CN219185647U - Friction driving particle or particle chain implantation device - Google Patents
Friction driving particle or particle chain implantation device Download PDFInfo
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- CN219185647U CN219185647U CN202223513369.1U CN202223513369U CN219185647U CN 219185647 U CN219185647 U CN 219185647U CN 202223513369 U CN202223513369 U CN 202223513369U CN 219185647 U CN219185647 U CN 219185647U
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- 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
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- A—HUMAN NECESSITIES
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
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- A—HUMAN NECESSITIES
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- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
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- A—HUMAN NECESSITIES
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- 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
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- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
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- A—HUMAN NECESSITIES
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- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0801—Prevention of accidental cutting or pricking
- A61B2090/08021—Prevention of accidental cutting or pricking of the patient or his organs
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The utility model aims to provide a friction driving type particle or particle chain implantation device, wherein a push rod output channel or a particle chain output channel for guiding a push rod to move back and forth is arranged on a main body, a friction driving mechanism can drive the push rod to move back and forth along the push rod output channel or the particle chain output channel, particles or particle chains arranged at the front end of the push rod are conveyed to a preset position along the push rod output channel or the particle chain output channel, and the push rod output channel or the particle chain output channel is of a rigid structure or a flexible bendable structure; the friction driving mechanism comprises a friction assembly, at least one part of the surface of the friction assembly is tightly attached to the surface of the push rod or the particle chain so as to generate friction force to drive the push rod or the particle chain to move back and forth, and the radioactive source feeding part is used for arranging particles or the particle chain at the front end of the push rod and is one or a combination of a particle cartridge clip, a particle chain cartridge clip and a particle chain feeding part. The utility model has high safety and avoids damaging the body of a patient.
Description
The present application claims priority from the patent application filed 3/2022 entitled "particle implantation gun and related institution, particle implantation surgical robot and application method", application No. 2022102070770.
The present application claims priority from the patent application entitled "a particle implantation device" filed on 8/26 of 2022, application number 2022110329819.
The present application claims priority from the patent application filed on 11/23 2022 entitled "a friction-driven particle implantation device", application number 2022114762804.
The present application claims priority from the patent application entitled "a particle or particle chain implant device" filed on month 12 and 9 of 2022, application number 2022115865935.
The entire contents of which are incorporated herein by reference.
Technical Field
The utility model relates to the technical field of medical particle implantation devices, in particular to a friction driving particle or particle chain implantation device.
Background
The radioactive particle implantation treatment technology mainly relies on a stereotactic system to accurately implant radioactive particles into a tumor body, and continuous short-distance radioactive rays are emitted by a miniature radioactive source, so that tumor tissues are killed to the greatest extent, and normal tissues are not damaged or only slightly damaged. The technology has the characteristics of strong targeting, small wound, quick curative effect, less side effect and the like.
The radioactive substance is implanted into a human body through a particle implantation device, a puncture needle is arranged at the front end of the particle implantation device, a push rod for particle implantation is arranged at the rear end of the particle implantation device, a particle cartridge clip interface is arranged on the particle implantation device, the particle cartridge clip is connected with the particle implantation device through the interface, radioactive particles are pushed into the puncture needle through the push rod, the particles are further implanted into a focus position, then the puncture needle is pulled out to the next position, after the push rod is retracted to the position above the cartridge clip, the particle cartridge clip can automatically eject the next particle, then the particle is implanted, and the operation is repeated to implant a preset number of particles into the tumor body according to the implantation of the particles, so that the operation is completed. However, at present, the discrete distribution of the multiparticulates is easy to cause the displacement of particles due to gravity, extrusion, blood flow and the like, which can cause insufficient irradiation intensity of the particles to tumors, even the particles are displaced into other normal tissues to form embolism, serious operation complications are generated, along with the development of technology, a plurality of particles can be arranged at intervals, two adjacent particles are connected by using a human body absorbable material to form a spacing rod, and the spacing rod is arranged into a particle chain according to the requirement of a preoperative TPS plan, and the particle chain is placed into a particle implantation channel and is implanted into a human body at one time. However, conventional particle implantation devices cannot achieve one-time implantation of a particle chain into the body, and in addition, several tens or even hundreds of radioactive particles are implanted per surgery. The operation process requires a long time, the doctor has great labor intensity, and the doctor can be damaged by radiation in the whole operation process. Based on the above, some particle implantation devices have emerged that enable continuous automatic implantation actions.
