An image-integrated surgical robot based on a hybrid series-parallel structure

Abstract

An image-integrated surgical robot based on a hybrid serial-parallel structure, which relates to the technical field of auxiliary operating instruments for medical surgical operations. The present invention solves the problems of redundant degrees of freedom, complex mechanism, and large volume existing in the existing minimally invasive cochlear implant surgical device. The present invention includes a trolley, a large arm of a robotic arm, and a 2-DOF parallel end effector. The supporting column of the trolley is vertically installed at the center of the upper surface of the trolley moving base. The supporting column, the large arm of the robotic arm, and the 2-DOF parallel end effector are sequentially connected in series from the head end to the tail end. The movement of the large arm of the robotic arm is used to drive the 2-DOF parallel end effector to rotate and move in the yoz plane of the robot base coordinate system. The movement of the 2-DOF parallel end effector enables the robotic arm to perform reciprocating motion along the x-axis and rotation around the y-axis in the robot base coordinate system. The present invention is used for surgical operations in head and neck surgery and brain surgery such as cochlear surgery and neurosurgery.

Description

Technical Field

[0001] The present invention relates to the technical field of auxiliary operation instruments for medical surgical operations, and particularly relates to an operation image integrated surgical robot based on a hybrid serial-parallel structure. Background Art

[0002] In many minimally invasive neurosurgeries, accurate positioning and guidance are very important for surgical success and patient safety. During traditional surgeries, doctors expose the approximate location of the nerve by severely abrading the temporal bone, and then drill an implantation channel to reach the round window by relying on experience to avoid the nerve, and finally implant the electrode sequence into the cochlea. This surgery has large trauma, a high risk of nerve injury, and risks of complications such as wound infection, skin flap necrosis, facial paralysis, meningitis, and electrode prolapse. Due to the advantages of high precision, strong stability, and good dexterity of surgical robots, they can effectively enhance the surgical effect and are currently widely used in various clinical medical fields. The cochlear implant surgical robot system is based on technologies such as high-positioning-precision robots, image navigation positioning, and multi-source information security monitoring, ensuring high precision and stability during the drilling of the implantation channel and the implantation of the electrode, making the surgery safer and minimally invasive, reducing the risk of related complications, and thus can effectively assist doctors in breaking through the current problems for surgical operations.

[0003] The existing national publicly disclosed invention patent document CN112006780A discloses a minimally invasive surgical robot system and a cochlear implant minimally invasive surgical device. The robot has 6-DOF, meeting the surgical requirements, but has redundant degrees of freedom, a structure of CBCT and a robotic arm being separated, a complex mechanism, a serial robotic arm, and a large volume. The present invention adopts an operation image integrated design, combining the advantages of series and parallel, with a small structure volume, a simple overall structure, higher stability, and high precision.

[0004] The purpose of the present invention is to solve the problems of redundant degrees of freedom, complex mechanism, and large volume existing in the existing cochlear implant minimally invasive surgical device, and further provide an operation image integrated surgical robot based on a hybrid serial-parallel structure.

[0005] The technical solution of the present invention is as follows:

[0006] An image-integrated surgical robot based on a hybrid serial-parallel structure, which includes a trolley 1, a large arm 2 of the robotic arm, and a 2-DOF parallel end effector 3. The trolley 1 includes a moving base 1-1 and a support column 1-2. The support column 1-2 is vertically installed at the center of the upper surface of the moving base 1-1. The support column 1-2, the large arm 2 of the robotic arm, and the 2-DOF parallel end effector 3 are sequentially connected in series from the head end to the tail end. The movement of the large arm 2 of the robotic arm drives the 2-DOF parallel end effector 3 to rotate and move within the yoz plane of the robot base coordinate system. The movement of the 2-DOF parallel end effector 3 enables the robotic arm to reciprocate along the x-axis and rotate around the y-axis within the robot base coordinate system.

[0007] Further, the 2-DOF parallel end effector 3 includes an end effector body 3-1 and a bone drill 3-2. The end effector body 3-1 includes a first linear motion drive assembly 3-1-1, a second linear motion drive assembly 3-1-2, a first revolute pair 3-1-3, a second revolute pair 3-1-4, an end linear guide 3-1-5, a lateral support plate 3-1-6, an end effector bottom plate 3-1-7, and a tool holder 3-1-8. The right side surface of the lateral support plate 3-1-6 is connected to the rear side surface of the end effector bottom plate 3-1-7. The first linear motion drive assembly 3-1-1 and the second linear motion drive assembly 3-1-2 are installed in parallel up and down along the length direction of the end effector bottom plate 3-1-7 on the left side surface of the end effector bottom plate 3-1-7. The power output ends of the first linear motion drive assembly 3-1-1 and the second linear motion drive assembly 3-1-2 are respectively fixedly connected to the right side surfaces of the first revolute pair 3-1-3 and the second revolute pair 3-1-4. A vertically arranged tool holder 3-1-8 is provided on the left side of the end effector body 3-1. The tool holder 3-1-8 is an L-shaped tool holder. The lower protruding part of the right side surface of the tool holder 3-1-8 is rotatably connected to the left side surface of the second revolute pair 3-1-4. The end linear guide 3-1-5 is installed on the upper part of the right side surface of the tool holder 3-1-8. The slider of the end linear guide 3-1-5 is rotatably connected to the left side surface of the first revolute pair 3-1-3. A bone drill 3-2 is installed on the left side surface of the tool holder 3-1-8.

[0008] Further, the bone drill 3-2 includes a bone drill bit 3-2-1, a bone drill sleeve 3-2-2, and a drill bit fixing member. The bone drill sleeve 3-2-2 is vertically installed on the left side surface of the tool holder 3-1-8. The bone drill bit 3-2-1 is inserted into the inner hole of the bone drill sleeve 3-2-2. A radial fixing threaded hole is radially opened on the side surface of the bone drill sleeve 3-2-2, and the radial fixing threaded hole is vertically communicated with the inner hole of the bone drill sleeve 3-2-2. The drill bit fixing member is a drill bit fixing screw, and the drill bit fixing screw is helically installed in the radial fixing threaded hole, and the end surface of the drill bit fixing screw abuts against the side surface of the bone drill bit 3-2-1.

[0009] Further, the first linear motion driving assembly 3-1-1 includes a first motor, a first ball screw pair, a first linear guide rail, and a first synchronous belt transmission mechanism. Both bearing seats of the first ball screw pair are installed on the left side surface of the end effector bottom plate 3-1-7. The end of the screw rod of the first ball screw pair is connected to the rotating shaft of the first motor through the first synchronous belt transmission mechanism. The housing of the first motor is installed on one of the bearing seats of the first ball screw pair. A horizontally arranged first linear guide rail is provided above the first ball screw pair. The slide rail of the first linear guide rail is installed on the left side surface of the end effector bottom plate 3-1-7. The lower side surface of the slider of the first linear guide rail is connected to the nut of the first ball screw pair. The left side surface of the slider of the first linear guide rail is fixedly connected to the right side surface of the first rotating pair 3-1-3;

[0010] The second linear motion driving assembly 3-1-2 includes a second motor, a second ball screw pair, a second linear guide rail, and a second synchronous belt transmission mechanism. Both bearing seats of the second ball screw pair are installed on the left side surface of the end effector bottom plate 3-1-7. The end of the screw rod of the second ball screw pair is connected to the rotating shaft of the second motor through the second synchronous belt transmission mechanism. The housing of the second motor is installed on one of the bearing seats of the second ball screw pair. A horizontally arranged second linear guide rail is provided below the second ball screw pair. The slide rail of the second linear guide rail is installed on the left side surface of the end effector bottom plate 3-1-7. The upper side surface of the slider of the second linear guide rail is connected to the nut of the second ball screw pair. The left side surface of the slider of the second linear guide rail is fixedly connected to the right side surface of the second rotating pair 3-1-4;

[0011] The end linear guide rail 3-1-5 includes an end slide rail and an end slider. The end slide rail is vertically installed on the upper part of the right side surface of the tool holder 3-1-8. An end slider is slidably installed on the end slide rail. The right side surface of the end slider is rotatably connected to the left side surface of the first rotating pair 3-1-3.

[0012] Further, the robotic arm's large arm 2 includes an overall rotating pair Ⅰ 2A-1, a CBCT scanning arm Ⅰ 2A-2, a vertical moving pair Ⅰ 2A-3, and a 2-DOF bottom parallel mechanism 2A-4. The CBCT scanning arm Ⅰ 2A-2 is horizontally arranged on the upper part of the support column 1-2. The CBCT scanning arm Ⅰ 2A-2 is a "U-shaped" scanning arm. The CBCT scanning arm Ⅰ 2A-2 includes a CBCT bottom plate Ⅰ 2A-2-1, a CBCT receiving end Ⅰ 2A-2-2, and a CBCT transmitting end Ⅰ 2A-2-3. The CBCT receiving end Ⅰ 2A-2-2 and the CBCT transmitting end Ⅰ 2A-2-3 are vertically and oppositely arranged on the front side of the CBCT bottom plate Ⅰ 2A-2-1. The ends of the CBCT receiving end Ⅰ 2A-2-2 and the CBCT transmitting end Ⅰ 2A-2-3 are respectively perpendicularly connected to the left and right ends of the front side surface of the CBCT bottom plate Ⅰ 2A-2-1;

[0013] Above the support column 1-2 of the trolley 1, there is an integral rotary pair Ⅰ 2A-1. The connecting part of the integral rotary pair Ⅰ 2A-1 is installed at the top of the support column 1-2 of the trolley 1, and the rotating part of the integral rotary pair Ⅰ 2A-1 is connected to the middle part of the CBCT bottom plate Ⅰ 2A-2-1;

[0014] Between the CBCT receiver Ⅰ 2A-2-2 and the CBCT transmitter Ⅰ 2A-2-3, there is a horizontally arranged 2-DOF bottom parallel mechanism 2A-4. The 2-DOF bottom parallel mechanism 2A-4 includes a third linear motion driving component 2A-1-1, a fourth linear motion driving component 2A-1-2, a third rotating pair 2A-1-3, and a fourth rotating pair 2A-1-4. The third linear motion driving component 2A-1-1 and the fourth linear motion driving component 2A-1-2 are horizontally arranged side by side along the length direction of the CBCT bottom plate Ⅰ 2A-2-1 on the front side of the CBCT bottom plate Ⅰ 2A-2-1. The power output ends of the third linear motion driving component 2A-1-1 and the fourth linear motion driving component 2A-1-2 are respectively fixedly connected to the rear sides of the third rotating pair 2A-1-3 and the fourth rotating pair 2A-1-4;

[0015] On the front side of the 2-DOF bottom parallel mechanism 2A-4, there is a vertically arranged vertical moving pair Ⅰ 2A-3. The vertical moving pair Ⅰ 2A-3 includes a fifth linear motion driving component 2A-3-1 and a vertical fixing plate Ⅰ 2A-3-2. On the rear side of the vertical fixing plate Ⅰ 2A-3-2, there is a vertically arranged fifth linear motion driving component 2A-3-1. The two power output ends of the fifth linear motion driving component 2A-3-1 are respectively rotationally connected to the front sides of the third rotating pair 2A-1-3 and the fourth rotating pair 2A-1-4. Above the side part of the vertical fixing plate Ⅰ 2A-3-2, there is a 2-DOF parallel end effector 3. The front side of the transverse support plate 3-1-6 in the 2-DOF parallel end effector 3 is connected to the upper part of the rear side of the vertical fixing plate Ⅰ 2A-3-2.

