A surgical robot system and its scanning method

Abstract

This invention provides a surgical robot system and its scanning method, relating to the field of robotics. The system includes a robot body, a scanning mechanism, and a robotic arm. The scanning mechanism includes a rotating base and two connecting arms. The rotating base is rotatably mounted on the robot body about a first axis extending in a front-rear direction. A through hole extending along the first axis is formed on the rotating base. The rear ends of the two connecting arms are respectively connected to the two sides of the rotating base. The robotic arm is disposed on the robot body, and its front end passes through the through hole and extends between the two connecting arms. A surgical instrument assembly is provided at the front end of the robotic arm. In this invention, after the robotic arm drives the surgical instrument assembly to the surgical position between the two connecting arms, the rotating connecting arms can precisely avoid each other from the robotic arm. This allows the connecting arms to rotate 360° when the robotic arm is in the surgical position, facilitating the monitoring of the position of the surgical instrument assembly within the surgical patient's body.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a surgical robot system and its scanning method. Background Technology

[0002] Head surgery refers to surgeries performed on the human head. Common head surgeries include traumatic brain injury surgery, craniotomy, and minimally invasive head surgery. Traditional head surgery requires surgeons to use instruments such as scalpels, scissors, and needles to remove diseased tissue and repair damage. However, traditional head surgery suffers from large incisions and significant blood loss. Recently, with the development of robotics technology, surgical robot systems have been widely used, improving upon these issues of large incisions and significant blood loss.

[0003] To achieve integrated surgical imaging, current surgical robot systems typically integrate a C-arm CT (Computed Tomography) mechanism with a robotic arm, with the robotic arm positioned above the CT mechanism. This can cause interference between the robotic arm in operation and the rotating arm of the CT mechanism during the scanning process, preventing the CT mechanism's rotating arm from performing a 360° scan during surgery. Summary of the Invention

[0004] The present invention aims to solve the problem that the rotating arm of the CT mechanism in the current surgical robot system cannot perform 360° scanning during the operation and cannot monitor the position of the surgical instrument components in the surgical patient's body.

[0005] To address the above problems, the present invention provides a surgical robot system, comprising:

[0006] The robot itself;

[0007] A scanning mechanism includes a rotating base and two connecting arms. The rotating base is rotatably mounted on the robot body about a first axis extending in a front-rear direction. The rotating base has a through hole extending along the first axis. The rear ends of the two connecting arms are respectively connected to both sides of the rotating base.

[0008] A robotic arm is disposed on the robot body, and the front end of the robotic arm passes through the through hole and extends between the two connecting arms. The front end of the robotic arm is provided with a surgical instrument assembly.

[0009] Optionally, a mounting portion is formed on the top of the robot body, and the mounting portion is provided with mounting holes extending along the first axis;

[0010] The rotating seat is mounted on the mounting part so that the through hole is fitted onto the outer periphery of the mounting part;

[0011] The robotic arm passes through the mounting hole.

[0012] Optionally, a bearing is provided between the inner wall of the through hole and the mounting portion.

[0013] Optionally, it also includes a drive assembly for driving the rotating seat to rotate. The drive assembly includes a drive motor and a meshing gear and a gear ring. The drive motor is located on the mounting portion, the gear is fixedly connected to the output shaft of the drive motor, and the gear ring is fixedly connected to the rotating seat.

[0014] Optionally, the scanning mechanism further includes an X-ray source and a detector, the X-ray source and the detector being respectively located at the front ends of the two connecting arms.

[0015] Optionally, the robotic arm includes a plurality of articulated arms connected sequentially from back to front, and two adjacent articulated arms are movable relative to each other. Among the plurality of articulated arms, the articulated arm at the rear end is connected to the robot body, and the articulated arm at the front end is connected to the surgical instrument assembly.

[0016] Optionally, a slide rail extending along the first axis is formed on the robot body;

[0017] The plurality of articulated arms include a first slide arm, a first rotating arm, a second rotating arm, and a second slide arm. The first slide arm extends along the first axis and is slidably engaged with the slide rail. The first rotating arm is rotatably connected to the first slide arm. The second rotating arm is rotatably connected to the first rotating arm. The second slide arm is rotatably connected to the second rotating arm. The second slide arm is slidably connected to the surgical instrument assembly.

