90 results about "Thoracoscopes" patented technology

The invention discloses a thoracoscope minimally invasive cardiac surgery navigation system based on multi-modal image fusion, and the system comprises the steps: constructing a 5D heart digital twin containing an anatomical structure, a soft tissue boundary, metabolic activity and electrophysiological information through fusing preoperative CT, MRI, PET and intraoperative ultrasonic images; real-time dynamic registration is realized by using an electrocardio gating driven biomechanical model; superposing the multi-color coding navigation information to the visual field of the thoracoscope through a wavelength selection type spectroscope; a dynamic risk scoring model is constructed based on the distance, the speed and the tissue vulnerability, and three-level grading intervention is triggered; a miniature force feedback actuator is integrated to realize closed-loop control; and pre-operation virtual drilling and post-operation federal learning optimization are supported. The system remarkably improves the surgical precision and safety, and is suitable for high-difficulty heart minimally invasive surgeries such as mitral valve repair and atrial fibrillation ablation.

The invention provides a pulmonary nodule display method and device, electronic equipment and a storage medium, and the method comprises the steps: segmenting a three-dimensional reconstruction image of the chest of a target patient to obtain a preoperative segmentation image, the three-dimensional reconstruction image being obtained based on preoperative CT data, and the preoperative segmentation image comprising the position information of a pulmonary nodule; segmenting the video image of the intraoperative lung tissue of the target patient collected by the thoracoscope in real time to obtain an intraoperative segmented image; feature matching is conducted on the preoperative segmented image and the intra-operative segmented image, the lens pose of the thoracoscope is determined, the preoperative segmented image is mapped into a two-dimensional reference image based on the lens pose, and the two-dimensional reference image comprises the position information of the pulmonary nodule; and carrying out image registration on the two-dimensional reference image and the intra-operative segmented image, and carrying out pulmonary nodule marking on the intra-operative segmented image to obtain a video image for displaying pulmonary nodules in real time. The position of the pulmonary nodule in the operation is accurately displayed in real time in a non-invasive mode, and the operation efficiency is improved.

The invention relates to the technical field of thoracoscope traction, and provides a traction fixing device for a single-hole thoracoscope lung surgery, which comprises a connecting soft seat, a flexible connecting belt is arranged on the connecting soft seat, and the connecting soft seat is connected with the flexible connecting belt, a positioning pin, an arc-shaped limiting plate and other structures. The connecting soft seat is attached to the body surface and is fixed in a surrounding mode through the flexible connecting belt, a stable rigid foundation is provided for the whole device, and after the traction end and angle adjustment are completed, the positioning pin can be inserted into hole grooves of the aligned fan-shaped rotating button and the semicircular limiting plate, and mechanical interlocking is achieved. Meanwhile, an arc-shaped limiting plate on the arc-shaped traction plate always slides in a mode of being attached to the outer edge of the semicircular limiting plate, and the swing track is restrained. The structures jointly ensure that the device cannot move integrally under the stress state, the traction angle is firmly locked, stable traction force comparable to that of a mechanical arm is provided for an operation, and the problems that in the prior art, stability is poor and adjustment is not accurate are solved.

The invention discloses a construction method of a malignant pleural effusion prediction model, a marker combination and application, equipment and a medium. The construction method comprises the following steps: S1, obtaining characteristics of a biomarker combination; the biomarker combination is composed of three biomarkers of NGAL, CEA and CA50; s2, based on the characteristics of the biomarker combination, adopting Logistic regression analysis to respectively construct regression models corresponding to the three biomarkers, and respectively outputting parameters alpha NGAL, beta NGAL, alpha CEA, beta CEA, alpha CA50 and beta CA50; and S3, based on the output parameters in the step S2, adopting Bayesian analysis to construct a malignant pleural effusion prediction model. The method can be used for predicting the MPE probability in the pleural effusion patient, the identification and prediction accuracy is high, and compared with pleural biopsy and thoracoscopic sampling biopsy, the method has the advantages of being rapid, minimally invasive and the like.

