Not at all. It was written as an introductory text for freshman computer science students with no prior exposure to programming (much less a Lisp or Lisp-like language).

Just keep in mind that the students in question were at MIT. :-)

The book gets very deep (note some of the things that Paul Graham says in his review, and note who is saying those things). Be prepared to expend a lot of challenging brainwork to get through it, but nope, it doesn't rely on previous knowledge of Scheme. One of the many nice features of Scheme (and lispy languages in general) is there isn't a lot of syntax and so on to learn in the first place.

(procedure argument1 argument2...argumentn) is pretty much it.