CN111281498A - Automatic particle implantation device - Google Patents
Automatic particle implantation device Download PDFInfo
- Publication number
- CN111281498A CN111281498A CN202010173464.8A CN202010173464A CN111281498A CN 111281498 A CN111281498 A CN 111281498A CN 202010173464 A CN202010173464 A CN 202010173464A CN 111281498 A CN111281498 A CN 111281498A
- Authority
- CN
- China
- Prior art keywords
- rod
- push
- clutch
- driving
- puncture needle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3468—Trocars; Puncturing needles for implanting or removing devices, e.g. prostheses, implants, seeds, wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3494—Trocars; Puncturing needles with safety means for protection against accidental cutting or pricking, e.g. limiting insertion depth, pressure sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1007—Arrangements or means for the introduction of sources into the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1007—Arrangements or means for the introduction of sources into the body
- A61N2005/1009—Apparatus for loading seeds into magazines or needles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N2005/1092—Details
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Public Health (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Pathology (AREA)
- Veterinary Medicine (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Radiology & Medical Imaging (AREA)
- Radiation-Therapy Devices (AREA)
Abstract
An automatic particle implanter comprises an installation base, a push needle, a first driving mechanism, a second driving mechanism, a feeding mechanism and a puncture needle guiding mechanism, wherein the installation base is provided with a first track and a second track side by side, the first track is provided with a push needle installation seat, the second track is provided with a puncture needle guiding mechanism installation seat, the push needle and the puncture needle guiding mechanism are arranged on the push needle installation seat and the puncture needle guiding mechanism installation seat, and the push needle and the puncture needle guiding mechanism are driven to move by the first driving mechanism and the second driving mechanism; the puncture needle guide mechanism comprises a driving assembly and a clamping assembly, and the driving assembly drives the clamping assembly to clamp and release; the feeding mechanism is arranged at one end of the mounting base and pushes out particles in the feeding mechanism through a push pin; an external mechanical interface is arranged on the mounting base and used for controlling the overall movement of the particle implanter. The invention can automatically implant the particles by a machine, thereby avoiding ionizing radiation and implantation deviation of doctors in the operation.
Description
Technical Field
The invention belongs to the field of medical instruments, and particularly relates to an automatic particle implanter.
Background
At present, radioactive substances are widely applied to various links such as scientific research, laboratories, production, medical application and the like, and particularly, the radioactive substances are widely applied to clinical application at home and abroad as medicines. The radioactive particle implantation method for curing malignant tumor is a minimally invasive therapeutic method, belonging to a close-range internal radiation therapy. The preparation method has the advantages of simple operation, good treatment effect and the like, and has wide clinical application prospect.
The radioactive substance is implanted into the human body through the particle implanter, the front end of the particle implanter is connected with the puncture needle, and the rear end of the particle implanter is connected with the push needle. In the operation process, a plurality of puncture needles are generally punctured into the body of a patient according to a preset puncture depth and a preset puncture position, and then each puncture needle is operated. When each puncture needle is operated, the corresponding puncture needle is firstly butted by the particle implanter, after the butting is finished, the particles in the particle implanter are pushed into the puncture needle by the push needle, and then the particles are implanted into the focus position.
Currently, most physicians perform radioactive seeds implantation using manual or semi-automatic seed implanters. The radioactive particle implantation operation difficulty is big, has high requirements on professional qualities of doctors, is manually operated by doctors, can generate position deviation when implanting the particles, influences the operation effect, and in the operation process, the doctors can not avoid ionizing radiation of the radioactive particles.
Disclosure of Invention
In order to solve the problem that manual and semi-automatic particle implanters in the prior art have high requirements on professional qualities of doctors, the invention provides an automatic particle implanter which can replace doctors to perform particle implantation operation and solve the problem that the doctors can have implantation deviation in the operation process and can be subjected to ionizing radiation of radioactive particles if the radioactive particles are implanted.
Based on the purpose, the technical scheme of the invention is as follows:
the automatic particle implanter comprises an installation base, a push needle, a first driving mechanism, a second driving mechanism, a feeding mechanism and a puncture needle guiding mechanism, wherein the installation base is provided with a first rail and a second rail side by side, the first rail is provided with a push needle installation seat, the second rail is provided with a puncture needle guiding mechanism installation seat, the push needle and the puncture needle guiding mechanism are respectively arranged on the push needle installation seat and the puncture needle guiding mechanism installation seat, and the push needle and the puncture needle guiding mechanism are driven to move by the first driving mechanism and the second driving mechanism; the puncture needle guide mechanism comprises a driving assembly and a clamping assembly, and the driving assembly drives the clamping assembly to clamp and release; the feeding mechanism is arranged at one end of the mounting base and pushes out particles in the feeding mechanism through the push pin; and an external mechanical interface is arranged on the mounting base and used for connecting an external driving piece to control the overall movement of the particle implanter.
The second driving mechanism comprises a second driving piece and a second driving rod, the second driving rod is connected with the puncture needle guide mechanism mounting seat, and the second driving piece drives the puncture needle guide mechanism to move; the driving assembly comprises a third driving piece, a guide piece and a traction piece, and the third driving piece, the clamping assembly and the traction piece are arranged on the guide piece; and the feeding mechanism is also provided with a guide part pressing block which is used for limiting the radial movement of the guide part.
In order to complete the limitation or the release of the puncture action direction of the puncture needle, a push rod is arranged on the feeding mechanism and arranged on one side of the feeding mechanism, the push rod axially moves on the feeding mechanism, a push rod seat is arranged at one end of the push rod, a limiting block is arranged at the other end of the push rod, and a puncture needle groove is formed in the limiting block.
In order to realize the purpose that one driving mechanism controls the push pin and the push rod, the first driving mechanism comprises a first driving piece, a first driving rod, a first clutch piece and a second clutch piece, the first clutch piece and the second clutch piece are arranged on the first driving rod, the first driving rod drives the first clutch piece and the second clutch piece to move, a first clutch rod is arranged on the first clutch piece, a second clutch rod is arranged on the second clutch piece, the first clutch rod is used for being butted with the push pin mounting seat, the second clutch rod is used for being butted with the push rod seat, when the first clutch rod and the push pin mounting seat are in a butted state, the second clutch rod and the push rod seat are in a separated state, and the first driving piece drives the push pin to move; when the second clutch lever is in a butt joint state with the push rod seat, the first clutch lever is in a separation state with the push pin mounting seat, and the first driving piece drives the push rod to move.
When the particle implanter moves, the push needle and the push rod can move under the action of gravity, so that a push needle detention groove is formed in a moving path of the push needle mounting seat on the mounting base, a first clutch rod butt joint piece is arranged on the push needle mounting seat and used for butt joint with the first clutch rod, and when the first clutch rod butt joint piece is separated from the first clutch rod, the first clutch rod butt joint piece is matched with the push needle detention groove to complete fixing of the push needle; when the first clutch lever butt joint piece is in butt joint with the first clutch lever, the first clutch lever butt joint piece is separated from the push pin detention groove, and the first driving piece drives the push pin to move.