The utility model provides a kind of electronic thoracoscope with universal bending insertion part, including operating part and insertion part extending along length direction, the insertion part includes front end portion, active bending section, passive bending section and rigid pipe section from distal end to proximal end in order, the front end portion is equipped with optical imaging module and illumination light source;Active bending section is set in the proximal end of the front end portion, by multiple jointed snake bone unit, actively bends in response to operating part control;Passive bending section is connected to the proximal end of active bending section, the passive bending section has universal bending characteristic and the bending stiffness of the passive bending section is less than active bending section;Rigid pipe section is connected to the proximal end of passive bending section.The utility model expands the observation range of thoracoscope by passive bending section, reduces observation blind area, avoids the direct confrontation of active bending section and the rigid structure of guide sleeve inlet, prolongs the service life of equipment, reduces the loss risk of equipment.

The invention provides an intelligent evaluation system for lung collapse under a thoracoscope, and the system comprises a data collection unit which is used for collecting a lung image through a thoracoscope probe; the double-task lung collapse evaluation unit is used for respectively carrying out lung space and lung color feature extraction and region segmentation on the lung image based on a lung volume attention mechanism and a lung color attention mechanism; obtaining a lung volume task evaluation result and a lung color task evaluation result based on a feature extraction result and a region segmentation result; and the double-task fusion unit is used for fusing the lung volume task evaluation result and the lung color task evaluation result to obtain a final lung collapse evaluation result. The problems that in the prior art, lung collapse evaluation mainly depends on subjective experience judgment of an intraoperative doctor, artificial intelligence assistance is lacked, the scoring result difference is large, and misjudgment is likely to be caused are solved.

The device comprises an operating handle, an excision cavity with an opening in one side and a cutter, a freely-extending operating rod is arranged on the operating handle, the excision cavity is formed in the free end of the operating rod, and a suction limiting mechanism connected with external negative pressure suction equipment is movably arranged in an inner cavity of the excision cavity. The suction limiting mechanism is opposite to the opening of the excision cavity, can suck hypertrophic cardiac muscle tissue to be excided into the excision cavity, and can be close to or far away from the opening of the excision cavity so as to limit and adjust the depth of an inner cavity of the excision cavity, the cutter is movably arranged at the opening of the excision cavity in parallel, and a linkage mechanism is further arranged on the operating handle. The linkage mechanism penetrates through the operating rod to be connected with the cutter, the cutter can be pushed to move in parallel from one end of the opening of the excision cavity to the other end of the opening of the excision cavity so as to excide hypertrophic cardiac muscle tissue entering the excision cavity, by adjusting the position of the suction limiting mechanism, a doctor can conveniently control the excision thickness or depth, and the operation precision is improved.

The present invention relates to a thoracoscopy simulation apparatus and method for performing a simulation that includes generating a 3D atelectasis model on the basis of a CT lung image and displaying the location of a pulmonary nodule and a safe resection margin. The thoracoscopy simulation method according to the present embodiment is a thoracoscopy simulation method in which at least a portion of each step is performed by a processor, and may comprise the steps of: generating a 3D lung model in which a pulmonary nodule is displayed, the 3D lung model being generated on the basis of a chest CT image of a patient in an inspiratory state; changing the 3D lung model to generate a 3D atelectasis model in an expiratory state; generating a 3D thorax model using the 3D atelectasis model and the location of the ribs included in the chest CT image; and positioning the 3D thorax model in a virtual space and generating a simulation image on the basis of the 3D thorax model and the tracked locations of a thoracoscope and a surgical tool.

The invention discloses a multifunctional thoracoscope training box externally connected with a circulating water system, which is characterized in that one end of an upper box body is rotatably mounted at one end of a lower box body; the upper box body is provided with an upper containing space, the lower box body is provided with a lower containing space, and the lower surface of the upper box body and the upper surface of the lower box body are both open. The other end of the upper box body is connected with or separated from the other end of the lower box body, and at least one operation hole is formed in the upper surface of the upper box body; a plurality of guide rail strips are arranged at the bottom of the lower containing space, the guide rail strips are parallel to one another and arranged in a plurality of rows, two through holes are formed in one side of the lower box body, and a drainage hole is formed in the bottom of the lower containing space. The training module is installed in the lower containing space, penetrates through the two through holes and is connected with a circulating water module. According to the device, different training modules are replaced in the lower box body, training of different special modules is achieved, the training modules can be repeatedly used, and the training cost is reduced.