[0018] Optionally, the robot body includes a base, a lifting mechanism disposed on the base, and a mounting base disposed on the top of the lifting mechanism;

[0019] The scanning mechanism and the robotic arm are mounted on the mounting base.

[0020] Optionally, the surgical instrument assembly includes a connector and an instrument holder. The connector is located at the front end of the robotic arm, and the instrument holder is detachably connected to the connector. The instrument holder is used to mount surgical tools.

[0021] Compared with the prior art, the surgical robot system provided by the present invention has, but is not limited to, the following technical effects:

[0022] In the surgical robot system of the present invention, the rotating seat of the scanning mechanism is rotatably mounted on the robot body around a first axis extending in the front-rear direction, and the rear ends of the two connecting arms are respectively connected to the two sides of the rotating seat. This allows the rotating seat to drive the two connecting arms to rotate when it rotates, thereby realizing the rotational scanning of the scanning mechanism. In addition, by providing a through hole extending along the first axis on the rotating seat, and passing the front end of the robotic arm through the through hole and extending between the two connecting arms, the robotic arm is not located within the rotation path of the two connecting arms. Thus, after the robotic arm drives the surgical instrument assembly to the surgical position between the two connecting arms, the two rotating connecting arms can just avoid each other from the robotic arm. This allows the connecting arms to rotate 360° when the robotic arm is in the surgical position, which is beneficial for monitoring the position of the surgical instrument assembly in the surgical patient's body.

[0023] In addition, the present invention also provides a scanning method for a surgical robot system, based on the surgical robot system described above, comprising:

[0024] Control the movement of the robotic arm to bring the surgical instrument assembly to a preset surgical position between the two connecting arms;

[0025] The rotating seat of the scanning mechanism is controlled to rotate, which in turn drives the two connecting arms to rotate, so as to perform rotational scanning of the scanning mechanism.

[0026] Compared with existing technologies, the scanning method for robot systems provided by this invention has, but is not limited to, the following technical effects:

[0027] In the scanning method of the present invention, a common image of the surgical instrument assembly and the surgical object is established by rotating the scanning mechanism during the surgical operation of the surgical instrument assembly. The state of the surgical instrument assembly within the surgical object can be observed using this image, thereby determining whether the relative position of the surgical instrument assembly and the surgical object is consistent with the preoperative plan. This makes it easier for the surgeon to confirm whether the surgical instrument assembly has completed the expected surgical goal, which is conducive to achieving integrated surgical image during the surgical process. At the same time, there is no need to use a binocular vision system to track and judge the pose of the surgical instrument assembly, saving the configuration of a binocular vision system and reducing costs. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the surgical robot system in an embodiment of the present invention;

[0029] Figure 2 for Figure 1 A partial structural diagram of a surgical robot system;

[0030] Figure 3 for Figure 2 Front view of the surgical robot system;

[0031] Figure 4 for Figure 2 A schematic diagram of the partially cut-out structure of the robot body of the surgical robot system;

[0032] Figure 5 for Figure 4 A schematic diagram of the structure of a surgical robot system from another perspective;

[0033] Figure 6 for Figure 1 A schematic diagram of the robotic arm portion of a surgical robot system;

[0034] Figure 7 for Figure 1 An exploded view of the instrument components of a surgical robot system;

[0035] Figure 8 This is a schematic diagram of the workflow of the surgical robot system in an embodiment of the present invention.

