, preferably, a bearing 112 is disposed between the inner wall of the via hole 211 and the mounting portion 11.

The specific type of the bearing 112 is not limited as long as the rotation of the rotation seat 21 on the mounting portion 11 can be achieved, and the bearing 112 may be a ball bearing or a roller bearing, and in particular, in the present embodiment, a ball bearing is exemplified.

Here, in the present embodiment, by providing the bearing 112 between the inner wall of the via hole 211 and the mounting portion 11, the rotation friction of the rotation seat 21 is made small, the rotation accuracy of the rotation seat 21 is improved, and the scanning effect of the scanning mechanism 2 is advantageously improved.

With continued reference to fig. 4 and 5, the surgical robot system preferably further includes a driving assembly 5 for driving the rotary base 21 to rotate, the driving assembly 5 includes a driving motor 51, and a gear 52 and a gear ring 53 that are meshed with each other, the driving motor 51 is disposed on the mounting portion 11, the gear 52 is fixedly connected to an output shaft of the driving motor 51, and the gear ring 53 is fixedly connected to the rotary base 21.

Here, in this embodiment, the driving motor 51 will drive the gear 52 to rotate after being started, the gear 52 will drive the gear ring 53 to rotate after rotating, and finally drive the rotating seat 21 to rotate, so as to realize the rotation of the scanning mechanism 2, and the driving motor 51 and the gear 52 of the driving assembly 5 can be installed at a position deviating from the first axis, so that the installation is easier, and the interference between the driving assembly 5 and the mechanical arm 3 is not easy to be caused.

With continued reference to fig. 4 and 5, the robot body 1 preferably includes a base 13, a lifting mechanism 14 disposed on the base 13, and a mounting base 15 disposed on the top of the lifting mechanism 14; the scanning mechanism 2 and the robot arm 3 are mounted on the mount 15.

Wherein, the lifting mechanism 14 is a mechanism capable of lifting and adjusting, and the lifting mechanism 14 is a conventional mechanism in the field and will not be described in detail here; the base 13 is also provided with a power module, a control module and a navigation module, wherein the power module, the control module and the navigation module are used for supplying power to the surgical robot system and serving as a standby power supply, the control module is used for controlling the whole surgical robot system to move, and the navigation module is used for guiding the mechanical arm 3 to move to reach a designated position.

Here, in the present embodiment, by providing the elevating mechanism 14 between the base 13 and the mount 15, the heights of the scanning mechanism 2 and the robot arm 3 are facilitated to be adjusted.

Preferably, the mechanical arm 3 comprises a plurality of joint arms which are sequentially connected from back to front, and the two adjacent joint arms can move relatively, among the plurality of joint arms, the joint arm at the rear end is connected with the robot body 1, and the joint arm at the front end is connected with the surgical instrument assembly 4.

Here, in this embodiment, the multiple articulated arms are combined to form the mechanical arm 3 with multiple degrees of freedom, and two adjacent articulated arms are movable (linear motion or rotational motion) relative to each other, so that the posture and position of the mechanical arm 3 can be adjusted, and the surgical instrument assembly 4 is driven to accurately reach the designated surgical target point according to the planned posture.

Of course, it should be noted that the mechanical arm 3 is not limited to the existing structural form and degree of freedom, and the number of degrees of freedom and the combination mode of the mechanical arm can be adjusted according to the use requirement.

Referring to fig. 6, the robot body 1 is preferably formed with a slide rail 12 extending along a first axis; the plurality of articulated arms includes a first slide arm 31, a first swivel arm 32, a second swivel arm 33, and a second slide arm 34, the first slide arm 31 extending along a first axis and slidably coupled to the slide rail 12, the first swivel arm 32 rotatably coupled to the first slide arm 31, the second swivel arm 33 rotatably coupled to the first swivel arm 32, the second slide arm 34 rotatably coupled to the second swivel arm 33, the second slide arm 34 slidably coupled to the surgical instrument assembly 4.