The mounting base is provided with a push rod detention groove on a moving path of the push rod seat, the push rod seat is provided with a second clutch rod butt joint piece, the second clutch rod butt joint piece is used for butt joint with the second clutch rod, and when the second clutch rod butt joint piece is separated from the second clutch rod, the second clutch rod butt joint piece is matched with the push rod detention groove to complete fixing of the push rod; when the second clutch lever butt joint piece is in butt joint with the second clutch lever, the second clutch lever butt joint piece is separated from the push rod detention groove, and the first driving piece drives the push rod to move.
The invention also provides an arrangement mode of the horizontal particle magazine, and particularly the feeding mechanism comprises a feeding seat, the particle magazine, a commutator, a moving component and a reversing rod, wherein the particle magazine, the commutator, the moving component and the reversing rod are arranged on the feeding seat, the particle magazine is arranged on one side of the feeding mechanism, and the installation base is provided with a particle magazine fixing seat on the same side of the particle magazine.
The push rod, the particle magazine and the particle magazine fixing seat are arranged on one side close to the second slide rail, and the reversing rod comprises a first end and a second end opposite to the first end; a reversing rod mounting seat is arranged on the first sliding rail, a first end of the reversing rod is arranged on the material supply seat, and a second end of the reversing rod is connected with the reversing rod mounting seat; the reversing rod is provided with a first elastic piece, one end of the first elastic piece is abutted against the feeding mechanism, and the other end of the first elastic piece is abutted against the first end of the reversing rod; when the push pin mounting seat moves towards the direction far away from the feeding mechanism, the push pin mounting seat is abutted to the reversing rod mounting seat.
In order to further increase the resilience force that first elastic component brought, be equipped with a stiff end on the first slide rail, the switching-over pole mount pad sets up between stiff end and the push pin mount pad, the stiff end with be equipped with the second elastic component between the switching-over pole mount pad.
The invention has the following beneficial effects:
the automatic particle implanter can replace a doctor to perform the operation of particle implantation, and solves the problems that the doctor can generate implantation deviation in the operation process and can be subjected to the ionizing radiation of radioactive particles when the radioactive particles are implanted; meanwhile, the particle implanter is only provided with the three driving parts and the two clutch parts, so that the electric device occupies a smaller space of the particle implanter, the size of the particle implanter is reduced, and most parts of the particle implanter can be sterilized because of fewer electric devices.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, which is to be read in connection with the accompanying drawings.
Drawings
Some specific embodiments of the invention will hereinafter be described in detail by way of example and not by way of limitation, with reference to the accompanying drawings, in which like reference numerals identify the same or similar parts or features, and it will be appreciated by those skilled in the art that the drawings are not necessarily drawn to scale. In the drawings:
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a top view of the present invention;
FIG. 4 is a rear view of the present invention;
fig. 5 is a schematic view of the needle guide mechanism with the retractor 613 partially in section;
FIG. 6 is a schematic view of the clutch motor of the present invention, illustrating the state of the clutch rods 231, 241 when neither clutch member 23, 24 is engaged with the pusher shoe and the pusher shoe;
FIG. 7 is a schematic view of clutch motor 2 illustrating the state of clutch lever 231 with clutch member 23 in abutment with the pusher shoe and the state of clutch lever 241 with clutch member 24 not in abutment with the pusher shoe;
FIG. 8 is a schematic diagram showing the mounting base, push pin mounting base, push rod, and first drive mechanism of the present invention, with a top view of the first and second clutch members not abutting the push pin and second clutch rod abutments;
FIGS. 9 and 10 are schematic views of a first clutch lever interface member of the present invention;
FIG. 11 is a schematic view of a second clutch lever interface of the present invention;
FIG. 12 is a schematic illustration of a procedure for a particle implanter needle;
FIG. 13 is a schematic view of a process for implanting a seed by a seed implanter;
figures 14-16 are schematic views of the present invention showing the mounting base, push pin mounting base, push rod and first drive mechanism,
FIG. 14 is a front view of FIG. 8;
FIG. 15 is a top view of the first clutch member in abutment with the first clutch lever interface member and the second clutch member disengaged from the second clutch lever interface member;
FIG. 16 is a front view of FIG. 15;
figure 17 is a schematic diagram of a prior art particle magazine arrangement;
figure 18 is a schematic diagram of a particle magazine arrangement of the present invention;
FIG. 19 is a schematic view of the present invention showing only the feeding mechanism, the push pin, and the puncture needle;
FIG. 20 is a rear view of FIG. 19;
FIG. 21 is the schematic illustration of FIG. 19 further showing the push pin mount and the reversing lever mount;
FIG. 22 is a schematic representation of the second rack of the present invention;
FIG. 23 is a front view of the present invention, wherein the elastic members 112, 521 are in their original states;
FIG. 24 is a partial enlarged view of FIG. 23;
FIG. 25 is a front view of the present invention with both resilient members 112, 521 in a compressed state;
FIG. 26 is a partial enlarged view of FIG. 25;
FIGS. 27 and 28 are schematic views showing the completion of the feeding process;
FIGS. 29 and 30 are process diagrams of the corresponding rear views of FIGS. 27 and 28;
fig. 31 and 32 are schematic diagrams of the corresponding principle processes of fig. 27 and 28.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in many ways different from those described herein, and it will be apparent to those skilled in the art that similar modifications may be made without departing from the spirit of the invention, and the invention is therefore not limited to the specific embodiments disclosed below.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical," "horizontal," "left," "right," "up," "down," "front," "back," and the like are for illustrative purposes only and do not represent a unique embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1-4, there is shown a schematic view of an automatic radioactive seed implanter according to the present invention, which includes a mounting base 1, a first driving mechanism 2, a second driving mechanism 3, a push pin 4, a feeding mechanism 5 and a puncture needle guiding mechanism 6.
The mounting base 1 is provided with a first rail 11 and a second rail 12 in parallel, the first rail 11 is provided with a push needle mounting seat 7, the second rail 12 is provided with a puncture needle guide mechanism mounting seat 8, the push needle 4 and the puncture needle guide mechanism 6 are respectively arranged on the push needle mounting seat 7 and the puncture needle guide mechanism mounting seat 8, and the push needle 4 and the puncture needle guide mechanism 6 are driven to move by a first driving mechanism 2 and a second driving mechanism 3;
the puncture needle guide mechanism 6 comprises a driving assembly 61 and a clamping assembly 62, wherein the driving assembly 61 drives the clamping assembly 62 to open and close, and the limitation or the release of the puncture needle puncturing action direction is completed.