[0036] Explanation of reference numerals in the attached figures:

[0037] 1-Robot body, 11-Mounting part, 111-Mounting hole, 112-Bearing, 12-Slide rail, 13-Base, 14-Lifting mechanism, 15-Mounting seat, 2-Scanning mechanism, 21-Rotating seat, 211-Through hole, 22-Connecting arm, 23-X-ray source, 24-Detector, 3-Mechanical arm, 31-First slide arm, 32-First rotating arm, 33-Second rotating arm, 34-Second slide arm, 4-Surgical instrument assembly, 41-Connecting seat, 42-Instrument rack, 43-Surgical tools, 44-Instrument motor, 45-Instrument drill sleeve, 5-Drive assembly, 51-Drive motor, 52-Gear, 53-Gear ring, 6-Image display trolley, 61-Trolley body, 62-Display, 63-Operation keyboard. Detailed Implementation

[0038] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0039] In the description of this invention, it should be understood that the terms "left", "right", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0040] Furthermore, in the accompanying drawings, the positive direction of the X-axis represents the front, and correspondingly, the negative direction of the X-axis represents the rear; the positive direction of the Y-axis represents the right, and correspondingly, the negative direction of the Y-axis represents the left; the positive direction of the Z-axis represents the top, and correspondingly, the negative direction of the Z-axis represents the bottom. It should be noted that the aforementioned representations of the X, Y, and Z axes are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0041] The terms “first” and “second” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0042] This invention provides a surgical robot system, Figures 1 to 7 This is an embodiment of the surgical robot system provided by the present invention.

[0043] Please refer to Figure 1 The surgical robot system includes a robot body 1, a scanning mechanism 2, and a robotic 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 about a first axis extending in the front-rear direction. A through hole 211 extending along the first axis is formed on the rotating base 21. The rear ends of the two connecting arms 22 are respectively connected to the two sides of the rotating base 21. The robotic arm 3 is disposed on the robot body 1, and the front end of the robotic arm 3 passes through the through hole 211 and extends between the two connecting arms 22. The front end of the robotic arm 3 is provided with a surgical instrument assembly 4 for performing surgical operations on the patient.

[0044] Scanning mechanism 2, also known as the CT mechanism, primarily functions in the surgical robot system to perform rotational X-ray scanning during surgery, providing data for 3D reconstruction. The first axis extends along the anteroposterior direction; the specific direction of this "anteroposterior" direction is not limited, and it can be aligned with the attached... Figure 1 The X-axis direction shown is parallel to the one indicated, and can also be aligned with the attached... Figure 1 The X-axis direction is at a certain angle. Specifically, in this embodiment, it is exemplarily described as being parallel to the Y-axis direction in the "front-back" direction. The present invention does not limit the specific shape of the via 211; it can be a square hole, a round hole, etc. Specifically, in this embodiment, the via 211 is a round hole. Please refer to... Figure 1 The two sides of the rotating seat 21 are the left and right sides of the rotating seat 21; the main function of the robotic arm 3 in the surgical robot system is to move the surgical instrument assembly 4 to the set surgical target point and adjust the posture of the surgical instrument assembly 4.

[0045] In the surgical robot system of the present invention, the rotating seat 21 of the scanning mechanism 2 is rotatably mounted on the robot body 1 around a first axis extending in the front-rear direction, and the rear ends of the two connecting arms 22 are respectively connected to the two sides of the rotating seat 21, so that the rotating seat 21 can drive the two connecting arms 22 to rotate when rotating, thereby realizing the rotational scanning of the scanning mechanism 2. In addition, by providing a through hole 211 extending along the first axis on the rotating seat 21, and passing the front end of the robotic arm 3 through the through hole 211 and extending between the two connecting arms 22, the robotic arm 3 is not in the rotation path of the two connecting arms 22. Thus, after the robotic arm 3 drives the surgical instrument assembly 4 to the surgical position between the two connecting arms 22, the two rotating connecting arms 22 can just avoid each other from the robotic arm 3, so that when the robotic arm 3 is in the surgical position, the connecting arms 22 can rotate 360°, which is beneficial for monitoring the position of the surgical instrument assembly 4 in the surgical patient's body.

[0046] Please continue to refer to Figure 1 Preferably, the scanning mechanism 2 further includes an X-ray source 23 and a detector 24, with the X-ray source 23 and the detector 24 respectively located at the front ends of the two connecting arms 22.