Here, in the present embodiment, by means of one degree of freedom between the first slide arm 31 and the slide rail 12, one degree of freedom between the first rotating arm 32 and the first slide arm 31, one degree of freedom between the second rotating arm 33 and the first rotating arm 32, one degree of freedom between the second slide arm 34 and the second rotating arm 33, one degree of freedom between the surgical instrument assembly 4 and the second slide arm 34, a five-degree-of-freedom mechanical arm 3 is formed, and the five degrees of freedom of the mechanical arm 3 can ensure that the surgical instrument assembly 4 reaches a specified surgical target point in a relatively complex movement path and a relatively accurate posture, thereby facilitating the smooth progress of the surgical operation and ensuring the surgical quality.

Referring to fig. 7, preferably, the surgical instrument assembly 4 includes a connection base 41 and an instrument holder 42, the connection base 41 is disposed at a front end of the mechanical arm 3, the instrument holder 42 is detachably connected to the connection base 41, and the instrument holder 42 is used for mounting a surgical tool 43.

The instrument rack 42 is a surgical instrument, and the main function in the surgical robot system is to perform a surgical operation, and the present invention is not limited to the specific type of the instrument rack 42, and the instrument rack 42 includes, but is not limited to: energy and non-energy instruments such as drilling and reaming instruments, milling instruments, planing instruments, scissors instruments, forceps instruments, ablation instruments and the like; accordingly, the surgical tool 43 is a drill and reamer surgical tool, a milling surgical tool, a planing surgical tool, scissors, a forceps tool, an ablation tool, or the like, which is also not limited herein.

For the specific implementation manner of the detachable connection, the invention is not limited, for example, the instrument rack 42 is in threaded connection with the connecting seat 41, for example, the instrument rack 42 is in snap connection with the connecting seat 41, and other manners can be adopted, and a detailed description is omitted here; similarly, the mounting manner of the surgical tool 43 on the instrument rack 42 is not limited, specifically, in this embodiment, an instrument motor 44 is disposed on the instrument rack 42, an output shaft of the instrument motor 44 is fixedly connected with an instrument drill sleeve 45, and the surgical tool 43 is a drill bit, and the drill bit is inserted into the instrument drill sleeve 45; specifically, the surgical instrument assembly 4 is made of a metal material, so that the requirement of scanning imaging of the scanning mechanism 2 is met, and the scanning positioning can be effectively realized by utilizing the characteristic that the X-rays cannot penetrate through the metal material.

Here, in the embodiment, the instrument rack 42 is detachably connected with the connecting seat 41, so that the instrument rack 42 is convenient to detach and replace, and the surgical instrument rack is better suitable for surgical scenes of different types of surgical instruments; the surgical tool 43 is detachably mounted on the instrument holder 42, so that tools with different specifications can be replaced conveniently.

The surgical robot system further comprises an image processing module, which is used for carrying out three-dimensional reconstruction according to the information provided by the scanning mechanism 2 and generating a three-dimensional reconstruction model, wherein the image processing module can generate the three-dimensional reconstruction model according to the information provided by the scanning mechanism 2 before operation, and can generate the three-dimensional reconstruction model according to the information provided by the scanning mechanism 2 during operation, the three-dimensional reconstruction model before operation is convenient for planning a surgical path and a scanning detection node, and the three-dimensional reconstruction model during operation can eliminate the artifact which weakens the appearance of the surgical instrument assembly 4 in the surgical object body, so that the final imaging effect of the three-dimensional reconstruction model can meet the requirement as the basis for confirming that the actual working position of the surgical instrument assembly 4 reaches the surgical requirement by an operator.

The surgical robot system further comprises an image display trolley 6, the image display trolley 6 comprises a trolley main body 61, a display 62 and an operation keyboard 63, the display 62 is arranged on the upper portion of the trolley main body 61 and used for displaying a three-dimensional reconstruction model, and the control keyboard is placed on a keyboard bracket in the middle of the trolley main body 61 and used for being operated by a surgeon to plan a surgical path and control the surgical robot system.