The feeding mechanism 5 is arranged at one end of the mounting base 1, the feeding mechanism 5 is used for providing particles, and the particles in the feeding mechanism 5 are pushed out through the push pins 4;
the mounting base 1 is also provided with an external mechanical interface 9, the external mechanical interface 9 is used for connecting external driving parts, such as a mechanical arm, a linear motion module and a multi-degree-of-freedom motion platform, and the particle implanter can do integral motion in a certain space through the control of the external mechanical parts.
The feeding mechanism 5 is provided with a push rod 10, the push rod 10 is arranged on one side of the feeding mechanism 5, the push rod 10 can move axially on the feeding mechanism 5, one end of the push rod 10 is provided with a push rod seat 101, and the other end of the push rod 10 is provided with a limit block 102. The limiting block 102 is provided with a puncture needle groove 103, when the puncture needle 13 is matched with the puncture needle groove 103, the needle seat of the puncture needle 13 is positioned between the feeding mechanism 5 and the limiting block 102, the push rod 10 is driven by the first driving mechanism 2 to move, the feeding mechanism 5 is driven by an external driving part to move, and the relative movement of the feeding mechanism 5 and the external driving part can complete the axial fixation of the puncture needle.
Specifically, the puncture needle 13 is engaged with the puncture needle groove 103 in the following manner: as shown in fig. 1, the puncture needle 13 includes a needle seat and a needle body, the needle seat is detachably fixed on the feeding mechanism 5, the needle seat is between the feeding mechanism 5 and the limiting block 102, the needle body is clamped in the puncture needle groove 103, and the puncture needle is axially parallel to the mounting base.
As shown in fig. 1 and 4, the second driving mechanism 3 includes a driving member 31 and a driving rod 32, the driving rod 32 is connected to the puncture needle guide mechanism mounting seat 8, and the driving of the driving member 31 drives the puncture needle guide mechanism mounting seat 8 to move, and then drives the puncture needle guide mechanism 6 to move.
As shown in fig. 5, the driving assembly 61 includes a driving member 611, a guiding member 612 and a pulling member 613, the driving member 611, the clamping assembly 62 and the pulling member 613 are disposed on the guiding member 612, wherein the pulling member 613 is preferably disposed in the guiding member 612; as shown in fig. 1, in order to prevent the guide 612 from being displaced radially due to an excessively long length, the feed mechanism 5 is provided with a guide pressing piece 57, and the guide pressing piece 57 is used to limit the radial movement of the guide 612.
In order to realize a drive mechanism for controlling the two assemblies (the push pin 4 and the push rod 10), the first drive mechanism 2 includes a first drive member 21, a first drive rod 22, a first clutch member 23 and a second clutch member 24, the first clutch member 23 and the second clutch member 24 are disposed on the first drive rod 22, and the first drive rod 22 drives the first clutch member 23 and the second clutch member 24 to move.
As shown in fig. 6 and 7, a first clutch rod 231 is disposed on the first clutch member 23, a second clutch rod 241 is disposed on the second clutch member 24, the first clutch rod 231 is used for being abutted to the push pin mounting seat 7, and the second clutch rod 241 is used for being abutted to the push pin seat 101.
When the first clutch lever 231 and the push pin mounting seat 7 are in a butt joint state, the second clutch lever 241 and the push pin seat 101 are in a separation state, and the first driving member 21 drives the push pin 4 to move; when the second clutch lever 241 is in a butt-joint state with the push-rod seat 101, the first clutch lever 231 is in a separation state with the push-pin mounting seat 7, and the first driving member 21 drives the push rod 10 to move. Taking the first clutch lever 231 and the push pin mounting seat 7 as an example of a butt joint state, specifically, there are two cases, the first case is an initial state, neither the first clutch lever 231 nor the second clutch lever 241 is connected with the push pin mounting seat 7 and the push rod seat 101, then the second driving mechanism 3 drives the first clutch member 23 and the second clutch member 24 to move, and after moving to the butt joint position of the push pin mounting seat 7, the first clutch lever 231 is in butt joint with the push pin mounting seat 7; in the second case, the second clutch lever 241 is in a butt joint state with the push rod base 101, then the second clutch lever 241 is separated from the push rod base 101, then the second driving mechanism 3 drives the first and second clutch members 23 and 24 to move, and after moving to the butt joint position of the push pin mounting base 7, the first clutch member 23 is in butt joint with the push pin mounting base 7. Two similar situations exist in the action of the second clutch lever 241 and the push rod seat 101 in the butt joint state, and are not described herein again. The arrangement completes the movement of the push needle 4 and the push rod 10 through a linear driving piece, and reduces the space volume of the particle implanter.
As shown in fig. 8 to 11, in order to prevent the push pin 4 and the push rod 10 from moving due to gravity when the push pin and the push rod are not driven by the first driving member 21, a plurality of push pin retention grooves 41 (3 push pin retention grooves in fig. 8) are formed in the mounting base 1 along the movement path of the push pin mounting base 7, and a first clutch lever docking member 71 is formed on the push pin mounting base 7, and the first clutch lever docking member 71 is used for docking with the first clutch lever 231. The installation base 1 is provided with a plurality of push rod detention grooves 104 (2 push rod detention grooves are provided in fig. 8) on the moving path of the push rod base 101, the push rod base 101 is provided with a second clutch lever butt-joint piece 105, and the second clutch lever butt-joint piece 105 is used for butt-joint with the second clutch lever 241.
When the first clutch lever butt-joint piece 105 is separated from the first clutch lever 231, the first clutch lever butt-joint piece 105 is matched with the push pin detention groove 41 to complete the fixation of the push pin; when the first clutch lever butt-joint piece 105 is in butt joint with the first clutch lever 231, the first clutch lever butt-joint piece 105 is separated from the push pin retention groove 41, and the first driving piece 21 drives the push pin 4 to move.
When the second clutch lever docking piece 105 is separated from the second clutch lever 241, the second clutch lever docking piece 105 is matched with the push rod detention groove 104 to complete the fixation of the push rod; when the second clutch lever docking member 105 is docked with the second clutch lever 241, the second clutch lever docking member 105 is separated from the push rod detention groove 104, and the first driving member 21 drives the push rod to move.