[0047] In this embodiment, the X-ray source 23 is used to emit X-rays, and the detector 24 is used to collect photosensitivity. When the two connecting arms 22 drive the X-ray source 23 and the detector 24 to rotate, the X-ray source 23 and the detector 24 combine to scan the patient and the robotic arm 3, ensuring that accurate scanning data is obtained, which is beneficial for three-dimensional reconstruction.

[0048] Please refer to Figure 2 and Figure 3 Preferably, the top of the robot body 1 forms a mounting part 11, and the mounting part 11 is provided with a mounting hole 111 extending along the first axis; the through hole 211 is sleeved on the outer periphery of the mounting part 11; the robotic arm 3 passes through the mounting hole 111.

[0049] The present invention does not limit the specific structure of the mounting part 11. Specifically, in this embodiment, the mounting part 11 is a mounting boss. The present invention does not limit the specific shape of the mounting hole 111. The mounting hole 111 can be a square hole, a round hole, or a triangular hole, etc. Specifically, in this embodiment, the mounting hole 111 is a square hole.

[0050] In this embodiment, by providing a mounting part 11 with a mounting hole 111 on the robot body 1, and fitting the through hole 211 of the rotating seat 21 onto the outer periphery of the mounting part 11, the robotic arm 3 is inserted through the mounting hole 111, thereby integrating the scanning mechanism 2 and the robotic arm 3 into the robot body 1 simultaneously. This results in a compact structure and relatively convenient installation.

[0051] Please refer to Figure 4 and Figure 5Preferably, a bearing 112 is provided between the inner wall of the through hole 211 and the mounting part 11.

[0052] The specific type of bearing 112 is not limited, as long as it enables the rotating seat 21 to rotate on the mounting part 11. The bearing 112 can be a ball bearing or a roller bearing. Specifically, in this embodiment, a ball bearing is used as an example.

[0053] In this embodiment, by providing a bearing 112 between the inner wall of the through hole 211 and the mounting part 11, the rotational friction of the rotating seat 21 is reduced, thereby improving the rotational accuracy of the rotating seat 21 and improving the scanning effect of the scanning mechanism 2.

[0054] Please continue to refer to Figure 4 and Figure 5 Preferably, the surgical robot system further includes a drive assembly 5 for driving the rotating seat 21 to rotate. The drive assembly 5 includes a drive motor 51 and a gear 52 and a gear ring 53 that mesh with each other. The drive motor 51 is located on the mounting part 11, the gear 52 is fixedly connected to the output shaft of the drive motor 51, and the gear ring 53 is fixedly connected to the rotating seat 21.

[0055] In this embodiment, after the drive motor 51 starts, it will drive the gear 52 to rotate. After the gear 52 rotates, it will drive the gear ring 53 to rotate, and finally drive the rotating seat 21 to rotate, thereby realizing the rotation of the scanning mechanism 2. The drive motor 51 and gear 52 of the drive assembly 5 can be installed at a position off the first axis, making installation easier and less likely to cause interference between the drive assembly 5 and the robotic arm 3.

[0056] Please continue to refer to Figure 4 and Figure 5 Preferably, the robot body 1 includes a base 13, a lifting mechanism 14 disposed on the base 13, and a mounting seat 15 disposed on the top of the lifting mechanism 14; the scanning mechanism 2 and the robotic arm 3 are mounted on the mounting seat 15.

[0057] The lifting mechanism 14 is a mechanism capable of lifting and adjusting. The lifting mechanism 14 is a conventional mechanism in this field and will not be described in detail here. The base 13 is also equipped with a power module, a control module and a navigation module, which are used to power the surgical robot system and serve as a backup power source. The control module is used to control the movement of the entire surgical robot system, and the navigation module is used to guide the robotic arm 3 to move to the designated position.

[0058] In this embodiment, a lifting mechanism 14 is provided between the base 13 and the mounting base 15 to facilitate the adjustment of the height of the scanning mechanism 2 and the robotic arm 3.

[0059] Preferably, the robotic arm 3 includes multiple articulated arms connected sequentially from back to front, and two adjacent articulated arms can move relative to each other. Among the multiple 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.