The invention relates to the technical field of medical instruments, in particular to a thoracoscope for thoracic surgery, which comprises a thoracoscope body sleeve and a thoracoscope tube, the thoracoscope body sleeve is fixedly connected with the thoracoscope tube, and a working opening is formed in one end, far away from the thoracoscope body sleeve, of the thoracoscope tube; a working assembly is arranged on the inner side of the endoscope tube and located at the end away from the endoscope body sleeve in a sliding mode, and a driving mechanism for controlling the working assembly to linearly move in the length direction of the endoscope tube is arranged in the endoscope body sleeve. By the adoption of the technical scheme, the working assembly at the end of the endoscope tube can be protected, a camera is prevented from being polluted before an operation or in the process of being inserted into the thoracic cavity of a patient, the camera shooting effect is prevented from being affected, and the operation efficiency is improved to a certain degree.

The invention discloses a split animal lung thoracoscopic surgery simulation training model and a use method thereof. The split animal lung thoracoscopic surgery simulation training model comprises a simulation surgery unit and a power unit. The simulation operation unit is composed of an outer cover, a lung containing cavity and a bottom plate, is provided with an intercostal channel and a liquid taking and discharging opening, and is further provided with an artery, a vein, a trachea, a water injection and overflow plate penetrating connector and a detachable water leakage partition plate. The power unit comprises an air pump, a blood circulation motor, a water adding motor, a blood powder water tank and a water purifying tank to form an air path, blood powder water circulation and a perfusion and overflow loop; the gas circuit is provided with a pressure valve, a dryer and a mucus buffer box, and the drainage loop is provided with a normally-open solenoid valve. During use, low-flow blood circulation and pressure-limiting ventilation self-inspection are performed before an operation; during operation, a gas path is closed for endoscopic operation, and exudation / bleeding is recovered to a blood powder water tank; and after operation, ventilating and filling pure water until overflowing, judging air leakage by bubbles underwater and judging errhysis by color difference. The model is high in simulation degree, intuitive in interpretation, safe and easy to maintain.

The application discloses a thoracoscope smoke removal and field optimization device, which comprises a thoracoscope body, a central controller and a display screen. The front end of the thoracoscope body is provided with a multispectral smoke sensor, and a liquid variable-focus lens is arranged in the optical channel of the thoracoscope body. The central controller comprises a data acquisition module, a hardware compensation calculation module, an optical execution module, an image reverse reconstruction module and a field output module. Thus, the efficiency delay and operation interruption problems caused by the dependence on physical removal in the traditional technology are overcome. Through the dual mechanism of integrated hardware optical compensation and software image reconstruction, the optical scattering and depth of field defocus caused by smoke are directly offset within milliseconds, and the field quality fluctuation and operation pause caused by waiting for physical removal are avoided. Not only the continuous stability and high definition of the surgical field are maintained, but also the smoothness and safety of the surgical operation are ensured, and the interference on the pneumoperitoneum environment is reduced.

1. Name of the product in this design: Anastomosis device (inserted fully endocavitary electrically powered tubular type - straight). 2. Application of this design: for laparoscopic anastomosis of esophagus and jejunum, intestine to intestine, or thoracoscopic anastomosis of esophagus and jejunum or esophagus and stomach within the thoracic cavity. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: 3D view 1. 5. Other situations requiring explanation: Part A is made of transparent material.

1. The name of the design product: training box (medical thoracoscope). 2. The use of the design product: mainly used for training box for medical thoracoscope training. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: front view.

The invention relates to the field of organ transplantation in biomedical technology, and particularly discloses normal-temperature perfusion protection liquid for thoracoscopic surgery training as well as a preparation method and application of the normal-temperature perfusion protection liquid. The components of the perfusion protection liquid mainly cover sodium chloride, carbohydrates, adenosine and dexamethasone. The perfusion protection liquid has the advantages that on one hand, the components of the protection liquid are simple, complex components of a traditional perfusion protection liquid are abandoned, and the raw material obtaining and economic cost is greatly reduced; and on the other hand, the perfusion protection liquid gets rid of the limitation of low-temperature storage and can be stably stored in a normal-temperature environment. Compared with the prior art, the perfusion protection liquid provided by the invention not only has simple components, but also breaks the constraint of cold chain transportation and low-temperature storage, solves the problems of complex components and harsh storage conditions of the existing protection liquid, provides a more convenient and efficient solution for thoracoscopic surgery training and even wider medical practice, and has broad application prospects. The method has a wide application prospect and an extremely high practical value.