Specifically, as shown in fig. 9 and 10, the first coupling member 71 includes an elastic member 711, an elastic member blocking seat 712, an elastic member fixing seat 713, and a first coupling seat 714, the first coupling seat 714 is sleeved in the elastic fixing seat 713, one end of the elastic member 711 abuts against the elastic blocking seat 712, and the other end abuts against the first coupling seat 714; as shown in fig. 14, when the first docking seat 714 is stressed (i.e. when the first clutch lever 231 is docked with the first clutch lever docking member 71 of the push pin mounting seat 7), the elastic member 711 is compressed due to the existence of the elastic member blocking seat 712, and when the force is removed, the elastic member 711 rebounds to return to the original position. Similarly, as shown in fig. 11, the second coupling member 105 also includes an elastic member 1051, an elastic member blocking seat 1052, an elastic member fixing seat 1053, and a second coupling seat 1054, and the arrangement of the parts is the same as that of the first coupling member of the push pin coupling member, and only because the positions of the parts are different, the shape of the second coupling member is modified adaptively to better adapt to the arrangement of the parts, which is not described herein.
In order to describe the operation of the particle implanter in more detail, the following detailed description of the motion steps of the particle implanter is provided. The automatic particle implanter includes a puncturing stage and a particle implanting stage, and the puncturing and implanting process can perform the retention action of the push rod or the push needle.
The automatic particle implanter has two operation modes in the puncturing stage of the particle implantation operation, and for convenience of description, the front and back orientations of the particle implanter are defined as follows: as shown in FIG. 2, the end near the second driving member 3 is the rear orientation of the seed implanter, and the end near the feeding mechanism 5 is the front orientation of the seed implanter.
The puncture process in the first operation mode is as follows:
step S11: the puncture needle guide mechanism 6 is moved to the rear limit position in a direction approaching the second drive mechanism 3 by the second drive mechanism 3.
The above actions ensure that the body of the particle implanter is in a shorter state, and avoid the risk of collision in the moving process.
Step S12: under the control of the control system, the particle implanter reaches the planning pose under the control of the external driving part.
Step S13: the second drive mechanism 3 drives the puncture needle guide mechanism 6 to move in a direction away from the second drive mechanism 3 to the front limit position.
At this time, since the particle implanter has reached the designated planning attitude, the front end of the puncture needle guide mechanism 6 is just abutted against the skin of the patient after the puncture needle guide mechanism 6 has moved to the front extreme position.
Step S14: the clamping assembly 62 completes the definition of the puncture needle puncturing action orientation by the drive assembly 61 driving the clamping assembly 62 to close.
Wherein, the step S14 can be completed before the step S11-13, and after the step S11-S14 are completed, the positioning of the puncture needle is completed.
Step S15: the doctor pushes the puncture needle into the specified depth of the human body along the preset puncture point and direction with the assistance of the clamping assembly, and the positioning and the puncture of the first puncture needle are completed.
Step S16: the clamping assembly 62 drives the clamping assembly 62 to open through the driving assembly 61 to remove the limitation of the action direction of the puncture needle, and the external driving component drives the particle implanter to withdraw from the puncture needle from one side, so that the positioning and the puncture of the puncture needle are completed at one time.
Step S17: the particle implanter moves to the next puncture point by the driving of the external driving part, and the steps S14-S16 are repeated until the positioning and puncture of all puncture needles are completed.
In executing step S17, the second driving mechanism 3 may not need to drive the movement of the puncture needle guide mechanism 6 to the rear limit position any more, and reach the next positioning puncture point only by the control of the external driving part, because each puncture point is short in separation distance and the risk of moving collision of a small distance is low.
The second operation mode puncture process is as follows:
step S21: the puncture needle guide mechanism 6 is moved to the rear limit position in a direction approaching the second drive mechanism 3 by the second drive mechanism 3.
Step S22: the first driving mechanism 2 drives the push rod 10 to move towards the rear end of the particle implanter, and the puncture needle is axially fixed.
Or the first driving mechanism 2 drives the push rod 10 to move towards the rear end of the particle implanter, the particle implanter is driven by the external driving part 9, the moving direction of the particle implanter is opposite to that driven by the first driving mechanism 2, and the push rod 10 and the particle implanter move relatively to complete the axial fixation of the puncture needle.
Before this, the puncture needle 13 is already engaged with the puncture needle groove 103, and the needle seat of the puncture needle 13 is located between the feeding mechanism 5 and the stopper 102.
Step S23: the clamping assembly 62 completes the definition of the piercing action orientation by the drive assembly 61 driving the clamping assembly 62 to close.
Step S24: under the control of the control system, the particle implanter reaches the planning pose under the control of the external driving part.
Step S25: the second driving mechanism 3 drives the puncture needle guiding mechanism 6 to move to the front limit position in the direction away from the second driving mechanism 3, and the positioning of the puncture point is completed.
At this time, since the particle implanter has reached the designated planning attitude, after the puncture needle guide mechanism 6 has moved to the front extreme position, the front end of the puncture needle guide mechanism 6 just abuts against the skin of the patient, and the puncture needle is held to restrict the puncture orientation.
Step S26: the external driving component pushes the puncture needle into the specified depth of the human body along the preset puncture point and direction.
The particle implanter completes the limitation (radial fixation) and axial fixation of the puncture action direction of the puncture needle, so the puncture needle can be pushed into the human body. The specific method is shown in fig. 12, wherein a represents the skin surface of a human body and B represents human tissue.
Fig. 12 is a schematic diagram illustrating the insertion process of the puncture needle into the human tissue, in which the controller controls the external driving unit to drive the whole particle implanter to move a distance in the direction approaching the human tissue at the speed of V1, and the puncture needle guide mechanism 6 moves a distance in the direction away from the human tissue at the speed of V2 relative to the whole particle implanter, wherein | V1| V2|, so that the puncture needle 13 moves a certain distance in the body, and the front end of the puncture needle guide mechanism 6 is ensured to be always pressed against the skin of the patient during the movement in the body.
Step S27: the driving component 61 controls the clamping component 62 to release the limitation on the puncture action direction of the puncture needle, and the external driving component drives the particle implanter to withdraw from the puncture needle from one side, thereby completing the positioning and puncture of the puncture needle once.
Step S28: the particle implanter moves to the next puncture point by the driving of the external driving part, and the steps S21-S27 are repeated until the positioning and puncture of all puncture needles are completed.
After the particle implanter finishes positioning and puncturing the patient, the particle implantation stage is entered.
The automatic particle implanter comprises the following steps:
step S31: the particle implanter is butted with the puncture needle.
Before the action of butting the puncture needle, the push rod 10 and the puncture needle guide mechanism 6 are both positioned at the rear limit position, and the specific process is as follows:
s311: the external driving part drives the particle implanter to reach a docking pose corresponding to the puncture needle 13, wherein the docking pose is calculated by the control system and is parallel to the axial direction of the puncture needle and is positioned on one side of the puncture needle.
S312: the first driving mechanism 2 drives the push rod 10 to move to the front limit position, and the clamping assembly 62 drives the clamping assembly 62 to open through the driving assembly 61.
S313: the particle implanter is driven by an external driving part to move, so that the puncture needle 13 is matched with the puncture needle groove 103, and the needle seat of the puncture needle 13 is positioned between the feeding mechanism 5 and the limiting block 102.