[0060] In this embodiment, multiple articulated arms are combined to form a multi-degree-of-freedom robotic arm 3. The relative movement (linear or rotational) between two adjacent articulated arms can adjust the posture and position of the robotic arm 3, thereby driving the surgical instrument assembly 4 to accurately reach the designated surgical target point according to the planned posture.

[0061] Of course, it should be noted that the robotic arm 3 is not limited to the existing structural form and degrees of freedom. The number and combination of the robotic arm's degrees of freedom can be adjusted according to the usage requirements.

[0062] Please refer to Figure 6 Preferably, a slide rail 12 extending along a first axis is formed on the robot body 1; the multiple articulated arms include a first slide arm 31, a first rotating arm 32, a second rotating arm 33 and a second slide arm 34, the first slide arm 31 extends along the first axis and is slidably fitted to the slide rail 12, the first rotating arm 32 is rotatably connected to the first slide arm 31, the second rotating arm 33 is rotatably connected to the first rotating arm 32, the second slide arm 34 is rotatably connected to the second rotating arm 33, and the second slide arm 34 is slidably connected to the surgical instrument assembly 4.

[0063] Here, in this embodiment, a five-degree-of-freedom robotic arm 3 is constructed by using 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, and one degree of freedom between the surgical instrument assembly 4 and the second slide arm 34. The five degrees of freedom of the robotic arm 3 can ensure that the surgical instrument assembly 4 reaches the designated surgical target point with a relatively complex movement path and a relatively accurate posture, which is conducive to the smooth progress of the surgical operation and ensures the quality of the surgery.

[0064] Please refer to Figure 7 Preferably, the surgical instrument assembly 4 includes a connecting seat 41 and an instrument frame 42. The connecting seat 41 is located at the front end of the robotic arm 3, and the instrument frame 42 is detachably connected to the connecting seat 41. The instrument frame 42 is used to mount surgical tools 43.

[0065] The instrument rack 42 is a surgical instrument. Its main function in the surgical robot system is to perform surgical operations. This invention does not limit the specific type of the instrument rack 42. The instrument rack 42 includes, but is not limited to, energy instruments and non-energy instruments such as drilling and reaming instruments, milling instruments, planing instruments, scissor instruments, forceps instruments, and ablation instruments. Correspondingly, the surgical tool 43 can be a drilling and reaming surgical tool, a milling surgical tool, a planing surgical tool, scissors, forceps instruments, ablation tools, etc., which are also not limited here.

[0066] The present invention does not limit the specific implementation of the detachable connection. For example, the instrument rack 42 and the connecting seat 41 are threaded together, or the instrument rack 42 and the connecting seat 41 are snapped together. Other methods are also possible, which will not be elaborated here. Similarly, the installation method of the surgical tool 43 on the instrument rack 42 is not limited. Specifically, in this embodiment, an instrument motor 44 is provided on the instrument rack 42, and the output shaft of the instrument motor 44 is fixedly connected to an instrument drill sleeve 45. The surgical tool 43 is a drill bit, which is inserted into the instrument drill sleeve 45. Specifically, the surgical instrument assembly 4 is made of metal material, which meets the scanning imaging requirements of the scanning mechanism 2. By utilizing the characteristic that X-rays cannot penetrate metal materials, scanning positioning can be effectively achieved.

[0067] In this embodiment, the instrument rack 42 and the connecting seat 41 are detachably connected, which facilitates the disassembly and replacement of the instrument rack 42 and better adapts to surgical scenarios with different types of surgical instruments; the surgical tools 43 are detachably installed on the instrument rack 42, which facilitates the replacement of tools of different specifications.

[0068] The surgical robot system also includes an image processing module, which performs three-dimensional reconstruction and generates a three-dimensional reconstruction model based on the information provided by the scanning mechanism 2. The image processing module can generate a three-dimensional reconstruction model both preoperatively and intraoperatively based on the information provided by the scanning mechanism 2. The preoperative three-dimensional reconstruction model facilitates the planning of the surgical path and the detection nodes of the scan, while the intraoperative three-dimensional reconstruction model can eliminate or weaken the artifacts that appear in the surgical instrument component 4 within the surgical object, so that the final imaging effect of the three-dimensional reconstruction model can meet the requirements of the surgeon to confirm that the actual working position of the surgical instrument component 4 meets the surgical needs.