[0016] Furthermore, the third linear motion driving component 2A-1-1 includes a third motor, a third ball screw pair, a third linear guide rail, and a third synchronous belt transmission mechanism. The two bearing seats of the third ball screw pair are both installed on the front side of the CBCT bottom plate Ⅰ 2A-2-1. The end of the screw rod of the third ball screw pair is connected to the rotating shaft of the third motor through the third synchronous belt transmission mechanism. The housing of the third motor is installed on one of the bearing seats of the third ball screw pair. Above the screw rod of the third ball screw pair, there is a horizontally arranged third linear guide rail. The guide rail of the third linear guide rail is installed on the front side of the CBCT bottom plate Ⅰ 2A-2-1. The rear side of the slider of the third linear guide rail is fixedly connected to the front side of the third rotating pair 2A-1-3, and the lower side of the slider of the third linear guide rail is connected to the nut of the third ball screw pair;

[0017] The fourth linear motion driving assembly 2A-1-2 includes a fourth motor, a fourth ball screw pair, a fourth linear guide rail, and a fourth synchronous belt drive mechanism. Both bearing blocks of the fourth ball screw pair are installed on the front side of the CBCT bottom plate I 2A-2-1. The end of the screw rod of the fourth ball screw pair is connected to the rotating shaft of the fourth motor through the fourth synchronous belt drive mechanism. The housing of the fourth motor is installed on one of the bearing blocks of the fourth ball screw pair. A horizontally arranged fourth linear guide rail is provided directly above the screw rod of the fourth ball screw pair. The guide rail of the fourth linear guide rail is installed on the front side of the CBCT bottom plate I 2A-2-1. The rear side of the slider of the fourth linear guide rail is fixedly connected to the front side of the fourth rotating pair 2A-1-4. The lower side of the slider of the fourth linear guide rail is connected to the nut of the fourth ball screw pair;

[0018] The fifth linear motion driving assembly 2A-3-1 includes a fifth motor, a fifth ball screw pair, a fifth linear guide rail, and a fifth synchronous belt drive mechanism. Both bearing blocks of the fifth ball screw pair are installed on the rear side of the vertical fixing plate I 2A-3-2. A rectangular assembly through-hole is provided in the upper part of the vertical fixing plate I 2A-3-2. The fifth motor is installed on the upper front side of the vertical fixing plate I 2A-3-2. One end of the fifth synchronous belt drive mechanism is connected to the rotating shaft of the fifth motor. The other end of the fifth synchronous belt drive mechanism passes through the rectangular assembly through-hole and is connected to the upper end of the screw rod of the fifth ball screw pair. The two slide rails of the fifth linear guide rail are vertically and symmetrically arranged on the left and right sides of the fifth ball screw pair respectively. The upper slider of the fifth linear guide rail is slidably connected to both slide rails of the fifth linear guide rail at the same time. The rear side of the upper slider is rotatably connected to the front side of the third rotating pair 2A-1-3. The lower slider of the fifth linear guide rail is slidably connected to both slide rails of the fifth linear guide rail at the same time. The rear side of the lower slider is rotatably connected to the front side of the fourth rotating pair 2A-1-4. The lower slider is connected to the slider of the fifth ball screw pair;

[0019] The overall rotating pair I 2A-1 includes an overall rotating motor I 2A-1-5 and a motor mounting bracket I 2A-1-6. The motor mounting bracket I 2A-1-6 is installed at the top of the support column 1-2 of the trolley 1. The overall rotating motor I 2A-1-5 is installed on the motor mounting bracket I 2A-1-6. The rotating shaft of the overall rotating motor I 2A-1-5 is connected to the middle part of the CBCT bottom plate I 2A-2-1.

[0020] Further, the boom 2 of the robotic arm includes an integral rotary pair II 2B-1, a CBCT scanning arm II 2B-2, and a vertical moving pair II 2B-3. The CBCT scanning arm II 2B-2 is horizontally arranged at the upper part of the support column 1-2 of the trolley 1. The CBCT scanning arm II 2B-2 is a "U-shaped" scanning arm. The CBCT scanning arm II 2B-2 includes a CBCT bottom plate II 2B-2-1, a CBCT receiving end II 2B-2-2, and a CBCT transmitting end II 2B-2-3. The CBCT receiving end II 2B-2-2 and the CBCT transmitting end II 2B-2-3 are vertically and oppositely arranged on the front side of the CBCT bottom plate II 2B-2-1. The end parts of the CBCT receiving end II 2B-2-2 and the CBCT transmitting end II 2B-2-3 are respectively perpendicularly connected to the left and right ends of the front side of the CBCT bottom plate II 2B-2-1;

[0021] Above the support column 1-2 of the trolley 1, there is an integral rotary pair II 2B-1. The connecting part of the integral rotary pair II 2B-1 is installed at the top end of the support column 1-2 of the trolley 1, and the rotating part of the integral rotary pair II 2B-1 is connected to the middle part of the CBCT bottom plate II 2B-2-1;

[0022] Between the CBCT receiving end II 2B-2-2 and the CBCT transmitting end II 2B-2-3, there is a vertically arranged vertical moving pair II 2B-3. The vertical moving pair II 2B-3 includes a sixth linear motion driving component 2B-3-1, a vertical fixing plate II 2B-3-2, and a first end rotary pair 2B-3-3. The rear side of the vertical fixing plate II 2B-3-2 is installed with a vertically arranged sixth linear motion driving component 2B-3-1. The power output end of the sixth linear motion driving component 2B-3-1 is connected to the middle part of the front side of the CBCT bottom plate II 2B-2-1. The upper part of the vertical fixing plate II 2B-3-2 is connected to the connecting part of the first end rotary pair 2B-3-3. There is a 2-DOF parallel end effector 3 on the upper side part of the vertical fixing plate II 2B-3-2. The front side of the transverse support plate 3-1-6 in the 2-DOF parallel end effector 3 is connected to the rotating part of the first end rotary pair 2B-3-3.

[0023] Further, the sixth linear motion driving component 2B-3-1 includes a sixth motor, a sixth ball screw pair, and a sixth linear guide. The two bearing seats of the sixth ball screw pair are both installed on the rear side of the vertical fixing plate II 2B-3-2. The end of the screw rod of the sixth ball screw pair is connected to the rotating shaft of the sixth motor. The housing of the sixth motor is installed on one of the bearing seats of the sixth ball screw pair. The two slide rails of the sixth linear guide are respectively vertically and symmetrically arranged on the left and right sides of the sixth ball screw pair. The two slide rails are connected to the rear side of the vertical fixing plate II 2B-3-2. The two sliders of the sixth linear guide are respectively slidably installed on the two slide rails. The two sliders of the sixth linear guide are fixedly connected to the front side of the CBCT bottom plate II 2B-2-1. The two sliders are both connected to the nut of the sixth ball screw pair;

[0024] The overall rotating pair Ⅱ 2B-1 includes an overall rotating motor Ⅱ 2B-1-1 and a motor mounting bracket Ⅱ 2B-1-2. The motor mounting bracket Ⅱ 2B-1-2 is installed at the top of the support column 1-2 of the trolley 1, and the overall rotating motor Ⅱ 2B-1-1 is installed on the motor mounting bracket Ⅱ 2B-1-2. The rotating shaft of the overall rotating motor Ⅱ 2B-1-1 is connected to the middle part of the CBCT bottom plate Ⅱ 2B-2-1;

[0025] The first end rotating pair 2B-3-3 includes a first end motor. The housing of the first end motor is connected to the upper part of the vertical fixing plate Ⅱ 2B-3-2, and the rotating shaft of the first end motor is connected to the front side of the transverse support plate 3-1-6 in the 2-DOF parallel end effector 3.