At present, most of surgical robot systems work independently of a scanning mechanism 2 and a mechanical arm 3, and detection navigation is realized by means of binocular vision. The binocular vision system can only judge the pose of the instrument through the external part of the surgical object, the actual state of the instrument in the surgical object can not be directly observed, whether the relative position of the instrument and the surgical object is consistent with the preoperative planning or not is difficult to judge, and the binocular vision system needs additional configuration, so that the cost of the surgical robot system is increased.

The invention also provides a scanning method of the surgical robot system, which is based on the surgical robot system, and comprises the following steps:

in step S100, the mechanical arm 3 is controlled to move so as to bring the surgical instrument assembly 4 to a predetermined surgical position between the two connecting arms 22.

The surgical instrument assembly 4 is moved to a preset surgical position between the two connection arms 22 for performing a surgical operation, specifically, the mechanical arm 3 is driven by the driving mechanism controlled by the control module, so that the relative linear motion or the rotational motion between the respective joint arms of the mechanical arm 3 is performed, thereby moving the surgical instrument assembly 4 to the preset surgical position. Thereafter, the surgical instrument assembly 4 may perform a surgical procedure.

In step S200, the rotation base 21 of the scanning mechanism 2 is controlled to rotate to drive the two connecting arms 22 to rotate, so as to perform the rotation scanning of the scanning mechanism 2.

The scanning operation in the operation is realized through step S200, specifically, the driving mechanism is controlled by the control module to drive the rotating seat to rotate, so as to drive the two connecting arms 22 to rotate, so that the radiation sources 23 on the two connecting arms 22 and the detector 24 are combined to perform the rotary scanning.

In the scanning method, the common image of the surgical instrument assembly 4 and the surgical object is established by performing the rotary scanning of the scanning mechanism when the surgical instrument assembly 4 performs the surgical operation, and the state of the surgical instrument assembly 4 in the surgical object can be observed by using the image, so that whether the relative position of the surgical instrument assembly 4 and the surgical object is consistent with the preoperative planning is judged, and therefore, the operator can more conveniently confirm whether the surgical instrument assembly 4 completes the surgical object according to the expectation, the surgical image integration of the surgical process is facilitated, and meanwhile, the pose of the surgical instrument assembly 4 is judged without tracking by means of a binocular vision system, so that the configuration of the binocular vision system is saved, and the cost is lower.

Fig. 8 is a schematic workflow diagram of a surgical robot system according to an embodiment of the present invention, and the detailed operation of the surgical robot system is described below with reference to fig. 8 to better understand the present invention.

Referring to fig. 8, first, the lifting mechanism 14 is adjusted to a proper height, and the mechanical arm 3 moves to an initial position of the working area; after the scanning mechanism 2 scans, the image processing module performs three-dimensional reconstruction according to the information provided by the scanning mechanism 2, and determines the operation position and the position of the operation instrument assembly 4; the operator plans an operation path and detection nodes according to the three-dimensional reconstruction image of the display; according to the operation path, the navigation module plans the motion trail and the pose of the mechanical arm 3 and the operation instrument assembly 4; the control module controls the driving mechanism to drive the mechanical arm 3, so that the surgical instrument assembly 4 moves to the position of the operation starting point and adjusts the posture of the instrument; after the scanning mechanism 2 scans again, the operator confirms that the pose of the surgical instrument assembly 4 meets the surgical path requirement according to the three-dimensional data reconstructed after the scanning mechanism scans; the surgical instrument assembly 4 enters a surgical path, when the surgical instrument assembly 4 works to reach a detection node, the scanning mechanism 2 starts scanning, and an operator confirms that the surgery reaches a node expected target according to the three-dimensional data reconstructed after the scanning mechanism 2 scans; the surgical instrument assembly 4 continues to work to complete the remaining node targets until reaching the final surgical node; finally, the scanning mechanism 2 scans, the operator confirms that the operation target is finished, the operation instrument assembly 4 is withdrawn, the mechanical arm 3 is reset, and the operation is finished.