S314: the push rod 10 is driven by the first driving mechanism 2 to move towards the rear limit position of the push rod 10 along the puncture needle axial direction at the speed of V11, the feeding mechanism 5 is driven by an external driving part to move towards the opposite direction of the push rod movement at the speed of V12, the relative movement of the feeding mechanism and the feeding mechanism can complete the axial fixation of the puncture needle, and the V11 and the V12 are matched with each other, so that the puncture needle cannot be displaced in the process of being axially fixed on the particle implanter.
S315: the second drive mechanism 3 drives the puncture needle guide mechanism 6 to move away from the second drive mechanism 3, so that the front end of the puncture needle guide mechanism 6 is pressed against the skin, wherein the movement distance of the puncture needle guide mechanism 6 is calculated by the control system.
Step S32: and implanting a particle, wherein the push pin is positioned at the rear limit position in the initial state.
As shown in fig. 13, the specific implantation procedure is as follows:
s321: as shown in I, the control system controls the push pin 4 to push the particles forward from the particle supply mechanism into the puncture needle 13 and to continue to push the particles to the tip of the puncture needle 13.
S322: the external control system controls the external driving part to drive the particle implanter to move integrally to drive the puncture needle 13 to move in the direction of withdrawing the human tissue B at the speed V1 ', and meanwhile, the push needle 4 and the puncture needle guide mechanism 6 move in the direction of approaching the human tissue at the speed V2' until the particles are completely pushed into the human tissue.
In the processes of II and III, | V1 '| V2' |, the puncture needle 13 moves a certain distance to the outside of the body, the front end of the puncture needle guide mechanism 6 always abuts against the skin of the patient, and the push needle 4 always abuts against the particles.
S323: the push pin 4 moves to the rear limit position under the driving of the first driving mechanism.
The movement of the push pin 4 to the rear limit position is intended to complete the loading of the magazine in preparation for the implantation of the next pellet, the loading principle being described in the description of the moving part of the magazine.
Steps S321 to S322 are intended to expose the particle from the puncture needle to the designated position where the particle is left by the push needle 4, and the I-III implantation process of fig. 13 can ensure that the particle is not affected by the resistance of the tissue during the process from the puncture needle to the tissue, thereby improving the implantation accuracy of the particle.
Step S33: and according to the set particle position and the particle distance, the controller controls the external driving part to drive the particle implanter to integrally move backwards for a distance to reserve the particle distance.
Step S34: and repeating the steps S32-S33 until the implantation of the specified number of particles by the puncture needle is completed.
Step S35: when the particle implantation of one puncture needle is finished, the controller controls the external driving part to drive the whole particle implanter to move backwards, and the puncture needle guide mechanism moves forwards relative to the whole particle implanter to pull the puncture needle out of the body.
Alternatively, the control system controls the driving assembly 61 to control the clamping assembly 62 to release the limitation on the puncture action direction of the puncture needle, and the external driving component drives the particle implanter to withdraw the puncture needle from one side.
Step S37: the seed implanter performs the seed implantation to other puncture needles again, and repeats the steps S31-S35 until the implantation of all puncture needle seeds is completed.
The automatic particle implanter can perform the detention action of the push needle and the push rod in the particle implantation operation, and the detention specific movement steps of the push needle and the push rod are as follows:
the following steps take the first clutch lever butt joint push pin installation seat as an example, wherein the first and second clutch levers are in a state of not being connected with the push pin installation seat and the push rod installation seat, as shown in fig. 8 and 14-16.
S41: as shown in fig. 8 and 14, the first docking seat 714 is engaged with the push-pin retention groove 41 thereof, and the second docking seat 1054 is engaged with the push-rod retention groove 104.
S42: as shown in fig. 15 and 16, the clutch rod 231 is abutted with the first butt seat 714, and one end of the elastic member 711 is stressed, so that the elastic member 711 is compressed, and the driving member 21 drives the first butt seat 714 to move, and then drives the push pin mounting seat 7 to move.
S43: the first clutch rod 231 and the push pin mounting seat 7 complete related actions (such as particle implantation operation).
S44: after the related actions are completed, the push pin retaining groove 41 reaches any position, the push pin mounting seat 7 is separated from the first butt seat 714 of the first clutch lever butt joint piece 71, at this time, the force of the first clutch lever 231 on the elastic piece 711 is cancelled, the elastic piece 711 rebounds to the first position, and the fixed retention of the push pin is completed.
Similarly, the push rod retention groove 104, the second clutch lever butt-joint member 105 and the second clutch lever 241 are matched with the push rod retention groove 41, the first clutch lever butt-joint member 71 and the first clutch lever 231, and the details are not repeated here. In this context, there are three initial states when docking, namely, the first clutch lever docking member 71 and the first clutch lever 231 are in a docked state, and the second clutch lever docking member 105 and the second clutch lever 241 are in a disengaged state; second, the first clutch lever docking member 71 and the first clutch lever 231 are in a separated state, and the second clutch lever docking member 105 and the second clutch lever 241 are in a docked state; third, the first clutch lever butt-joint member 71 and the first clutch lever 231 are in a separated state, and the second clutch lever butt-joint member 105 and the second clutch lever 241 are also in a separated state.
As shown in fig. 17, which is a schematic diagram of a particle magazine arrangement method in the prior art, the particle magazine 54 is arranged perpendicular to the puncture needle 13, so that the push needle 4 can directly enter the particle channel 542 of the particle magazine to push out the particles, and then the push needle is retracted to the original position to complete the loading of the particle magazine and perform the next particle push-out. The present invention may also employ this arrangement of particle magazines.
In order to further reduce the volume of the pellet implanter, the pellet magazine 54 is disposed on the same horizontal plane of the puncture needle 13, and preferably, as shown in fig. 18, the pellet magazine 54 is disposed horizontally with the puncture needle 13, and the push needle 4 pushes out pellets of the pellet magazine through the diverter 51. The specific implementation mode is as follows:
as shown in fig. 19 to 21, the feeding mechanism 5 includes a diverter 51, a diverting rod 52, a moving assembly 53, a particle magazine 54 and a feeding base 56, the diverter 51, the diverting rod 52, the moving assembly 53 and the particle magazine 54 are arranged on the feeding base 56, the feeding base is provided with a track 512, a sliding pin 511 is arranged on the track 512, the diverter 51 is connected to the moving assembly 53 through the sliding pin 511, the moving assembly 53 drives the sliding pin 511, and the moving assembly 53 drives the diverter 51 to move; the reversing rod 52 is connected to the moving component 53, the reversing rod 52 drives the moving component 53 to move, as shown in fig. 3, the particle magazine 54 is disposed at one side of the feeding mechanism 5, and the particle magazine fixing seat 55 is disposed on the same side of the particle magazine 54 of the mounting base 1.