[0026] Furthermore, the robotic arm's upper arm 2 includes an overall rotating pair Ⅲ 2C-1, a CBCT scanning arm Ⅲ 2C-2, and a vertical moving pair Ⅲ 2C-3. The CBCT scanning arm Ⅲ 2C-2 is horizontally arranged on the upper part of the support column 1-2. The CBCT scanning arm Ⅲ 2C-2 is a "U-shaped" scanning arm. The CBCT scanning arm Ⅲ 2C-2 includes a CBCT bottom plate Ⅲ 2C-2-1, a CBCT receiving end Ⅲ 2C-2-2, and a CBCT transmitting end Ⅲ 2C-2-3. The CBCT receiving end Ⅲ 2C-2-2 and the CBCT transmitting end Ⅲ 2C-2-3 are vertically and oppositely arranged on the front side of the CBCT bottom plate Ⅱ 2B-2-1. The ends of the CBCT receiving end Ⅲ 2C-2-2 and the CBCT transmitting end Ⅲ 2C-2-3 are respectively vertically connected to the left and right ends of the front side of the CBCT bottom plate Ⅲ 2C-2-1. Above the middle of the CBCT bottom plate Ⅲ 2C-2-1, there is a vertically arranged vertical fixing plate Ⅲ 2C-2-4, which is integrally formed with the CBCT bottom plate Ⅲ 2C-2-1;

[0027] Above the support column 1-2 of the trolley 1, there is an overall rotating pair Ⅲ 2C-1. The connecting part of the overall rotating pair Ⅲ 2C-1 is installed at the top of the support column 1-2 of the trolley 1, and the rotating part of the overall rotating pair Ⅲ 2C-1 is connected to the middle part of the CBCT bottom plate Ⅲ 2C-2-1;

[0028] On the front side of the vertical fixing plate III 2C-2-4, a vertically arranged vertical moving pair III 2C-3 is installed. The vertical moving pair III 2C-3 includes a seventh linear motion driving component 2C-3-1, a vertical lifting plate 2C-3-2, and a second end rotating pair. On the front side of the vertical fixing plate III 2C-2-4, a vertically arranged seventh linear motion driving component 2C-3-1 is installed. The power output end of the seventh linear motion driving component 2C-3-1 is connected to the vertical lifting plate 2C-3-2. The connecting part of the second end rotating pair is connected to the vertical lifting plate 2C-3-2. On the upper side part of the vertical fixing plate III 2C-2-4, a 2-DOF parallel end effector 3 is provided. The front side of the horizontal support plate 3-1-6 in the 2-DOF parallel end effector 3 is connected to the rotating part of the second end rotating pair.

[0029] Further, the seventh linear motion driving component 2C-3-1 includes a seventh motor, a seventh ball screw pair, and a seventh linear guide rail. The two bearing seats of the seventh ball screw pair are both installed on the front side of the vertical fixing plate III 2C-2-4. The end of the screw rod of the seventh ball screw pair is connected to the rotating shaft of the seventh motor. The housing of the seventh motor is installed on one of the bearing seats of the seventh ball screw pair. The two slide rails of the seventh linear guide rail are vertically and symmetrically arranged on the left and right sides of the seventh ball screw pair respectively. The two slide rails are connected to the front side of the vertical fixing plate III 2C-2-4. The two sliders of the seventh linear guide rail are slidably installed on the two slide rails respectively. The two sliders of the seventh linear guide rail are connected to the rear side of the vertical lifting plate 2C-3-2. Both sliders are connected to the nut of the seventh ball screw pair;

[0030] The overall rotating pair III 2C-1 includes an overall rotating motor III 2C-1-1 and a motor mounting bracket III 2C-1-2. The motor mounting bracket III 2C-1-2 is installed at the top of the support column 1-2 of the trolley 1. The overall rotating motor III (2C-1-1) is installed on the motor mounting bracket III 2C-1-2. The rotating shaft of the overall rotating motor III 2C-1-1 is connected to the middle part of the CBCT bottom plate III 2C-2-1;

[0031] The second end rotating pair includes a second end motor. The housing of the second end motor is connected to the power output end of the seventh linear motion driving component 2C-3-1. The rotating shaft of the second end motor is connected to the front side of the horizontal support plate 3-1-6 in the 2-DOF parallel end effector 3.

[0032] The present invention has the following effects compared with the prior art:

[0033] 1. An intraoperative imaging integrated surgical robot based on a hybrid serial-parallel structure according to the present invention. The large arm 2 of the robotic arm includes a CBCT scanning arm I 2A-2, a vertical moving pair I 2A-3, a 2-DOF bottom parallel mechanism 2A-4, a third linear motion driving component 2A-1-1, and a fifth linear motion driving component 2A-3-1. It is a serial-parallel hybrid structure of PPP configuration. The P pair realizes two-stage transmission by driving a synchronous belt and a lead screw in sequence through a motor, thereby realizing two-dimensional orientation and positioning in the sagittal plane. At the same time, due to the presence of the 2-DOF bottom parallel mechanism 2A-4, the vertical moving pair I 2A-3 can swing within a specified range, facilitating positioning adjustment, increasing the working space, and reducing the structural volume.

[0034] 2. An intraoperative imaging integrated surgical robot based on a hybrid serial-parallel structure according to the present invention. The 2-DOF bottom parallel mechanism 2A-4 includes a first linear motion driving component 3-1-1 and a second linear motion driving component 3-1-2. Specifically, two independent motors drive two synchronous belts and two lead screws in sequence respectively to realize transmission, convert rotational motion into translational motion, and constrain the two lead screws to be parallel through a positioning structure, thereby restricting the movement of the nuts and enabling the two guide rails to realize two independent linear motions. In addition, the 2-DOF parallel end effector of the present invention further includes a first rotating pair 3-1-3, a second rotating pair 3-1-4, and an end linear guide rail 3-1-5, which is composed of a rotating pair and a guide rail and is a five-link mechanism to realize two-dimensional orientation and positioning in the cross-section of the end bone drill. Since DE are both moving pairs, it can be analyzed according to a four-link mechanism. The guide rail, as a moving pair, can move within a fixed range to ensure that the end bone drill swings ±45° forward and backward without dead points.

[0035] 3. An intraoperative imaging integrated surgical robot based on a hybrid serial-parallel structure according to the present invention adopts an intraoperative imaging integrated design. The CBCT scanning arm and the large arm of the robotic arm are installed together through the CBCT scanning arm bottom plate, making the structure more integrated. In addition, the intraoperative imaging integrated robot is a hybrid 5-DOF structure, combining the advantages of series and parallel connections, with a small structural volume, a simple overall structure, higher stability, and high precision. At the same time, the robotic arm coordinate system and the CBCT image coordinate system only need to be registered once and will not change.

[0036] 4. An intraoperative imaging integrated surgical robot based on a hybrid serial-parallel structure according to the present invention mostly adopts a parallel mechanism and has the advantages of a small volume, light weight, and a large working space.

[0037] 5. An intraoperative imaging integrated surgical robot based on a hybrid serial-parallel structure according to the present invention all adopts linear motion joints for driving, effectively improving the stability of the robotic arm structure. Description of the Drawings

[0038] Figure 1Is an axonometric view of the image-guided integrated surgical robot based on a hybrid serial-parallel structure described in Embodiments 5 and 6 of the present invention; Figure 2 Is a schematic structural view of the image-guided integrated surgical robot based on a hybrid serial-parallel structure described in Embodiments 5 and 6 of the present invention; Figure 3 Is a schematic structural view after the assembly of the large arm of the robotic arm and the 2-DOF parallel end effector in the image-guided integrated surgical robot based on a hybrid serial-parallel structure described in Embodiments 5 and 6 of the present invention; Figure 4 Is a schematic structural view after the assembly of the CBCT base plate, the 2-DOF bottom parallel mechanism, and the vertical moving pair I in an image-guided integrated surgical robot based on a hybrid serial-parallel structure described in Embodiments 5 and 6 of the present invention; Figure 5 Is an axonometric view of the image-guided integrated surgical robot based on a hybrid serial-parallel structure described in Embodiments 7 and 8 of the present invention; Figure 6 Is a schematic structural view of the image-guided integrated surgical robot based on a hybrid serial-parallel structure described in Embodiments 7 and 8 of the present invention; Figure 7 Is a schematic structural view after the assembly of the CBCT scanning arm and the 2-DOF parallel end effector in the image-guided integrated surgical robot based on a hybrid serial-parallel structure described in Embodiments 7 and 8 of the present invention; Figure 8 Is a schematic structural view after the assembly of the CBCT scanning arm and the vertical moving pair II in the image-guided integrated surgical robot based on a hybrid serial-parallel structure described in Embodiments 7 and 8 of the present invention; Figure 9 Is an axonometric view of the image-guided integrated surgical robot based on a hybrid serial-parallel structure described in Embodiments 9 and 10 of the present invention; Figure 10 Is a schematic structural view of the image-guided integrated surgical robot based on a hybrid serial-parallel structure described in Embodiments 9 and 10 of the present invention; Figure 11 Is a schematic structural view after the assembly of the CBCT scanning arm and the 2-DOF parallel end effector in the image-guided integrated surgical robot based on a hybrid serial-parallel structure described in Embodiments 9 and 10 of the present invention; Figure 12 Is a schematic structural view of the 2-DOF parallel end effector of the present invention; Figure 13 Is an axonometric view of the 2-DOF parallel end effector of the present invention; Figure 14 Is a front view of the 2-DOF parallel end effector of the present invention; Figure 15 Is a working principle diagram of the 2-DOF parallel end effector of the present invention.