Although the invention is disclosed above, the scope of the invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications will fall within the scope of the invention.

Claims (10)

1. A surgical robotic system, comprising:

a robot body (1);

the scanning mechanism (2) comprises a rotating seat (21) and two connecting arms (22), wherein the rotating seat (21) is rotatably arranged on the robot body (1) around a first axis extending along the front-back direction, a through hole (211) extending along the first axis is formed in the rotating seat (21), and the rear ends of the two connecting arms (22) are respectively connected to two sides of the rotating seat (21); and

the mechanical arm (3) is arranged on the robot body (1), the front end of the mechanical arm (3) penetrates through the through hole (211) and extends between the two connecting arms (22), and a surgical instrument assembly (4) is arranged at the front end of the mechanical arm (3).

2. Surgical robot system according to claim 1, characterized in that the top of the robot body (1) forms a mounting part (11), the mounting part (11) being provided with a mounting hole (111) extending along the first axis;

the through hole (211) is sleeved on the periphery of the mounting part (11);

the mechanical arm (3) penetrates through the mounting hole (111).

3. Surgical robot system according to claim 2, characterized in that a bearing (112) is arranged between the inner wall of the via (211) and the mounting part (11).

4. Surgical robot system according to claim 2, characterized in that it further comprises a driving assembly (5) for driving the rotation seat (21) to rotate, the driving assembly (5) comprising a driving motor (51), and a gear (52) and a gear ring (53) which are meshed with each other, the driving motor (51) being provided at the mounting portion (11), the gear (52) being fixedly connected to an output shaft of the driving motor (51), the gear ring (53) being fixedly connected to the rotation seat (21).

5. Surgical robotic system according to claim 1, characterized in that the scanning mechanism (2) further comprises a radiation source (23) and a detector (24), the radiation source (23) and the detector (24) being provided at the front ends of the two connecting arms (22), respectively.

6. Surgical robot system according to claim 1, characterized in that the robotic arm (3) comprises a plurality of articulated arms connected in sequence from back to front, and wherein the two adjacent articulated arms are relatively movable, wherein among the plurality of articulated arms, the articulated arm at the rear end is connected to the robot body (1) and the articulated arm at the front end is connected to the surgical instrument assembly (4).

7. Surgical robotic system according to claim 6, characterized in that the robot body (1) is formed with a sliding rail (12) extending along the first axis;

the plurality of articulated arms comprise a first sliding table arm (31), a first rotating arm (32), a second rotating arm (33) and a second sliding table arm (34), wherein the first sliding table arm (31) extends along the first axis and is in sliding fit with the sliding rail (12), the first rotating arm (32) is rotationally connected with the first sliding table arm (31), the second rotating arm (33) is rotationally connected with the first rotating arm (32), the second sliding table arm (34) is rotationally connected with the second rotating arm (33), and the second sliding table arm (34) is in sliding connection with the surgical instrument assembly (4).

8. Surgical robot system according to claim 1, characterized in that the robot body (1) comprises a base (13), a lifting mechanism (14) provided to the base (13) and a mounting seat (15) provided on top of the lifting mechanism (14);

the scanning mechanism (2) and the mechanical arm (3) are mounted on the mounting seat (15).

9. Surgical robot system according to claim 1, characterized in that the surgical instrument assembly (4) comprises a connection seat (41) and an instrument holder (42), the connection seat (41) being provided at the front end of the mechanical arm (3), the instrument holder (42) being detachably connected to the connection seat (41), the instrument holder (42) being intended for mounting a surgical tool (43).

10. A scanning method of a surgical robot system, characterized in that it is based on a surgical robot system according to any one of claims 1 to 9, comprising:

controlling the movement of the mechanical arm (3) to enable the surgical instrument assembly (4) to reach a preset surgical position between the two connecting arms (22);

the rotating seat (21) of the scanning mechanism (2) is controlled to rotate to drive the two connecting arms (22) to rotate so as to perform rotary scanning of the scanning mechanism (2).

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