This application provides a method, system, device, storage medium, and product for assisted localization of pulmonary nodules, relating to the field of pulmonary nodule localization technology. The method includes constructing a preoperative virtual lung model of the patient; acquiring images of the lesion via thoracoscopy; generating an intraoperative dynamic 3D model based on the preoperative virtual lung model and the lesion images; acquiring real-time intraoperative images via thoracoscopy; and combining the intraoperative dynamic 3D model with the real-time intraoperative images to assist in predicting the location of pulmonary nodules in the patient's solid lung, thereby improving the accuracy of pulmonary nodule localization.

This invention discloses an anti-fog and heat-insulating puncture device for thoracoscopic surgery, belonging to the field of medical device technology. Its key technical features include: an outer sheath, with a puncture assembly on its inner wall, the puncture assembly including a puncture needle core that slides through the inner wall of the outer sheath, a needle core handle fixedly connected to the upper end of the puncture needle core, a needle tip fixedly connected to the lower end of the puncture needle core, an outer sheath seat fixedly connected to the upper outer wall of the outer sheath, a fixing handle fixedly connected to the outer wall of the outer sheath seat, and a sealing assembly on the outer wall of the outer sheath seat. This invention achieves heat insulation through a double-layer structure formed by the outer and inner sheaths; gas circulation is formed through the cooperation of the air inlet and outlet holes, effectively expelling fog from the inner wall of the inner sheath and ensuring a clear surgical field; the sealing valve and sealing sleeve achieve internal sealing of the outer sheath to prevent gas leakage; the sealing ring is precisely positioned by positioning pins and positioning holes, and the sealing cap is stably installed by locking blocks and protruding pins, providing double sealing to prevent gas leakage and impurity entry, reducing the risk of infection.

The utility model relates to a single-hole thoracoscope fixator which is characterized in that the single-hole thoracoscope fixator is provided with a ring-shaped main body, an elastic band is arranged on the edge of the ring-shaped main body, two ends of the elastic band are fixedly connected with the ring-shaped main body, and the ring-shaped main body can be of an integrated ring structure or a split ring structure. The single-hole thoracoscope fixing device is used in cooperation with an incision skin tissue retraction dilator, in the using process, an endoscope for an operation is inserted into the hole of the elastic band and then pulled into the hole of the dilator for the operation, and the single-hole thoracoscope fixing device can be used for fixing the single-hole thoracoscope by means of the interaction of the pulling force of the elastic band and the supporting force of the inner hole wall of the dilator. The endoscope can abut against the inner hole wall of the dilator, a supporting force for supporting the endoscope is generated for a doctor supporting the endoscope, and therefore the effects that labor is saved, the space of a center hole of the dilator is not occupied, and the angle of the endoscope is freely changed are achieved.

The invention provides a special flushing and sucking double-cavity tube for thoracoscope sympathetic nerve surgery, which comprises a flushing and sucking double-cavity mechanism and a protective telescopic mechanism, the flushing and sucking double-cavity mechanism integrates an electrocoagulation hook main body and a negative pressure suction channel to realize electrocoagulation and synchronous suction, and the protective telescopic mechanism is sleeved outside the flushing and sucking double-cavity mechanism to realize synchronous suction. The protective sleeve is composed of a plurality of layers of sleeves capable of sliding mutually and a protective hose at the tail end, and in a non-working state, the protective hose extends forwards to cover a suction head and the tip end of the electrocoagulation hook, so that the effects of preventing damage and blocking are achieved; the invention relates to the technical field of medical apparatuses and instruments, in particular to a disposable aspirator which can retract backwards to expose a working end during working, solves the problems that in the prior art, the instruments need to be frequently switched, a suction head is prone to being blocked, and tissue is prone to being damaged by the tips of the instruments, and has the advantages of being convenient to operate, high in integration level and good in safety. The device is particularly suitable for thoracoscope sympathetic nerve cutting or blocking operations.

The invention belongs to the technical field of medical instruments, and particularly relates to a thoracoscope capable of preventing mirror surface atomization, which comprises a main body, the lower end of the main body is connected with a hose and a hard tube, and the hard tube is connected with a camera and an isolation cover; the hot drying part comprises a heat conduction pipe, two groups of air ducts are formed in the hard pipe, and the two groups of air ducts are communicated with the heat conduction pipe and the exhaust pipe; the driving part comprises a rotating pipe, a sliding block is connected into the rotating pipe, an inclined groove is formed outside the hard pipe, and the inclined groove communicates with an annular groove; and the cleaning part comprises a rubber strip, a guide pipe is fixedly connected into the rotating pipe, and the rubber strip is connected into the guide pipe in a sliding mode. According to the thoracoscope, the camera and the environment can be subjected to temperature isolation, hot air is conveyed into the isolation cover during working, the atomization phenomenon caused by the temperature difference problem during working is avoided, when mucus adheres to the isolation cover, the isolation cover can be cleaned, and the situation that the thoracoscope is frequently taken out for cleaning, and the smoothness and efficiency of working are affected is avoided.