[0039] In the figure: 1, trolley; 2, large arm of the robotic arm; 3, 2-DOF parallel end effector;

[0040] 1-1, moving base; 1-2, support column;

[0041] 2A-1, Overall Rotation Pair Ⅰ; 2A-2, CBCT Scanning Arm Ⅰ; 2A-3, Vertical Translation Pair Ⅰ; 2A-4, 2-DOF Bottom Parallel Mechanism; 2A-1-1, Third Linear Motion Driving Assembly; 2A-1-2, Fourth Linear Motion Driving Assembly; 2A-1-3, Third Rotation Pair; 2A-1-4, Fourth Rotation Pair; 2A-1-5, Overall Rotation Motor Ⅰ; 2A-1-6, Motor Mounting Bracket Ⅰ; 2A-2-1, CBCT Base Plate Ⅰ; 2A-2-2, CBCT Receiver Ⅰ; 2A-2-3, CBCT Transmitter Ⅰ; 2A-3-1, Fifth Linear Motion Driving Assembly; 2A-3-2, Vertical Fixed Plate Ⅰ;

[0042] 2B-1, Overall Rotation Pair Ⅱ; 2B-2, CBCT Scanning Arm Ⅱ; 2B-3, Vertical Translation Pair Ⅱ; 2B-1-1, Overall Rotation Motor Ⅱ; 2B-1-2, Motor Mounting Bracket Ⅱ; 2B-2-1, CBCT Base Plate Ⅱ; 2B-2-2, CBCT Receiver Ⅱ; 2B-2-3, CBCT Transmitter Ⅱ; 2B-3-1, Sixth Linear Motion Driving Assembly; 2B-3-2, Vertical Fixed Plate Ⅱ; 2B-3-3, First End Rotation Pair;

[0043] 2C-1, Overall Rotation Pair Ⅲ; 2C-2, CBCT Scanning Arm Ⅲ; 2C-3, Vertical Translation Pair Ⅲ; 2C-1-1, Overall Rotation Motor Ⅲ; 2C-1-2, Motor Mounting Bracket Ⅲ; 2C-2-1, CBCT Base Plate Ⅲ; 2C-2-2, CBCT Receiver Ⅲ; 2C-2-3, CBCT Transmitter Ⅲ; 2C-2-4, Vertical Fixed Plate Ⅲ; 2C-3-1, Seventh Linear Motion Driving Assembly; 2C-3-2, Vertical Lifting Plate;

[0044] 3-1, End Effector Body; 3-2, Bone Drill; 3-1-1, First Linear Motion Driving Assembly; 3-1-2, Second Linear Motion Driving Assembly; 3-1-3, First Rotation Pair; 3-1-4, Second Rotation Pair; 3-1-5, End Linear Guide; 3-1-6, Lateral Support Plate; 3-1-7, End Effector Base Plate; 3-1-8, Tool Holder; 3-2-1, Bone Drill Bit; 3-2-2, Bone Drill Sleeve.

[0045] Specific Embodiment 1: In combination with Figures 1 to 15To describe this embodiment, an image-integrated surgical robot based on a hybrid series-parallel structure in this embodiment includes a trolley 1, a robotic arm upper arm 2, and a 2-DOF parallel end effector 3. The trolley 1 includes a moving base 1-1 and a support column 1-2. The support column 1-2 is vertically installed at the center of the upper surface of the moving base 1-1. The support column 1-2, the robotic arm upper arm 2, and the 2-DOF parallel end effector 3 are sequentially connected in series from the head end to the tail end. By the movement of the robotic arm upper arm 2, the 2-DOF parallel end effector 3 is driven to rotate and move within the yoz plane of the robot base coordinate system. By the movement of the 2-DOF parallel end effector 3, the robotic arm realizes reciprocating movement along the x-axis and rotation around the y-axis within the robot base coordinate system.

[0046] Specific Embodiment 2: In combination with Figures 12 to 15 To describe this embodiment, the 2-DOF parallel end effector 3 in this embodiment includes an end effector body 3-1 and a bone drill 3-2. The end effector body 3-1 includes a first linear motion driving component 3-1-1, a second linear motion driving component 3-1-2, a first revolute pair 3-1-3, a second revolute pair 3-1-4, an end linear guide rail 3-1-5, a lateral support plate 3-1-6, an end effector bottom plate 3-1-7, and a tool holder 3-1-8. The right side surface of the lateral support plate 3-1-6 is connected to the rear side surface of the end effector bottom plate 3-1-7. The first linear motion driving component 3-1-1 and the second linear motion driving component 3-1-2 are installed in parallel along the length direction of the end effector bottom plate 3-1-7 on the left side surface of the end effector bottom plate 3-1-7. The power output ends of the first linear motion driving component 3-1-1 and the second linear motion driving component 3-1-2 are respectively fixedly connected to the right side surfaces of the first revolute pair 3-1-3 and the second revolute pair 3-1-4. A vertically arranged tool holder 3-1-8 is provided on the left side of the end effector body 3-1. The tool holder 3-1-8 is an L-shaped tool holder. The lower convex part of the right side surface of the tool holder 3-1-8 is rotatably connected to the left side surface of the second revolute pair 3-1-4. The end linear guide rail 3-1-5 is installed on the upper part of the right side surface of the tool holder 3-1-8. The slider of the end linear guide rail 3-1-5 is rotatably connected to the left side surface of the first revolute pair 3-1-3. A bone drill 3-2 is installed on the left side surface of the tool holder 3-1-8. Other compositions and connection relationships are the same as those in Specific Embodiment 1.

[0047] Specific Embodiment 3: In combination with Figures 12 to 15To describe this embodiment, the bone drill 3-2 of this embodiment includes a bone drill bit 3-2-1, a bone drill sleeve 3-2-2, and a drill bit fixing member. The bone drill sleeve 3-2-2 is vertically installed on the left side of the tool holder 3-1-8. The bone drill bit 3-2-1 is inserted into the inner hole of the bone drill sleeve 3-2-2. A radially fixed threaded hole is radially formed on the side surface of the bone drill sleeve 3-2-2, and the radially fixed threaded hole is vertically communicated with the inner hole of the bone drill sleeve 3-2-2. The drill bit fixing member is a drill bit fixing screw, and the drill bit fixing screw is helically installed in the radially fixed threaded hole. The end surface of the drill bit fixing screw abuts against the side surface of the bone drill bit 3-2-1. With such a setting, the bone drill bit 3-2-1 and the bone drill sleeve 3-2-2 are locked and positioned through the drill bit fixing member, which is convenient for disassembly and installation. Other compositions and connection relationships are the same as those in the first or second specific embodiment.

[0048] Specific embodiment four: In combination with Figures 12 to 15 To describe this embodiment, the first linear motion driving assembly 3-1-1 of this embodiment includes a first motor, a first ball screw pair, a first linear guide rail, and a first synchronous belt transmission mechanism. The two bearing seats of the first ball screw pair are both installed on the left side surface of the end effector base plate 3-1-7. The end of the screw rod of the first ball screw pair is connected to the rotating shaft of the first motor through the first synchronous belt transmission mechanism. The housing of the first motor is installed on one of the bearing seats of the first ball screw pair. A horizontally arranged first linear guide rail is provided above the first ball screw pair. The slide rail of the first linear guide rail is installed on the left side surface of the end effector base plate 3-1-7. The lower side surface of the slider of the first linear guide rail is connected to the nut of the first ball screw pair. The left side surface of the slider of the first linear guide rail is fixedly connected to the right side surface of the first rotating pair 3-1-3;

[0049] With such a setting, the first motor drives the screw rod of the first ball screw pair to rotate through the first synchronous belt transmission mechanism. The nut of the first ball screw pair is connected to the slider of the first linear guide rail, and thus can drive the first rotating pair 3-1-3 connected to the slider to perform a linear motion along the slide rail of the first linear guide rail. At the same time, the first rotating pair 3-1-3 is also connected to the end slider of the end linear guide rail 3-1-5, so that the first rotating pair 3-1-3 can also perform a linear motion along the end slide rail. Therefore, the first rotating pair 3-1-3 is a passive rotating pair.

[0050] The second linear motion driving assembly 3-1-2 includes a second motor, a second ball screw pair, a second linear guide rail, and a second synchronous belt drive mechanism. Both bearing seats of the second ball screw pair are mounted on the left side of the end effector base plate 3-1-7. The end of the screw rod of the second ball screw pair is connected to the rotating shaft of the second motor through the second synchronous belt drive mechanism. The housing of the second motor is mounted on one of the bearing seats of the second ball screw pair. A horizontally arranged second linear guide rail is provided below the second ball screw pair. The slide rail of the second linear guide rail is mounted on the left side of the end effector base plate 3-1-7. The upper side of the slider of the second linear guide rail is connected to the nut of the second ball screw pair. The left side of the slider of the second linear guide rail is fixedly connected to the right side of the second rotating pair 3-1-4;

[0051] With such an arrangement, the second motor rotates the screw rod of the second ball screw pair through the second synchronous belt drive mechanism. The nut of the second ball screw pair is connected to the slider of the second linear guide rail, and thus can drive the second rotating pair 3-1-4 connected to the slider to perform a linear motion along the slide rail of the second linear guide rail. Since the second rotating pair 3-1-4 is connected to the tool holder 3-1-8 and there is no connection between the second rotating pair 3-1-4 and the end linear guide rail 3-1-5. Therefore, the second rotating pair 3-1-4 is not a passive rotating pair.

[0052] The end linear guide rail 3-1-5 includes an end slide rail and an end slider. The end slide rail is vertically mounted on the upper part of the right side of the tool holder 3-1-8. An end slider is slidably mounted on the end slide rail. The right side of the end slider is rotatably connected to the left side of the first rotating pair 3-1-3. Other compositions and connection relationships are the same as those in the first, second, or third specific embodiments.

[0053] Specific embodiment five: Combining Figures 1 to 4 To illustrate this embodiment, the robotic arm's large arm 2 of this embodiment includes an overall rotating pair Ⅰ 2A-1, a CBCT scanning arm Ⅰ 2A-2, a vertical moving pair Ⅰ 2A-3, and a 2-DOF bottom parallel mechanism 2A-4. The CBCT scanning arm Ⅰ 2A-2 is horizontally arranged on the upper part of the support column 1-2. The CBCT scanning arm Ⅰ 2A-2 is a "U-shaped" scanning arm. The CBCT scanning arm Ⅰ 2A-2 includes a CBCT bottom plate Ⅰ 2A-2-1, a CBCT receiving end Ⅰ 2A-2-2, and a CBCT transmitting end Ⅰ 2A-2-3. The CBCT receiving end Ⅰ 2A-2-2 and the CBCT transmitting end Ⅰ 2A-2-3 are vertically and oppositely arranged on the front side of the CBCT bottom plate Ⅰ 2A-2-1. The ends of the CBCT receiving end Ⅰ 2A-2-2 and the CBCT transmitting end Ⅰ 2A-2-3 are respectively perpendicularly connected to the left and right ends of the front side of the CBCT bottom plate Ⅰ 2A-2-1;

[0054] Above the support column 1-2 of the trolley 1, there is an integral rotary pair Ⅰ 2A-1. The connecting part of the integral rotary pair Ⅰ 2A-1 is installed at the top end of the support column 1-2 of the trolley 1, and the rotating part of the integral rotary pair Ⅰ 2A-1 is connected to the middle part of the CBCT bottom plate Ⅰ 2A-2-1;