[0069] The surgical robot system also includes an image display carriage 6, which includes a carriage body 61, a display 62, and an operation keyboard 63. The display 62 is located on the upper part of the carriage body 61 and is used to display the three-dimensional reconstruction model. The control keyboard is placed on the keyboard tray in the middle of the carriage body 61 and is used by the surgeon to operate it to plan the surgical path and control the surgical robot system.

[0070] Currently, most surgical robot systems consist of a scanning mechanism 2 and a robotic arm 3 operating independently, relying on binocular vision for detection and navigation. However, binocular vision systems can only determine the position of instruments outside the surgical object, and cannot directly observe the actual state of the instruments inside the surgical object. This makes it difficult to determine whether the relative position of the instruments and the surgical object is consistent with the preoperative plan. Furthermore, binocular vision systems require additional configuration, which increases the cost of the surgical robot system.

[0071] The present invention also provides a scanning method for a surgical robot system. Based on the surgical robot system described above, the scanning method for the surgical robot system includes:

[0072] Step S100: Control the movement of the robotic arm 3 so that the surgical instrument assembly 4 arrives at the preset surgical position between the two connecting arms 22.

[0073] In step S100, the surgical instrument assembly 4 is moved to a preset surgical position between the two connecting arms 22 for surgical operation. Specifically, the control module controls the drive mechanism to drive the robotic arm 3, causing relative linear or rotational movement between the joints of the robotic arm 3, thereby moving the surgical instrument assembly 4 to the preset surgical position. Afterward, the surgical instrument assembly 4 can perform the surgical operation.

[0074] In step S200, the rotating seat 21 of the scanning mechanism 2 is controlled to rotate, thereby driving the two connecting arms 22 to rotate, so as to perform rotational scanning of the scanning mechanism 2.

[0075] The intraoperative scanning operation is achieved through step S200. Specifically, the control module controls the drive mechanism to drive the rotating seat to rotate, which in turn drives the two connecting arms 22 to rotate, so that the X-ray source 23 on the two connecting arms 22 and the detector 24 combine to perform rotational scanning.

[0076] In the scanning method of the present invention, a common image of the surgical instrument assembly 4 and the surgical object is established by rotating the scanning mechanism during the surgical operation of the surgical instrument assembly 4. The state of the surgical instrument assembly 4 in the surgical object can be observed using this image, thereby determining whether the relative position of the surgical instrument assembly 4 and the surgical object is consistent with the preoperative plan. This makes it easier for the surgeon to confirm whether the surgical instrument assembly 4 has completed the expected surgical goal, which is conducive to realizing the integration of surgical image during the surgical process. At the same time, there is no need to use a binocular vision system to track and judge the position and pose of the surgical instrument assembly 4, saving the configuration of a binocular vision system and reducing costs.

[0077] Figure 8 This is a schematic diagram of the workflow of the surgical robot system in an embodiment of the present invention. The following is in conjunction with the accompanying drawings. Figure 8 The specific working process of the surgical robot system will be described in order to better understand the present invention.

[0078] Please refer to Figure 8 First, the lifting mechanism 14 is adjusted to a suitable height, and the robotic arm 3 moves to the initial position of the working area. After scanning by the scanning mechanism 2, the image processing module performs three-dimensional reconstruction based on the information provided by the scanning mechanism 2 to determine the surgical position and the position of the surgical instrument assembly 4. The surgeon plans the surgical path and detection nodes based on the three-dimensional reconstructed image on the monitor. Based on the surgical path, the navigation module plans the motion trajectory and pose of the robotic arm 3 and the surgical instrument assembly 4. The control module controls the drive mechanism to drive the robotic arm 3, so that the surgical instrument assembly 4 moves to the starting position of the surgery and adjusts the instrument posture. After scanning by the scanning mechanism 2 again, the surgeon confirms that the pose of the surgical instrument assembly 4 meets the requirements of the surgical path based on the three-dimensional data reconstructed by the scanning mechanism. The surgical instrument assembly 4 enters the surgical path. When the surgical instrument assembly 4 reaches the detection node, the scanning mechanism 2 starts scanning. The surgeon confirms that the surgery has reached the expected target node based on the three-dimensional data reconstructed by the scanning mechanism 2. The surgical instrument assembly 4 continues to work to complete the remaining node targets until the final surgical node is reached. Finally, the scanning mechanism 2 scans, the surgeon confirms that the surgical target has been completed, exits the surgical instrument assembly 4, the robotic arm 3 resets, and the surgery is completed.