The invention relates to the technical field of medical treatment, in particular to thoracoscopic surgery specimen bag expansion forceps which comprise forceps handles and automatic locking parts arranged at the ends of the forceps handles, and the automatic locking parts comprise switching parts arranged at the ends of the forceps handles and locking parts arranged at the ends of the switching parts. A bag opening assembly is arranged at the end of the locking piece, when a specimen bag needs to be fed into the thoracic cavity of a patient, the bag opening assembly is pushed, an opening of the specimen bag is supported through the bag opening assembly, the locking piece is unlocked while the bag opening assembly moves, then the bag opening assembly is prevented from returning through the switching piece, and therefore the specimen bag is prevented from falling off; a medical worker can feed the specimen bag into the thoracic cavity of a patient by controlling the forceps handles with one hand, and at the moment, the medical worker can open and close the specimen bag with one hand.

The invention relates to the technical field of intraoperative instrument fixing, and discloses a single-hole thoracoscope intraoperative instrument fixing device which comprises a main body assembly and an incision protector. The fixing assembly is arranged on one side of the thoracoscope and comprises a supporting piece, a fixing piece is arranged on one side of the supporting piece, and a connecting piece is fixed to one side of the fixing piece; the supporting piece comprises a bottom plate, a transverse plate is arranged above the bottom plate, and a lower threaded rod is connected to the bottom plate through a bearing. The auxiliary thoracoscope fixing device has the advantages that the auxiliary thoracoscope fixing device is additionally arranged, the angle of an observation lens can be stably fixed to the position needed by an operation, multi-angle adjustment is facilitated, so that the operation efficiency is improved, meanwhile, the fixing piece is additionally arranged, after the lens is adjusted, the incision protector can pull and fix the lower end of the lens of the thoracoscope, and the operation efficiency is improved. The stability of the lens is enhanced, a stable and clear visual field is provided for surgical operation, and the accuracy and safety of the surgery are guaranteed.

This invention relates to an intraoperative nerve localization system for thoracic sympathectomy, belonging to the field of minimally invasive surgical assistance and medical information processing technology. During thoracoscopic surgery, this system identifies and analyzes candidate regions of the thoracic sympathetic nerve by acquiring intraoperative thoracoscopic images and patient physiological signals. It also verifies the sympathetic nerve properties of the target structure by combining the physiological functional responses induced by intraoperative nerve stimulation. Based on this, the system fuses and calculates the image structural information and functional response information to generate the localization reliability of the thoracic sympathetic nerve, providing the surgeon with localization references and safety prompts for thoracic sympathectomy. This system enables real-time, objective localization of the thoracic sympathetic nerve during surgery, reducing reliance on surgeon experience, lowering the risk of mis- or missed sympathectomy, and improving the safety and consistency of thoracic sympathectomy, thus possessing high clinical application value.

A 90-degree beam splitting method using prisms. Current rigid optical 3D systems employ dual-lens (rigid optical endoscopes contain two independent optical paths to propagate two beams of light) or dual-CMOS (cameras contain two image sensors, each receiving one beam of light to form an image) solutions, which are complex in structure, high in cost, and limited in size. This method uses two sets of specific prisms at the exit pupil position of rigid optical endoscopes (such as thoracoscopes, laparoscopes, neuroendoscopes, etc.) to split the emitted light into two sub-beams. Due to the characteristics of the exit pupil position, each of these two beams can form a complete image, and these two images include parallax, meaning single-beam 3D imaging is possible. This technical solution has a simple structure, low cost, and can be made smaller.