[0055] Between the CBCT receiving end Ⅰ 2A-2-2 and the CBCT transmitting end Ⅰ 2A-2-3, there is a horizontally arranged 2-DOF bottom parallel mechanism 2A-4. The 2-DOF bottom parallel mechanism 2A-4 includes a third linear motion driving component 2A-1-1, a fourth linear motion driving component 2A-1-2, a third rotating pair 2A-1-3 and a fourth rotating pair 2A-1-4. The third linear motion driving component 2A-1-1 and the fourth linear motion driving component 2A-1-2 are horizontally arranged side by side along the length direction of the CBCT bottom plate Ⅰ 2A-2-1 on the front side of the CBCT bottom plate Ⅰ 2A-2-1. The power output ends of the third linear motion driving component 2A-1-1 and the fourth linear motion driving component 2A-1-2 are respectively fixedly connected to the rear sides of the third rotating pair 2A-1-3 and the fourth rotating pair 2A-1-4;

[0056] On the front side of the 2-DOF bottom parallel mechanism 2A-4, there is a vertically arranged vertical moving pair Ⅰ 2A-3. The vertical moving pair Ⅰ 2A-3 includes a fifth linear motion driving component 2A-3-1 and a vertical fixing plate Ⅰ 2A-3-2. The fifth linear motion driving component 2A-3-1 is installed on the rear side of the vertical fixing plate Ⅰ 2A-3-2 in a vertical arrangement. The two power output ends of the fifth linear motion driving component 2A-3-1 are respectively rotationally connected to the front sides of the third rotating pair 2A-1-3 and the fourth rotating pair 2A-1-4. Above the side part of the vertical fixing plate Ⅰ 2A-3-2, there is a 2-DOF parallel end effector 3. The front side of the transverse support plate 3-1-6 in the 2-DOF parallel end effector 3 is connected to the upper part of the rear side of the vertical fixing plate Ⅰ 2A-3-2.

[0057] Other compositions and connection relationships are the same as those in the first, second, third or fourth specific embodiments.

[0058] Specific embodiment six: Combine Figures 1 to 4Describing this embodiment, the third linear motion driving assembly 2A-1-1 of this embodiment includes a third motor, a third ball screw pair, a third linear guide rail, and a third synchronous belt transmission mechanism. Both bearing seats of the third ball screw pair are installed on the front side of the CBCT bottom plate Ⅰ 2A-2-1. The end of the screw rod of the third ball screw pair is connected to the rotating shaft of the third motor through the third synchronous belt transmission mechanism. The housing of the third motor is installed on one of the bearing seats of the third ball screw pair. A horizontally arranged third linear guide rail is provided directly above the screw rod of the third ball screw pair. The guide rail of the third linear guide rail is installed on the front side of the CBCT bottom plate Ⅰ 2A-2-1. The rear side of the slider of the third linear guide rail is fixedly connected to the front side of the third rotating pair 2A-1-3. The lower side of the slider of the third linear guide rail is connected to the nut of the third ball screw pair;

[0059] With such a setting, the third motor drives the screw rod of the third ball screw pair to rotate through the third synchronous belt transmission mechanism. The nut of the third ball screw pair is connected to the slider of the third linear guide rail, causing it to perform a linear motion along the slide rail of the third linear guide rail. At the same time, the slider of the third linear guide rail is connected to the upper slider of the fifth linear guide rail through the third rotating pair 2A-1-3. Since the upper slider of the fifth linear guide rail is only connected to the slide rail of the fifth linear guide rail and there is no connection relationship between the upper slider and the nut of the fifth ball screw pair. Therefore, the third rotating pair 2A-1-3 is a passive rotating pair.

[0060] The fourth linear motion driving assembly 2A-1-2 includes a fourth motor, a fourth ball screw pair, a fourth linear guide rail, and a fourth synchronous belt transmission mechanism. Both bearing seats of the fourth ball screw pair are installed on the front side of the CBCT bottom plate Ⅰ 2A-2-1. The end of the screw rod of the fourth ball screw pair is connected to the rotating shaft of the fourth motor through the fourth synchronous belt transmission mechanism. The housing of the fourth motor is installed on one of the bearing seats of the fourth ball screw pair. A horizontally arranged fourth linear guide rail is provided directly above the screw rod of the fourth ball screw pair. The guide rail of the fourth linear guide rail is installed on the front side of the CBCT bottom plate Ⅰ 2A-2-1. The rear side of the slider of the fourth linear guide rail is fixedly connected to the front side of the fourth rotating pair 2A-1-4. The lower side of the slider of the fourth linear guide rail is connected to the nut of the fourth ball screw pair;

[0061] With such a setting, the fourth motor drives the screw rod of the fourth ball screw pair to rotate through the fourth synchronous belt transmission mechanism. The nut of the fourth ball screw pair is connected to the slider of the fourth linear guide rail, causing it to perform a linear motion along the slide rail of the fourth linear guide rail. At the same time, the slider of the fourth linear guide rail is connected to the lower slider of the fifth linear guide rail through the fourth rotating pair 2A-1-4. Since the lower slider of the fifth linear guide rail is connected to the slide rail of the fifth linear guide rail and at the same time the lower slider is also connected to the nut of the fifth ball screw pair, therefore, the fourth rotating pair 2A-1-4 is not a passive rotating pair.

[0062] The fifth linear motion driving assembly 2A-3-1 includes a fifth motor, a fifth ball screw pair, a fifth linear guide rail, and a fifth synchronous belt transmission mechanism. Both bearing seats of the fifth ball screw pair are installed on the rear side of the vertical fixing plate I 2A-3-2. A rectangular assembly through hole is provided in the upper part of the vertical fixing plate I 2A-3-2. The fifth motor is installed on the upper part of the front side of the vertical fixing plate I 2A-3-2. One end of the fifth synchronous belt transmission mechanism is connected to the rotating shaft of the fifth motor, and the other end of the fifth synchronous belt transmission mechanism passes through the rectangular assembly through hole and is connected to the upper end of the screw rod of the fifth ball screw pair. The two slide rails of the fifth linear guide rail are vertically and symmetrically arranged on the left and right sides of the fifth ball screw pair respectively. The upper slide block of the fifth linear guide rail is simultaneously slidably connected to the two slide rails of the fifth linear guide rail. The rear side of the upper slide block is rotatably connected to the front side of the third rotating pair 2A-1-3. The lower slide block of the fifth linear guide rail is simultaneously slidably connected to the two slide rails of the fifth linear guide rail. The rear side of the lower slide block is rotatably connected to the front side of the fourth rotating pair 2A-1-4. The lower slide block is connected to the slide block of the fifth ball screw pair;

[0063] The overall rotating pair I 2A-1 includes an overall rotating motor I 2A-1-5 and a motor mounting bracket I 2A-1-6. The motor mounting bracket I 2A-1-6 is installed at the top of the support column 1-2 of the trolley 1. The overall rotating motor I 2A-1-5 is installed on the motor mounting bracket I 2A-1-6. The rotating shaft of the overall rotating motor I 2A-1-5 is connected to the middle part of the CBCT bottom plate I 2A-2-1.

[0064] With such a setting, the fifth motor is a brushed motor. The fifth motor drives the screw rod of the fifth ball screw pair to rotate through the fifth synchronous belt transmission mechanism. The nut of the fifth ball screw pair is connected to the lower slide block of the fifth linear guide rail, and thus can drive the fourth rotating pair 2A-1-4 connected to the lower slide block to perform linear motion along the slide rail of the fifth linear guide rail.

[0065] The other compositions and connection relationships are the same as those in the first, second, third, fourth, or fifth specific embodiments.

[0066] Among them, the structures of the first rotating pair, the second rotating pair, the third rotating pair 2A-1-3, and the fourth rotating pair 2A-1-4 are the same; the first rotating pair includes a joint body, a joint bearing, and a joint rotating shaft. A circular assembly counterbore is provided on the joint body. The joint bearing is embedded in the circular assembly counterbore. The joint rotating shaft is coaxially inserted into the inner hole of the inner ring of the joint bearing. The end of the joint rotating shaft is connected to the convex part on the lower part of the right side of the corresponding slide block or tool holder 3-1-8.

[0067] Specific embodiment seven; combined with Figures 5 to 8Description of this embodiment: The boom 2 of the robotic arm in this embodiment includes an overall rotary pair II 2B-1, a CBCT scanning arm II 2B-2, and a vertical moving pair II 2B-3. The CBCT scanning arm II 2B-2 is horizontally arranged on the upper part of the support column 1-2 of the trolley 1. The CBCT scanning arm II 2B-2 is a "U-shaped" scanning arm. The CBCT scanning arm II 2B-2 includes a CBCT bottom plate II 2B-2-1, a CBCT receiving end II 2B-2-2, and a CBCT transmitting end II 2B-2-3. The CBCT receiving end II 2B-2-2 and the CBCT transmitting end II 2B-2-3 are vertically and oppositely arranged on the front side of the CBCT bottom plate II 2B-2-1. The end parts of the CBCT receiving end II 2B-2-2 and the CBCT transmitting end II 2B-2-3 are respectively vertically connected to the left and right ends of the front side of the CBCT bottom plate II 2B-2-1;

[0068] Above the support column 1-2 of the trolley 1, there is an overall rotary pair II 2B-1. The connecting part of the overall rotary pair II 2B-1 is installed at the top end of the support column 1-2 of the trolley 1, and the rotating part of the overall rotary pair II 2B-1 is connected to the middle of the CBCT bottom plate II 2B-2-1;

[0069] Between the CBCT receiving end II 2B-2-2 and the CBCT transmitting end II 2B-2-3, there is a vertically arranged vertical moving pair II 2B-3. The vertical moving pair II 2B-3 includes a sixth linear motion driving component 2B-3-1, a vertical fixing plate II 2B-3-2, and a first end rotary pair 2B-3-3. The rear side of the vertical fixing plate II 2B-3-2 is installed with a vertically arranged sixth linear motion driving component 2B-3-1. The power output end of the sixth linear motion driving component 2B-3-1 is connected to the middle of the front side of the CBCT bottom plate II 2B-2-1. The upper part of the vertical fixing plate II 2B-3-2 is connected to the connecting part of the first end rotary pair 2B-3-3. There is a 2-DOF parallel end effector 3 on the upper side of the vertical fixing plate II 2B-3-2. The front side of the horizontal support plate 3-1-6 in the 2-DOF parallel end effector 3 is connected to the rotating part of the first end rotary pair 2B-3-3.