As shown in fig. 19-21, the moving assembly 53 comprises a first rack 531, a second rack 532 and a gear 533, the first rack 531 has a plurality of teeth for engaging with the gear 533, a particle ejecting member 534 is disposed on the first rack 531, and the particle ejecting member 534 is used for ejecting the particles in the particle magazine 54. The second rack 532 has teeth engaged with the gear 533 and a sliding groove 5321, the sliding groove 5321 is used for cooperating with the sliding pin 511 on the commutator 51 to make the commutator 51 move in the track 512 of the feeding base 56, the track 512 is a track route where the sliding pin 511 is actually deviated; as shown in fig. 22, the sliding groove 5321 can be divided into two continuous sections, one is a static section with a length s1, the sliding pin 511 of the commutator is in a static state when the sliding section slides, and the other is a dynamic section with a length s2, and the sliding pin 511 of the commutator is deflected after entering the dynamic section, so that the commutator 51 is rotated. In order to mesh the gear 533 with the first and second racks 531 and 532, the gear 533 has the same modulus and pressure angle as the first and second racks 531 and 532, and the meshing condition is satisfied.
The movement of the moving assembly 53 is driven by the reversing rod 52, so that the reversing rod 52 needs to be driven by a driving piece, and in order to reduce the number of parts and achieve the purpose of reducing the size of the particle implanter, the movement of the reversing rod 52 and the push pin 4 is realized by the driving mechanism 2.
As shown in fig. 3, the push rod 10, the particle magazine 54 and the particle magazine fixing base 55 are disposed on a side close to the second slide rail 12, and the reversing rod 52 is disposed on the mounting base 1 and disposed on the same side of the mounting base 1 as the push pin 4; the reversing lever 52 is provided with an elastic member 521, one end of the elastic member 521 abuts against the feeding mechanism 5, and the other end abuts against one end of the reversing lever 52.
As shown in fig. 23 to 26, a reversing rod mounting seat 522 is disposed on the first rail 11, when the push pin mounting seat 7 moves in a direction away from the feeding mechanism 5, the push pin mounting seat 7 abuts against the reversing rod mounting seat 522 to drive the reversing rod 52 to move in a direction away from the feeding mechanism 5, and at this time, the elastic member 521 on the reversing rod is compressed; when the push pin 4 moves in a direction close to the feeding mechanism 5, the push pin mounting seat 7 is separated from the reversing lever mounting seat 522, and the elastic member 521 rebounds to drive the reversing lever 52 to move in a direction close to the feeding mechanism 5.
In order to further increase the resilience, the fixed end 111 is arranged on the first slide rail 11, the reversing lever mounting seat 522 is arranged between the fixed end 111 and the push pin mounting seat 7, and the elastic member 112 is arranged between the fixed end 111 and the reversing lever mounting seat 522.
When the push pin 4 moves away from the feeding mechanism 5, the elastic member 112 is compressed; when the push pin 4 moves in the direction approaching the feeding mechanism 5, the elastic member 521 rebounds together with the elastic member 112, and the reversing lever 52 is moved in the direction approaching the feeding mechanism 5.
Fig. 31 and 32 show states a to H corresponding to fig. 27 and 28, fig. 29 and 30 show states a to H corresponding to fig. 27 and 28, respectively, and fig. 31 and 32 show more push pin mounting seats and reversing lever mounting seats than fig. 27 to 30. In order to facilitate understanding of the movement of the commutator, as shown in fig. 31 and 32, the process schematic diagram of the movement component of the invention driving the commutator to move is shown.
State A: the particle ejecting member 534 pushes a particle into the particle channel 513 of the diverter 51, at this time, the push pin mounting seat 7 abuts against the diverting rod mounting seat 522, because of the existence of the elastic member 521, when the push pin mounting seat 7 moves towards the direction close to the puncture needle 13, the diverting rod 52 drives the second rack 532 to move towards the direction close to the puncture needle 13, which is action a;
and B state: in the process of the movement, the second rack 532 and the gear 533 rotate in a meshing manner, the movement of the second rack is action b, the rotating gear 533 drives the first rack 531 to move upwards to generate action c, in the front stage of the action a, since the sliding pin 511 of the commutator 51 is located in the stationary section of the sliding groove 5321 of the second rack 532, the commutator 51 does not rotate at this time, the particle top piece 534 exits from the commutator 51 conveniently, after the particle top piece 534 exits from the commutator 51, the action a continues, and at this time, the sliding pin 511 of the commutator 51 enters the dynamic section of the sliding groove 5321 of the second rack 532, and the commutator 51 starts to rotate, which is action d. After the particle top 534 exits the particle magazine 54, new particles are pushed into the particle channel 542 of the particle magazine by the particle driving member 541, and are ready for the next particle loading.
C state: the second rack 532 performs action a by the reversing lever 52 until the sliding pin 511 reaches the end of the dynamic segment of the sliding groove 5321, and the second rack 532, the first rack 531 and the reverser 51 all stop moving. The particle channel 512 of the diverter 51 in C can be seen to be in a horizontal state, completing the rotation of the particles from vertical to horizontal.
D state: when the elastic member 521 finishes rebounding, when the push needle mounting seat 4 moves towards the puncture needle, the reversing rod mounting seat 522 does not move towards the puncture needle any more, the push needle 4 on the push needle mounting seat 7 is driven by the driving member 21 to continue to perform action a, the push needle 4 moving towards the puncture needle enters the reverser 51, particles are pushed out from the particle channel 513 of the reverser 51 into the puncture needle, as shown in fig. 27, 29 and 31, the push needle 4 pushes the particles in the puncture needle 13, and the action a is terminated after the particles are completely pushed out of the puncture needle.
E. And F state: when a particle is pushed out, the push pin 4 moves away from the puncture needle, and the action E is executed, as shown in fig. 28, 30 and 32, and the process from E to H can be roughly understood as the reverse process of the action from a to D.
And G state: after the push needle 4 is retreated to the corresponding position, the second rack 532 moves in the direction away from the puncture needle, that is, the movement f, the movement of the second rack 532 drives the gear 533 and the first rack 531 at the same time, the movement g is generated, and meanwhile, because the sliding pin 511 is still in the dynamic section of the sliding groove 5321 of the second rack 532, the commutator 51 also generates the rotation movement h at this time, along with the continuation of the movement f, the commutator 51 rotates 90 degrees from the horizontal state to the vertical state, then the sliding pin 511 enters the static section of the sliding groove 5321, the movement of the commutator 51 is stopped, and the action h is finished.