The invention belongs to minimally invasive surgical instruments, and particularly relates to a depth-adjustable ventilation puncture sheath for thoracoscope thyroid surgery, which comprises a puncture outfit tube for establishing an instrument channel, a puncture outfit core which can be pulled out after penetrating and establishing the channel, and a gas injection valve which is arranged on the puncture outfit tube and is used for introducing carbon dioxide into a cavity, the sealing cap is arranged at the near end of the puncture outfit tube and used for forming sealing when an instrument enters and exits, and the adjustable port is used for adjusting the movement angle of the surgical instrument. The adjustable port comprises a fixed base used for bearing connection, an adjusting base used for setting the offset direction and a movable port used for enabling the sheath body port to generate transverse dislocation relative to the center of the end of the puncture outfit tube so as to limit the movable range of a surgical instrument, sword collision is reduced, repeated transposition and interruption caused by poor hole positions are reduced, operation continuity is maintained, and the operation efficiency is improved. The matching efficiency of hands, eyes and instruments is improved.

Provided herein are methods for the surgical removal of lung cancer tissue using CXL, a near-infrared fluorescent imaging agent. This approach involves administering a pharmaceutical composition containing CXL intravenously to a patient, detecting a fluorescence signal emitted from lung cancer tissues, and surgically excising the identified cancerous tissue. Administration doses may range from about 0.001 mg / kg to about 0.10 mg / kg, occurring between up to 4 days and about 1 hour before imaging. The method supports endoscopic imaging and surgeries, including thoracoscopic lung tissue resection, intraoperative visualization, and histopathological evaluation to confirm tissue removal. Exclusion criteria cover hypersensitivity history, renal impairment, and specific laboratory markers exceeding defined limits.

The utility model relates to related field of medical equipment technology especially, a kind of adjustable thoracoscope operation auxiliary device, including mounting seat, adjusting assembly, dismounting component and display, the mounting seat lower end is equipped with base and base bottom is provided with moving wheel, the adjusting assembly is fixed on mounting seat upper end, the display is connected on adjusting assembly by dismounting component, the adjusting assembly includes lifting rod, the lifting rod top is equipped with fixed seat, first motor is equipped in the fixed seat and first motor drive end is connected with connecting seat, connecting seat is fixed with hinged seat, the hinged seat outside is fixed with second motor, second motor drive end is connected with movable frame, the individualized use demand of different operators can be satisfied, display is adjusted to the best observation viewing angle quickly, operation process is simple and intuitive, effectively solve the inconvenience that medical staff needs to observe after moving position, significantly improve equipment practicability.

The invention provides a thoracoscope minimally invasive surgery trainer simulating a human chest organ tissue structure, which comprises a thoracic cavity module, one end of the thoracic cavity module is provided with a head module, and the other end of the thoracic cavity module is provided with a lower limb module; the lower limb module comprises a hip joint and a knee joint, and both the hip joint and the knee joint can be allowed to stretch and bend to simulate normal operative position placement; upper limb modules are arranged on the two sides of the chest module, each upper limb module comprises a shoulder joint and an elbow joint, and an effective simulation training platform is provided for a thoracoscope minimally invasive surgery doctor by highly simulating the human chest organ tissue structure and the real surgery scene; the system has the advantages that minimally invasive surgery feelings, clinical actual surgery operation ability and confidence are enhanced, learning curves and growth curves are shortened, minimally invasive surgery ability level is quickly improved, training and learning cost is greatly reduced, and development, popularization and application of thoracoscope minimally invasive surgery are promoted.

The invention relates to the technical field of medical instruments, in particular to an incision protection sleeve used in a thoracic surgery single-hole endoscope surgery, which comprises an outer ring, an inner ring and a channel for connecting the outer ring and the inner ring, the side of the inner ring facing the outer ring comprises an inner ring first surface and an inner ring second surface along the axial direction, the distance between the outer ring and the farthest point of the second surface of the inner ring is L2, the distance between the outer ring and the farthest point of the first surface of the inner ring is L1, and L1 is smaller than L2, namely, the first surface of the inner ring and the second surface of the inner ring form a step hollow area with height change.

The application relates to a surgical robot and a control method of the surgical robot, the surgical robot comprising a robot master system, a robot slave system and a scanning device, the robot master system being in communication connection with the robot slave system and the scanning device respectively; the scanning device acquires a real-time scanning image of a scanning object; the robot master system controls the robot slave system to move according to a motion path according to the real-time scanning image and the motion path, wherein the motion path is obtained after being planned according to the position of a region of interest in the real-time scanning image; the problem that the field of view of a lens of a thoracoscope or a laparoscope used for observation is limited in the related art, resulting in reduced accuracy in a surgical process, is solved; and the application provides a larger surgical field of view through the real-time scanning image, and the safety and accuracy of the surgical process are improved.