[0070] With such a setting, the CBCT scanning arm II 2B-2 is connected to the support column 1-2 of the trolley 1 through the overall rotary pair II 2B-1. The vertical moving pair II 2B-3 is connected to and drives the 2-DOF parallel end effector 3 through the first end rotary pair 2B-3-3. The other components and connection relationships are the same as those in the first, second, third, fourth, fifth, or sixth specific embodiments.

[0071] Specific embodiment eight: Combining Figures 5 to 8Describing this embodiment, the sixth linear motion driving assembly 2B-3-1 of this embodiment includes a sixth motor, a sixth ball screw pair, and a sixth linear guide rail. Both bearing seats of the sixth ball screw pair are installed on the rear side of the vertical fixing plate II 2B-3-2. The end of the screw rod of the sixth ball screw pair is connected to the rotating shaft of the sixth motor, and the housing of the sixth motor is installed on one of the bearing seats of the sixth ball screw pair. The two slide rails of the sixth linear guide rail are vertically and symmetrically arranged on the left and right sides of the sixth ball screw pair respectively, and the two slide rails are connected to the rear side of the vertical fixing plate II 2B-3-2. The two sliders of the sixth linear guide rail are slidably installed on the two slide rails respectively, and the two sliders of the sixth linear guide rail are fixedly connected to the front side of the CBCT bottom plate II 2B-2-1. Both sliders are connected to the nut of the sixth ball screw pair;

[0072] The overall rotation pair II 2B-1 includes an overall rotation motor II 2B-1-1 and a motor mounting bracket II 2B-1-2. The motor mounting bracket II 2B-1-2 is installed at the top of the support column 1-2 of the trolley 1, and the overall rotation motor II 2B-1-1 is installed on the motor mounting bracket II 2B-1-2. The rotating shaft of the overall rotation motor II 2B-1-1 is connected to the middle part of the CBCT bottom plate II 2B-2-1;

[0073] The first end rotation pair 2B-3-3 includes a first end motor. The housing of the first end motor is connected to the upper part of the vertical fixing plate II 2B-3-2, and the rotating shaft of the first end motor is connected to the front side of the transverse support plate 3-1-6 in the 2-DOF parallel end effector 3.

[0074] With such a setting, the double sliders of the sixth linear guide rail are fixed on the CBCT bottom plate II 2B-2-1, and the two guide rails are respectively fixed on both sides of the rear side of the vertical fixing plate II 2B-3-2. The screw rod drives the slide rail to move up and down, thus forming a linear motion joint. The other components and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, or seventh specific embodiments.

[0075] Specific embodiment nine: Combining Figures 9 to 11Description of this embodiment: The upper arm 2 of the robotic arm in this embodiment includes an overall rotating pair III 2C-1, a CBCT scanning arm III 2C-2, and a vertical moving pair III 2C-3. The CBCT scanning arm III 2C-2 is horizontally arranged on the upper part of the support column 1-2. The CBCT scanning arm III 2C-2 is a "U-shaped" scanning arm. The CBCT scanning arm III 2C-2 includes a CBCT bottom plate III 2C-2-1, a CBCT receiving end III 2C-2-2, and a CBCT transmitting end III 2C-2-3. The CBCT receiving end III 2C-2-2 and the CBCT transmitting end III 2C-2-3 are vertically and oppositely arranged on the front side of the CBCT bottom plate II 2B-2-1. The end parts of the CBCT receiving end III 2C-2-2 and the CBCT transmitting end III 2C-2-3 are respectively vertically connected to the left and right ends of the front side of the CBCT bottom plate III 2C-2-1. Above the middle of the CBCT bottom plate III 2C-2-1, there is a vertically arranged vertical fixing plate III 2C-2-4, and the vertical fixing plate III 2C-2-4 is integrally formed with the CBCT bottom plate III 2C-2-1;

[0076] Above the support column 1-2 of the trolley 1, there is an overall rotating pair III 2C-1. The connecting part of the overall rotating pair III 2C-1 is installed at the top end of the support column 1-2 of the trolley 1, and the rotating part of the overall rotating pair III 2C-1 is connected to the middle of the CBCT bottom plate III 2C-2-1;

[0077] On the front side of the vertical fixing plate III 2C-2-4, there is a vertically arranged vertical moving pair III 2C-3. The vertical moving pair III 2C-3 includes a seventh linear motion driving component 2C-3-1, a vertical lifting plate 2C-3-2, and a second end rotating pair. On the front side of the vertical fixing plate III 2C-2-4, there is a vertically arranged seventh linear motion driving component 2C-3-1. The power output end of the seventh linear motion driving component 2C-3-1 is connected to the vertical lifting plate 2C-3-2. The connecting part of the second end rotating pair is connected to the vertical lifting plate 2C-3-2. On the upper side part of the vertical fixing plate III 2C-2-4, there is a 2-DOF parallel end effector 3. The front side of the horizontal support plate 3-1-6 in the 2-DOF parallel end effector 3 is connected to the rotating part of the second end rotating pair.

[0078] With such a setting, the CBCT scanning arm III 2C-2 is connected to the support column 1-2 of the trolley 1 through the overall rotating pair III 2C-1. The vertical moving pair III 2C-3 is connected to and drives the 2-DOF parallel end effector 3 through the second end rotating pair. The other components and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, seventh, or eighth specific embodiments.

[0079] Specific embodiment ten: In combination with Figures 9 to 11To describe this embodiment, the seventh linear motion driving assembly 2C-3-1 of this embodiment includes a seventh motor, a seventh ball screw pair, and a seventh linear guide rail. Both bearing blocks of the seventh ball screw pair are installed on the front side of the vertical fixing plate III 2C-2-4. The end of the screw rod of the seventh ball screw pair is connected to the rotating shaft of the seventh motor, and the housing of the seventh motor is installed on one of the bearing blocks of the seventh ball screw pair. The two slide rails of the seventh linear guide rail are vertically and symmetrically arranged on the left and right sides of the seventh ball screw pair respectively, and the two slide rails are connected to the front side of the vertical fixing plate III 2C-2-4. The two sliders of the seventh linear guide rail are slidably installed on the two slide rails respectively, and the two sliders are connected to the rear side of the vertical lifting plate 2C-3-2. Both sliders are connected to the nut of the seventh ball screw pair;

[0080] The overall rotation pair III 2C-1 includes an overall rotation motor III 2C-1-1 and a motor mounting bracket III 2C-1-2. The motor mounting bracket III 2C-1-2 is installed at the top of the support column 1-2 of the trolley 1, and the overall rotation motor III 2C-1-1 is installed on the motor mounting bracket III 2C-1-2. The rotating shaft of the overall rotation motor III 2C-1-1 is connected to the middle part of the CBCT bottom plate III 2C-2-1;

[0081] The second end rotation pair includes a second end motor. The housing of the second end motor is connected to the power output end of the seventh linear motion driving assembly 2C-3-1, and the rotating shaft of the second end motor is connected to the front side of the transverse support plate 3-1-6 in the 2-DOF parallel end effector 3.

[0082] With such a setting, by extending the CBCT bottom plate III 2C-2-1 and fixing the double guide rails of the seventh linear guide rail on the vertical fixing plate III 2C-2-4, the double sliders on the two guide rails are respectively fixed on both sides of the rear side of the vertical lifting plate 2C-3-2, and the sliders are driven by the screw rod to move up and down, thus forming a linear motion joint. The other components and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, seventh, eighth, or ninth specific embodiments.

[0083] Working principle

[0084] Combined Figures 1 to 15 To describe the working principle of the surgical image integration robot based on the hybrid serial-parallel structure of the present invention, taking the surgical image integration robot based on the hybrid serial-parallel structure described in the fifth and sixth specific embodiments as an example:

[0085] The present invention is used for establishing a cochlear implant channel. Specifically, by controlling the high-precision positioning of the bone drill, the axis position of the bone drill and the cochlear implant position are on the same axis, and the bone drill is used to mill and drill the channel to improve the surgical precision. Specifically, before the operation, the doctor places the steel ball target at the end of the registration module near the human target through force positioning and performs a CT scan. By selecting the drilling position and direction in the three-dimensional image after the scan, the third linear motion driving component 2A-1-1 and the fourth linear motion driving component 2A-1-2 of the surgical image integrated robot perform linear motion on the CBCT bottom plate I 2A-2-1 to drive the 2-DOF parallel end effector 3 to move in the yoz plane of the robot base coordinate system. At the same time, a rotation in the x-axis direction is coupled. The two motors of the 2-DOF parallel end effector 3 drive the lead screw to realize the conversion from rotational motion to linear motion, so that the robotic arm realizes reciprocating motion along the x-axis and rotation around the y-axis in the robot base coordinate system to control the swing of the bone drill in the cochlear implant direction, realizing the combination of two degrees of freedom of the surgical instrument and two rotational degrees of freedom, and finally realizing two-dimensional positioning and two-dimensional orientation in space. At the same time, the fifth linear motion driving component 2A-3-1 realizes the adjustment of the end height. All joints are linked to adjust the positioning and orientation of the bone drill drilling channel, and the final linear motion of milling and drilling is realized through the linkage of multiple joints, reducing the error magnification factor and ensuring the precise positioning and accurate operation of the surgery.