H state: the movement g of the first rack 531 is continued, and the first rack 531 drives the particle ejecting member 534 to push the particles in the particle magazine 54 into the diverter 51 again, so as to complete the primary particle feeding, as shown in fig. 28, 30 and 32, where the state of H is consistent with a, and a cycle is completed.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (10)
1. An automatic particle implanter is characterized in that the particle implanter comprises a mounting base, a push needle, a first driving mechanism, a second driving mechanism, a feeding mechanism and a puncture needle guide mechanism,
the mounting base is provided with a first rail and a second rail side by side, the first rail is provided with a push needle mounting seat, the second rail is provided with a puncture needle guide mechanism mounting seat, the push needle and the puncture needle guide mechanism are respectively arranged on the push needle mounting seat and the puncture needle guide mechanism mounting seat, and the push needle and the puncture needle guide mechanism are driven to move by the first driving mechanism and the second driving mechanism;
the puncture needle guide mechanism comprises a driving assembly and a clamping assembly, and the driving assembly drives the clamping assembly to clamp and release;
the feeding mechanism is arranged at one end of the mounting base and pushes out particles in the feeding mechanism through the push pin;
and an external mechanical interface is arranged on the mounting base and used for connecting an external driving piece to control the overall movement of the particle implanter.
2. The automatic particle implanter of claim 1, wherein the second driving mechanism comprises a second driving member and a second driving rod, the second driving rod is connected to the needle guide mechanism mounting base, and the second driving member drives the needle guide mechanism to move.
3. The automated particle implanter of claim 1, wherein the drive assembly includes a third drive member, a guide member, and a pull member, the third drive member, clamp assembly, and pull member being disposed on the guide member;
the feeding mechanism is provided with a guide part pressing block, and the guide part pressing block is used for limiting the radial movement of the guide part.
4. The automatic particle implanter of claim 1, wherein the feeding mechanism is provided with a push rod, the push rod is disposed at one side of the feeding mechanism, the push rod axially moves on the feeding mechanism, one end of the push rod is provided with a push rod seat, the other end of the push rod is provided with a stop block, and the stop block is provided with a puncture needle groove.
5. The automatic particle implanter of claim 4, wherein the first drive mechanism includes a first drive member, a first drive rod, a first clutch and a second clutch, the first clutch and the second clutch being disposed on the first drive rod, the first drive rod moving the first clutch and the second clutch,
the first clutch part is provided with a first clutch rod, the second clutch part is provided with a second clutch rod, the first clutch rod is used for being butted with the push pin mounting seat, the second clutch rod is used for being butted with the push rod seat,
when the first clutch rod is in a butt joint state with the push pin mounting seat, the second clutch rod is in a separation state with the push rod seat, and the first driving piece drives the push pin to move;
when the second clutch lever is in a butt joint state with the push rod seat, the first clutch lever is in a separation state with the push pin mounting seat, and the first driving piece drives the push rod to move.
6. The automatic particle implanter of claim 5, wherein said mounting base has a push pin retention slot in a path of movement of said push pin mounting base, said push pin mounting base having a first clutch lever interface for interfacing with said first clutch lever,
when the first clutch lever butt joint piece is separated from the first clutch lever, the first clutch lever butt joint piece is matched with the push pin detention groove to complete the fixation of the push pin;
when the first clutch lever butt joint piece is in butt joint with the first clutch lever, the first clutch lever butt joint piece is separated from the push pin detention groove, and the first driving piece drives the push pin to move.
7. The automatic particle implanter of claim 5, wherein said mounting base has a pushrod retention channel along a path of movement of a pushrod seat, said pushrod seat having a second clutch lever docking member for docking with said second clutch lever,
when the second clutch lever butt joint piece is separated from the second clutch lever, the second clutch lever butt joint piece is matched with the push rod detention groove to complete the fixation of the push rod;
when the second clutch lever butt joint piece is in butt joint with the second clutch lever, the second clutch lever butt joint piece is separated from the push rod detention groove, and the first driving piece drives the push rod to move.
8. The automated pellet implanter of claim 4, wherein said feed mechanism comprises a feed block, a pellet magazine, a diverter, a motion assembly, and a diverter rod,
the particle magazine, the commutator, the motion component and the reversing rod are arranged on the feeding seat,
the particle magazine is arranged on one side of the feeding mechanism, and the particle magazine fixing seat is arranged on the same side of the particle magazine by the mounting base.
9. The automated pellet implanter of claim 8, wherein the push rod, pellet magazine and pellet magazine holder are disposed on a side of the second slide rail,
the reversing rod comprises a first end and a second end opposite to the first end;
a reversing rod mounting seat is arranged on the first sliding rail, a first end of the reversing rod is arranged on the material supply seat, and a second end of the reversing rod is connected with the reversing rod mounting seat;
the reversing rod is provided with a first elastic piece, one end of the first elastic piece is abutted against the feeding mechanism, and the other end of the first elastic piece is abutted against the first end of the reversing rod;
when the push pin mounting seat moves towards the direction far away from the feeding mechanism, the push pin mounting seat is abutted to the reversing rod mounting seat.