[0079] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A surgical robot system, characterized in that, include: Robot body (1); 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) about a first axis extending in the front-rear direction. A through hole (211) extending along the first axis is formed on the rotating base (21). The rear ends of the two connecting arms (22) are respectively connected to both sides of the rotating base (21). A robotic arm (3) is disposed on the robot body (1), and the front end of the robotic arm (3) passes through the through hole (211) and extends between the two connecting arms (22). The front end of the robotic arm (3) is provided with a surgical instrument assembly (4).

2. The surgical robot system according to claim 1, characterized in that, The top of the robot body (1) forms a mounting part (11), and the mounting part (11) is provided with a mounting hole (111) extending along the first axis. The through hole (211) is fitted onto the outer periphery of the mounting part (11); The robotic arm (3) passes through the mounting hole (111).

3. The surgical robot system according to claim 2, characterized in that, A bearing (112) is provided between the inner wall of the through hole (211) and the mounting part (11).

4. The surgical robot system according to claim 2, characterized in that, It also includes a drive assembly (5) for driving the rotating seat (21) to rotate. The drive assembly (5) includes a drive motor (51) and a gear (52) and a gear ring (53) that mesh with each other. The drive motor (51) is located on the mounting part (11). The gear (52) is fixedly connected to the output shaft of the drive motor (51). The gear ring (53) is fixedly connected to the rotating seat (21).

5. The surgical robot system according to claim 1, characterized in that, The scanning mechanism (2) also includes a radiation source (23) and a detector (24), wherein the radiation source (23) and the detector (24) are respectively located at the front end of the two connecting arms (22).

6. The surgical robot system according to claim 1, characterized in that, The robotic arm (3) includes a plurality of articulated arms connected sequentially from back to front, and two adjacent articulated arms can move relative to each other. 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. The surgical robot system according to claim 6, characterized in that, The robot body (1) has a slide rail (12) extending along the first axis; The plurality of articulated arms include a first slide arm (31), a first rotating arm (32), a second rotating arm (33), and a second slide arm (34). The first slide arm (31) extends along the first axis and is slidably fitted to the slide rail (12). The first rotating arm (32) is rotatably connected to the first slide arm (31). The second rotating arm (33) is rotatably connected to the first rotating arm (32). The second slide arm (34) is rotatably connected to the second rotating arm (33). The second slide arm (34) is slidably connected to the surgical instrument assembly (4).

8. The surgical robot system according to claim 1, characterized in that, The robot body (1) includes a base (13), a lifting mechanism (14) disposed on the base (13), and a mounting seat (15) disposed on the top of the lifting mechanism (14); The scanning mechanism (2) and the robotic arm (3) are mounted on the mounting base (15).

9. The surgical robot system according to claim 1, characterized in that, The surgical instrument assembly (4) includes a connector (41) and an instrument holder (42). The connector (41) is located at the front end of the robotic arm (3). The instrument holder (42) is detachably connected to the connector (41). The instrument holder (42) is used to mount surgical tools (43).

10. A scanning method for a surgical robot system, characterized in that, The surgical robot system according to any one of claims 1 to 9 includes: Control the movement of the robotic arm (3) to bring the surgical instrument assembly (4) to a preset surgical position between the two connecting arms (22); The rotating seat (21) of the scanning mechanism (2) is rotated, which drives the two connecting arms (22) to rotate, so as to perform rotational scanning of the scanning mechanism (2).

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