[0086] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A surgical robot integrating surgery and imaging based on a hybrid structure, characterized by: It includes a trolley (1), a large arm of the robotic arm (2), and a 2-DOF parallel end effector (3). The trolley (1) includes a moving base (1-1) and a supporting column (1-2). The supporting column (1-2) is vertically installed at the center of the upper surface of the moving base (1-1). The supporting column (1-2), the large arm of the robotic arm (2), and the 2-DOF parallel end effector (3) are sequentially connected in series from the head end to the tail end. The movement of the large arm of the robotic arm (2) drives the rotation and movement of the 2-DOF parallel end effector (3) in the yoz plane of the robot base coordinate system. The movement of the 2-DOF parallel end effector (3) enables the robotic arm to perform reciprocating movement along the x-axis and rotation around the y-axis in the robot base coordinate system; The large arm of the robotic arm (2) includes an overall rotating pair I (2A-1), a CBCT scanning arm I (2A-2), a vertical moving pair I (2A-3), and a 2-DOF bottom parallel mechanism (2A-4). The CBCT scanning arm I (2A-2) is horizontally arranged on the upper part of the supporting column (1-2). The CBCT scanning arm I (2A-2) is a "U-shaped" scanning arm. The CBCT scanning arm I (2A-2) includes a CBCT bottom plate I (2A-2-1), a CBCT receiving end I (2A-2-2), and a CBCT transmitting end I (2A-2-3). The CBCT receiving end I (2A-2-2) and the CBCT transmitting end I (2A-2-3) are vertically and oppositely arranged on the front side of the CBCT bottom plate I (2A-2-1). The end parts of the CBCT receiving end I (2A-2-2) and the CBCT transmitting end I (2A-2-3) are respectively perpendicularly connected to the left and right ends of the front side of the CBCT bottom plate I (2A-2-1); Above the supporting column (1-2) of the trolley (1), there is an overall rotating pair I (2A-1). The connecting part of the overall rotating pair I (2A-1) is installed at the top end of the supporting column (1-2) of the trolley (1). The rotating part of the overall rotating pair I (2A-1) is connected to the middle part of the CBCT bottom plate I (2A-2-1); A horizontally arranged 2-DOF bottom parallel mechanism (2A-4) is provided between the CBCT receiving end I (2A-2-2) and the CBCT transmitting end I (2A-2-3). The 2-DOF bottom parallel mechanism (2A-4) includes a third linear motion driving component (2A-1-1), a fourth linear motion driving component (2A-1-2), a third rotating pair (2A-1-3), and a fourth rotating pair (2A-1-4). The third linear motion driving component (2A-1-1) and the fourth linear motion driving component (2A-1-2) are horizontally arranged side by side along the length direction of the CBCT bottom plate I (2A-2-1) on the front side of the CBCT bottom plate I (2A-2-1). The power output ends of the third linear motion driving component (2A-1-1) and the fourth linear motion driving component (2A-1-2) are respectively fixedly connected to the rear sides of the third rotating pair (2A-1-3) and the fourth rotating pair (2A-1-4); A vertically arranged vertical moving pair I (2A-3) is provided on the front side of the 2-DOF bottom parallel mechanism (2A-4), and the vertical moving pair I (2A-3) includes a fifth linear motion drive assembly (2A-3-1) and a vertical fixed plate I (2A-3-2). A vertically arranged fifth linear motion drive assembly (2A-3-1) is installed on the rear side of the vertical fixed plate I (2A-3-2), and two power output ends of the fifth linear motion drive assembly (2A-3-1) are rotationally connected to the front side of the third rotating pair (2A-1-3) and the fourth rotating pair (2A-1-4) respectively. A 2-DOF parallel end effector (3) is provided on the upper side of the vertical fixed plate I (2A-3-2), and the front side of the lateral support plate (3-1-6) in the 2-DOF parallel end effector (3) is connected to the upper part of the rear side of the vertical fixed plate I (2A-3-2).

2. The surgical robot integrating surgery and imaging based on a hybrid structure according to claim 1, characterized in that: The 2-DOF parallel end effector (3) comprises an end effector body (3-1) and a bone drill (3-2); the end effector body (3-1) comprises a first linear motion drive assembly (3-1-1), a second linear motion drive assembly (3-1-2), a first rotation pair (3-1-3), a second rotation pair (3-1-4), an end linear guide rail (3-1-5), a transverse support plate (3-1-6), an end effector base plate (3-1-7) and a tool holder (3-1-8); the right side surface of the transverse support plate (3-1-6) is connected to the rear side surface of the end effector base plate (3-1-7); the first linear motion drive assembly (3-1-1) and the second linear motion drive assembly (3-1-2) are installed in parallel on the end effector base plate (3-1-7) along the length direction of the end effector base plate (3-1-7) in the upper and lower directions. The left side of the plate (3-1-7), the power output ends of the first linear motion drive assembly (3-1-1) and the second linear motion drive assembly (3-1-2) are fixedly connected to the right side of the first rotating pair (3-1-3) and the second rotating pair (3-1-4), respectively; a vertically arranged tool rack (3-1-8) is provided on the left side of the end actuator body (3-1); the tool rack (3-1-8) is an L-shaped tool rack; a raised portion at the lower part of the right side of the tool rack (3-1-8) is rotatably connected to the left side of the second rotating pair (3-1-4); an end linear guide rail (3-1-5) is installed on the upper part of the right side of the tool rack (3-1-8); a slider of the end linear guide rail (3-1-5) is rotatably connected to the left side of the first rotating pair (3-1-3); and a bone drill (3-2) is installed on the left side of the tool rack (3-1-8).

3. The surgical robot integrating surgery and imaging based on a hybrid structure according to claim 2, characterized in that: The bone drill (3-2) comprises a bone drill bit (3-2-1), a bone drill sleeve (3-2-2) and a drill bit fixing part. The bone drill sleeve (3-2-2) is vertically mounted on the left side of the tool rack (3-1-8). The bone drill bit (3-2-1) is inserted into the inner hole of the bone drill sleeve (3-2-2). A radial fixing threaded hole is radially opened on the side of the bone drill sleeve (3-2-2). The radial fixing threaded hole is vertically connected to the inner hole of the bone drill sleeve (3-2-2). The drill bit fixing part is a drill bit fixing screw. The drill bit fixing screw is spirally mounted in the radial fixing threaded hole. The end face of the drill bit fixing screw abuts against the side of the bone drill bit (3-2-1).

4. The surgical robot integrating surgery and imaging based on a hybrid structure according to claim 3, characterized in that: The first linear motion drive assembly (3-1-1) comprises a first motor, a first ball screw pair, a first linear guide rail and a first synchronous belt transmission mechanism, the two bearing seats of the first ball screw pair are both mounted on the left side of the end effector base plate (3-1-7), the end of the screw rod of the first ball screw pair is connected to the rotating shaft of the first motor through the first synchronous belt transmission mechanism, the housing of the first motor is mounted on the bearing seat of one of the first ball screw pairs, a horizontally arranged first linear guide rail is provided above the first ball screw pair, the slide rail of the first linear guide rail is mounted on the left side of the end effector base plate (3-1-7), the lower side of the slider of the first linear guide rail is connected to the nut of the first ball screw pair, and the left side of the slider of the first linear guide rail is fixedly connected to the right side of the first rotating pair (3-1-3); The second linear motion drive assembly (3-1-2) comprises a second motor, a second ball screw pair, a second linear guide and a second synchronous belt transmission mechanism, the two bearing seats of the second ball screw pair are both mounted on the left side of the end effector base plate (3-1-7), the screw end of the second ball screw pair is connected to the rotating shaft of the second motor through the second synchronous belt transmission mechanism, the housing of the second motor is mounted on the bearing seat of one of the second ball screw pairs, a horizontally arranged second linear guide is provided below the second ball screw pair, the slide rail of the second linear guide is mounted on the left side of the end effector base plate (3-1-7), the upper side of the slider of the second linear guide is connected to the nut of the second ball screw pair, and the left side of the slider of the second linear guide is fixedly connected to the right side of the second rotating pair (3-1-4); The end linear guide rail (3-1-5) comprises an end slide rail and an end slider, the end slide rail is vertically mounted on the upper right side surface of the tool rack (3-1-8), the end slider is slidably mounted on the end slide rail, and the right side surface of the end slider is rotatably connected to the left side surface of the first rotating pair (3-1-3).

5. The surgical robot integrating surgery and imaging based on a hybrid structure according to claim 1, characterized in that: The third linear motion drive assembly (2A-1-1) comprises a third motor, a third ball screw pair, a third linear guide and a third synchronous belt transmission mechanism, wherein two bearing seats of the third ball screw pair are both mounted on the front side of the CBCT base plate I (2A-2-1), the end of the screw of the third ball screw pair is connected to the rotating shaft of the third motor through the third synchronous belt transmission mechanism, the housing of the third motor is mounted on one of the bearing seats of the third ball screw pair, a third linear guide arranged horizontally is provided directly above the screw of the third ball screw pair, the guide rail of the third linear guide is mounted on the front side of the CBCT base plate I (2A-2-1), the rear side of the slider of the third linear guide is fixedly connected to the front side of the third rotating pair (2A-1-3), and the lower side of the slider of the third linear guide is connected to the nut of the third ball screw pair; The fourth linear motion drive assembly (2A-1-2) comprises a fourth motor, a fourth ball screw pair, a fourth linear guide and a fourth synchronous belt transmission mechanism, the two bearing seats of the fourth ball screw pair are both mounted on the front side of the CBCT base plate I (2A-2-1), the end of the screw of the fourth ball screw pair is connected to the rotating shaft of the fourth motor through the fourth synchronous belt transmission mechanism, the housing of the fourth motor is mounted on one of the bearing seats of the fourth ball screw pair, a horizontally arranged fourth linear guide is provided directly above the screw of the fourth ball screw pair, the guide rail of the fourth linear guide is mounted on the front side of the CBCT base plate I (2A-2-1), the rear side of the slider of the fourth linear guide is fixedly connected to the front side of the fourth rotating pair (2A-1-4), and the lower side of the slider of the fourth linear guide is connected to the nut of the fourth ball screw pair; The fifth linear motion drive assembly (2A-3-1) comprises a fifth motor, a fifth ball screw pair, a fifth linear guide rail and a fifth synchronous belt transmission mechanism. The two bearing seats of the fifth ball screw pair are both mounted on the rear side of the vertical fixing plate I (2A-3-2). A rectangular assembly through hole is provided on the upper portion of the vertical fixing plate I (2A-3-2). The fifth motor is mounted on the upper portion of the front side of the vertical fixing plate I (2A-3-2). One end of the fifth synchronous belt transmission mechanism is connected to the rotating shaft of the fifth motor. The other end of the fifth synchronous belt transmission mechanism passes through the rectangular assembly through hole and is connected to the fifth ball screw pair. The upper end of the lead screw of the ball screw pair is connected, the two slide rails of the fifth linear guide are vertically symmetrically arranged on the left and right sides of the fifth ball screw pair, the upper slider of the fifth linear guide is slidably connected to the two slide rails of the fifth linear guide at the same time, wherein the rear side surface of the upper slider is rotatably connected to the front side surface of the third rotation pair (2A-1-3), the lower slider of the fifth linear guide is slidably connected to the two slide rails of the fifth linear guide at the same time, wherein the rear side surface of the lower slider is rotatably connected to the front side surface of the fourth rotation pair (2A-1-4), and the lower slider is connected to the slider of the fifth ball screw pair; The overall rotating pair Ⅰ (2A-1) includes an overall rotating motor Ⅰ (2A-1-5) and a motor mounting bracket Ⅰ (2A-1-6). The motor mounting bracket Ⅰ (2A-1-6) is installed at the top of the support column (1-2) of the trolley (1). The overall rotating motor Ⅰ (2A-1-5) is installed on the motor mounting bracket Ⅰ (2A-1-6). The rotating shaft of the overall rotating motor Ⅰ (2A-1-5) is connected to the middle of the CBCT bottom plate Ⅰ (2A-2-1).