10. The automatic particle implanter of claim 9, wherein the first slide rail has a fixed end, the reversing lever mount is disposed between the fixed end and the needle mount, and a second resilient member is disposed between the fixed end and the reversing lever mount.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010173464.8A CN111281498A (en) | 2020-03-13 | 2020-03-13 | Automatic particle implantation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010173464.8A CN111281498A (en) | 2020-03-13 | 2020-03-13 | Automatic particle implantation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111281498A true CN111281498A (en) | 2020-06-16 |
Family
ID=71029613
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010173464.8A Pending CN111281498A (en) | 2020-03-13 | 2020-03-13 | Automatic particle implantation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111281498A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111658997A (en) * | 2020-06-18 | 2020-09-15 | 哈尔滨理工大学 | Device capable of continuously implanting radioactive particles and implanting method using device |
| CN113209497A (en) * | 2021-04-29 | 2021-08-06 | 山东第一医科大学附属省立医院(山东省立医院) | Gun type radioactive particle implanter for laryngopharyngeal cancer |
| CN113229904A (en) * | 2021-06-28 | 2021-08-10 | 真实维度科技控股(珠海)有限公司 | Space positioning guide device based on C-shaped arm machine puncture |
| CN113288421A (en) * | 2021-05-07 | 2021-08-24 | 山东商业职业技术学院 | Minimally invasive breast interventional operation robot and operation method thereof |
| CN113768550A (en) * | 2021-09-18 | 2021-12-10 | 施康培医药科技(武汉)有限公司 | Biopsy needle device and single loading firing mechanism thereof |
| CN114668463A (en) * | 2022-03-29 | 2022-06-28 | 哈尔滨理工大学 | Flexible needle puncture mechanism capable of automatically replacing needle |
| CN115252142A (en) * | 2022-09-27 | 2022-11-01 | 真健康（北京）医疗科技有限公司 | Surgical navigation positioning robot and quick release type end effector thereof |
| WO2023165491A1 (en) * | 2022-03-03 | 2023-09-07 | 杭州大士科技有限公司 | Radioactive source implantation system with core extraction mechanism and use thereof |
| WO2023165303A1 (en) * | 2022-03-03 | 2023-09-07 | 杭州大士科技有限公司 | Friction-actuated particle or particle chain implantation device |
| WO2023165488A1 (en) * | 2022-03-03 | 2023-09-07 | 杭州大士科技有限公司 | Multi-channel radioactive source implantation device and use thereof |
| WO2024001444A1 (en) * | 2022-07-01 | 2024-01-04 | 杭州大士科技有限公司 | Multi-channel radioactive source implantation system with core retraction mechanism |
| WO2024040999A1 (en) * | 2022-08-26 | 2024-02-29 | 杭州大士科技有限公司 | Multi-channel radioactive source implantation system with needle-pulling driving function |
-
2020
- 2020-03-13 CN CN202010173464.8A patent/CN111281498A/en active Pending
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111658997A (en) * | 2020-06-18 | 2020-09-15 | 哈尔滨理工大学 | Device capable of continuously implanting radioactive particles and implanting method using device |
| CN113209497A (en) * | 2021-04-29 | 2021-08-06 | 山东第一医科大学附属省立医院(山东省立医院) | Gun type radioactive particle implanter for laryngopharyngeal cancer |
| CN113209497B (en) * | 2021-04-29 | 2022-07-01 | 山东第一医科大学附属省立医院(山东省立医院) | Gun type radioactive particle implanter for laryngopharyngeal cancer |
| CN113288421A (en) * | 2021-05-07 | 2021-08-24 | 山东商业职业技术学院 | Minimally invasive breast interventional operation robot and operation method thereof |
| CN113229904A (en) * | 2021-06-28 | 2021-08-10 | 真实维度科技控股(珠海)有限公司 | Space positioning guide device based on C-shaped arm machine puncture |
| CN113229904B (en) * | 2021-06-28 | 2022-05-20 | 真实维度科技控股(珠海)有限公司 | Space positioning guide device based on C-shaped arm machine puncture |
| CN113768550A (en) * | 2021-09-18 | 2021-12-10 | 施康培医药科技(武汉)有限公司 | Biopsy needle device and single loading firing mechanism thereof |
| CN113768550B (en) * | 2021-09-18 | 2023-09-15 | 德林医疗科技(武汉)有限公司 | Biopsy needle device and single-time loading firing mechanism thereof |
| WO2023165488A1 (en) * | 2022-03-03 | 2023-09-07 | 杭州大士科技有限公司 | Multi-channel radioactive source implantation device and use thereof |
| WO2023165491A1 (en) * | 2022-03-03 | 2023-09-07 | 杭州大士科技有限公司 | Radioactive source implantation system with core extraction mechanism and use thereof |
| WO2023165303A1 (en) * | 2022-03-03 | 2023-09-07 | 杭州大士科技有限公司 | Friction-actuated particle or particle chain implantation device |
| CN114668463A (en) * | 2022-03-29 | 2022-06-28 | 哈尔滨理工大学 | Flexible needle puncture mechanism capable of automatically replacing needle |
| WO2024001444A1 (en) * | 2022-07-01 | 2024-01-04 | 杭州大士科技有限公司 | Multi-channel radioactive source implantation system with core retraction mechanism |
| WO2024040999A1 (en) * | 2022-08-26 | 2024-02-29 | 杭州大士科技有限公司 | Multi-channel radioactive source implantation system with needle-pulling driving function |
| CN115252142B (en) * | 2022-09-27 | 2022-12-20 | 真健康（北京）医疗科技有限公司 | Surgical navigation positioning robot and quick release type end effector thereof |
| CN115252142A (en) * | 2022-09-27 | 2022-11-01 | 真健康（北京）医疗科技有限公司 | Surgical navigation positioning robot and quick release type end effector thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111281498A (en) | Automatic particle implantation device | |
| CN212234612U (en) | Automatic particle implantation device | |
| CN110548218B (en) | Puncture robot for implanting radioactive seeds | |
| CN110960318B (en) | CT guided ablation system and ablation positioning method | |
| CN105705110B (en) | System and equipment for guide instrument | |
| CN104623797A (en) | Near-distance image navigation full-automatic radioactive particle implanting device | |
| AU2018230771B2 (en) | Adjustable brachytherapy template and template holder | |
| CN111658997A (en) | Device capable of continuously implanting radioactive particles and implanting method using device | |
| CN209932968U (en) | Arc-shaped guide rail RCM needle inserting device for minimally invasive surgery puncture robot | |
| CN111067682B (en) | Assembly and system for controlling release of implantable device | |
| CN210384581U (en) | Puncture needle positioning device of particle implanter | |
| CN113729958A (en) | Intervene operation robot from end device | |
| CN113729962A (en) | Intervene operation robot from end device | |
| CN113729957A (en) | Intervene operation robot from end device | |
| CN114391964B (en) | Compact interventional operation robot driving device | |
| CN111658998A (en) | Particle implanter capable of automatically replacing magazine and implanting method using particle implanter | |
| US20230078240A1 (en) | Interventional unmanned operation chanmber system | |
| CN102670335A (en) | Spinal surgery tool | |
| CN110464979B (en) | Feeding mechanism of particle implantation device | |
| CN115192203A (en) | Intervene unmanned operating room system | |
| CN115005940A (en) | Puncture injection device, surgical robot, and surgical robot system | |
| CN113941082A (en) | Robot system for releasing cavity particle support | |
| CN220213719U (en) | Clamping type core pulling mechanism | |
| CN114733090A (en) | Pneumatic particle implantation device compatible with MRI environment | |
| CN210078588U (en) | Particle implanter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: Room 101, building 13, No.158, Jinfeng Road, science and Technology City, Suzhou, Jiangsu 215000 Applicant after: Jiangsu University of technology collaborative medical robot Co.,Ltd. Address before: 215000 101, building 13, No.158, Jinfeng Road, science and Technology City, Suzhou, Jiangsu Province Applicant before: JIANGSU GONGDA BOSHI MEDICAL ROBOT RESEARCH DEVELOPMENT Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220401 Address after: Room 102-4, building 13, No. 158, Jinfeng Road, science and Technology City, high tech Zone, Suzhou, Jiangsu 215000 Applicant after: Suzhou Naiwei Medical Technology Co.,Ltd. Address before: Room 101, building 13, No.158, Jinfeng Road, science and Technology City, Suzhou, Jiangsu 215000 Applicant before: Jiangsu University of technology collaborative medical robot Co.,Ltd. |
|
| TA01 | Transfer of patent application right |