6. The surgical robot integrating surgery and imaging based on a hybrid structure according to claim 1 or 4, characterized in that: The large arm of the robotic arm (2) includes an overall rotating pair Ⅱ (2B-1), a CBCT scanning arm Ⅱ (2B-2), and a vertical moving pair Ⅱ (2B-3). The CBCT scanning arm Ⅱ (2B-2) is horizontally arranged on the upper part of the support column (1-2). The CBCT scanning arm Ⅱ (2B-2) is a "U-shaped" scanning arm. The CBCT scanning arm Ⅱ (2B-2) includes a CBCT bottom plate Ⅱ (2B-2-1), a CBCT receiving end Ⅱ (2B-2-2), and a CBCT transmitting end Ⅱ (2B-2-3). The CBCT receiving end Ⅱ (2B-2-2) and the CBCT transmitting end Ⅱ (2B-2-3) are vertically and oppositely arranged on the front side of the CBCT bottom plate Ⅱ (2B-2-1). The ends of the CBCT receiving end Ⅱ (2B-2-2) and the CBCT transmitting end Ⅱ (2B-2-3) are respectively perpendicularly connected to the left and right ends of the front side of the CBCT bottom plate Ⅱ (2B-2-1). An overall rotating pair Ⅱ (2B-1) is provided above the support column (1-2) of the trolley (1). The connecting part of the overall rotating pair Ⅱ (2B-1) is installed at the top of the support column (1-2) of the trolley (1). The rotating part of the overall rotating pair Ⅱ (2B-1) is connected to the middle of the CBCT bottom plate Ⅱ (2B-2-1). A vertically arranged vertical moving pair Ⅱ (2B-3) is provided between the CBCT receiving end Ⅱ (2B-2-2) and the CBCT transmitting end Ⅱ (2B-2-3). The vertical moving pair Ⅱ (2B-3) includes a sixth linear motion driving component (2B-3-1), a vertical fixing plate Ⅱ (2B-3-2), and a first end rotating pair (2B-3-3). The sixth linear motion driving component (2B-3-1) arranged vertically is installed on the rear side of the vertical fixing plate Ⅱ (2B-3-2). The power output end of the sixth linear motion driving component (2B-3-1) is connected to the middle of the front side of the CBCT bottom plate Ⅱ (2B-2-1). The upper part of the vertical fixing plate Ⅱ (2B-3-2) is connected to the connecting part of the first end rotating pair (2B-3-3). A 2-DOF parallel end effector (3) is provided on the upper side of the vertical fixing plate Ⅱ (2B-3-2). The front side of the transverse support plate (3-1-6) in the 2-DOF parallel end effector (3) is connected to the rotating part of the first end rotating pair (2B-3-3).

7. The surgical robot integrating surgery and imaging based on a hybrid structure according to claim 6, characterized in that: The sixth linear motion driving assembly (2B-3-1) includes a sixth motor, a sixth ball screw pair, and a sixth linear guide. Both bearing blocks of the sixth ball screw pair are installed on the rear side of the vertical fixing plate II (2B-3-2). The end of the screw rod of the sixth ball screw pair is connected to the rotating shaft of the sixth motor, and the housing of the sixth motor is installed on one of the bearing blocks of the sixth ball screw pair. The two slide rails of the sixth linear guide are vertically and symmetrically arranged on the left and right sides of the sixth ball screw pair respectively, and the two slide rails are connected to the rear side of the vertical fixing plate II (2B-3-2). The two sliders of the sixth linear guide are slidably installed on the two slide rails respectively, and the two sliders are fixedly connected to the front side of the CBCT bottom plate II (2B-2-1). Both sliders are connected to the nut of the sixth ball screw pair; The overall rotating pair II (2B-1) includes an overall rotating motor II (2B-1-1) and a motor mounting bracket II (2B-1-2). The motor mounting bracket II (2B-1-2) is installed at the top of the support column (1-2) of the trolley (1), and the overall rotating motor II (2B-1-1) is installed on the motor mounting bracket II (2B-1-2). The rotating shaft of the overall rotating motor II (2B-1-1) is connected to the middle part of the CBCT bottom plate II (2B-2-1); The first end rotating pair (2B-3-3) includes a first end motor. The housing of the first end motor is connected to the upper part of the vertical fixing plate II (2B-3-2), and the rotating shaft of the first end motor is connected to the front side of the transverse support plate (3-1-6) in the 2-DOF parallel end effector (3).

8. The surgical robot integrating surgery and imaging based on a hybrid structure according to claim 1 or 4, characterized in that: The robotic arm's upper arm (2) includes an overall rotating pair III (2C-1), a CBCT scanning arm III (2C-2), and a vertical moving pair III (2C-3). The CBCT scanning arm III (2C-2) is horizontally arranged on the upper part of the support column (1-2). The CBCT scanning arm III (2C-2) is a "U-shaped" scanning arm. The CBCT scanning arm III (2C-2) includes a CBCT bottom plate III (2C-2-1), a CBCT receiving end III (2C-2-2), and a CBCT transmitting end III (2C-2-3). The CBCT receiving end III (2C-2-2) and the CBCT transmitting end III (2C-2-3) are vertically and oppositely arranged on the front side of the CBCT bottom plate II (2B-2-1). The ends of the CBCT receiving end III (2C-2-2) and the CBCT transmitting end III (2C-2-3) are respectively vertically connected to the left and right ends of the front side of the CBCT bottom plate III (2C-2-1). Above the middle of the CBCT bottom plate III (2C-2-1), there is a vertically arranged vertical fixing plate III (2C-2-4), and the vertical fixing plate III (2C-2-4) is integrally formed with the CBCT bottom plate III (2C-2-1); Above the support column (1-2) of the trolley (1), there is an overall rotating pair III (2C-1). The connecting part of the overall rotating pair III (2C-1) is installed at the top of the support column (1-2) of the trolley (1), and the rotating part of the overall rotating pair III (2C-1) is connected to the middle part of the CBCT bottom plate III (2C-2-1); A vertically arranged vertical moving pair III (2C-3) is installed on the front side of the vertical fixed plate III (2C-2-4), and the vertical moving pair III (2C-3) includes a seventh linear motion drive assembly (2C-3-1), a vertical lifting plate (2C-3-2) and a second terminal rotating pair. A vertically arranged seventh linear motion drive assembly (2C-3-1) is installed on the front side of the vertical fixed plate III (2C-2-4), and the power output end of the seventh linear motion drive assembly (2C-3-1) is connected to the vertical lifting plate (2C-3-2), and the connecting part of the second terminal rotating pair is connected to the vertical lifting plate (2C-3-2). A 2-DOF parallel end effector (3) is provided on the upper side of the vertical fixed plate III (2C-2-4), and the front side of the lateral support plate (3-1-6) in the 2-DOF parallel end effector (3) is connected to the rotating part of the second terminal rotating pair.

9. The surgical robot integrating surgery and imaging based on a hybrid structure according to claim 8, characterized in that: The seventh linear motion drive assembly (2C-3-1) comprises a seventh motor, a seventh ball screw pair and a seventh linear guide rail. The two bearing seats of the seventh ball screw pair are both mounted on the front side of the vertical fixed plate III (2C-2-4). The screw end of the seventh ball screw pair is connected to the rotating shaft of the seventh motor. The housing of the seventh motor is mounted on the bearing seat of one of the seventh ball screw pairs. The two slide rails of the seventh linear guide rail are respectively arranged vertically symmetrically on the left and right sides of the seventh ball screw pair. The two slide rails are connected to the front side of the vertical fixed plate III (2C-2-4). The two sliders of the seventh linear guide rail are respectively slidably mounted on the two slide rails. The two sliders of the seventh linear guide rail are connected to the rear side of the vertical lifting plate (2C-3-2). The two sliders are both connected to the nuts of the seventh ball screw pair. The integral rotating pair III (2C-1) comprises an integral rotating motor III (2C-1-1) and a motor mounting frame III (2C-1-2), wherein the motor mounting frame III (2C-1-2) is mounted on the top of the supporting column (1-2) of the trolley (1), the integral rotating motor III (2C-1-1) is mounted on the motor mounting frame III (2C-1-2), and the rotating shaft of the integral rotating motor III (2C-1-1) is connected to the middle of the CBCT base plate III (2C-2-1); The second end rotary pair comprises a second end motor, the housing of the second end motor is connected to the power output end of the seventh linear motion drive assembly (2C-3-1), and the rotating shaft of the second end motor is connected to the front side of the transverse support plate (3-1-6) in the 2-DOF parallel end actuator (3).

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