The automatic radioactive particle implantation equipment disclosed in the Chinese patent document with the application number of CN201721166437.8 comprises a radioactive particle storage device, a radioactive particle implantation needle, a push rod, a driving cylinder and a main controller; the radioactive particle storage device is internally provided with a radioactive particle storage cavity, and the bottom of the radioactive particle storage cavity is provided with a radioactive particle conveying channel; the lower end of the radioactive particle storage device is transversely provided with a radioactive particle implantation channel, the first end of the radioactive particle implantation channel is an implantation needle insertion end, and the second end is a push rod insertion end; a radioactive particle guide opening is formed in the inner top surface of the radioactive particle implantation channel and close to the insertion end of the implantation needle, and a radioactive particle slideway is arranged between the radioactive particle guide opening and the bottom of the radioactive particle conveying channel; the radioactive particle implantation needle is connected with the insertion end of the implantation needle; the front end of the push rod is inserted into the push rod insertion end, and the rear end of the push rod is connected with the driving cylinder.
In the technical solution disclosed in the above patent document, the push rod for implanting particles into the target position drives the push rod to move by directly pushing the support by the driving cylinder at the rear end of the push rod, and the driving method is suitable for the push rod made of harder materials and the linear implantation path, but the stroke distance for pushing the push rod to one end is limited by the movement stroke of the cylinder. In addition, in an actual implantation scene, considering that a patient is usually in a local anesthesia state, the puncture needle still generates tiny vibration due to heartbeat, respiration, body shake and the like, at this time, if the puncture needle is still rigidly connected with the particle automatic implantation device and the push rod is driven to move in a manner of directly propping against and pushing by adopting a driving device such as a tail end cylinder or a motor, the puncture needle is easily pulled to scratch the patient, so that danger is caused.
In view of the above, the present utility model provides a friction-driven particle or particle chain implant device that is directed to the use of a flexible pushrod.
Disclosure of Invention
The present utility model provides a friction-driven particle or particle chain implant device for use with a flexible pushrod.
The technical aim of the utility model is realized by the following technical scheme:
the friction driving type particle or particle chain implantation device comprises a main body, a push rod output channel, a push rod, a friction driving mechanism and a radioactive source feeding part, wherein the main body is provided with the push rod output channel or the particle chain output channel for guiding the push rod to move back and forth, the friction driving mechanism can drive the push rod to move back and forth along the push rod output channel or the particle chain output channel, particles or particle chains arranged at the front end of the push rod are conveyed to a preset position along the push rod output channel or the particle chain output channel, and the push rod output channel or the particle chain output channel is of a rigid structure or a flexible bendable structure; the friction driving mechanism comprises a friction assembly, at least one part of the surface of the friction assembly is tightly attached to the surface of the push rod or the particle chain, the push rod or the particle chain is driven to move back and forth through friction force generated by attachment, the radioactive source feeding part is used for arranging particles or particle chains at the front end of the push rod, and the radioactive source feeding part is one or a combination of a particle cartridge clip, a particle chain cartridge clip and a particle chain feeding part.
The radioactive source feeding device is characterized by further comprising a conveying conduit, wherein the push rod output channel is communicated with the conveying conduit, the friction driving mechanism can drive the push rod or the particle chain to move back and forth along the conveying conduit, and particles or the particle chain, which are arranged at the front end of the push rod, of the radioactive source feeding part are conveyed to a preset position along the conveying conduit; the delivery catheter is a first flexible delivery catheter, the push rod is a flexible push rod or a particle chain, and the friction drive mechanism is a flexible push rod drive mechanism or a particle chain drive mechanism.
As a preferable mode of the utility model, the friction component is a friction wheel or a friction belt, the friction wheel or the friction belt clamps the push rod or the particle chain through a pressing mechanism, and the pressing mechanism adopts a passive pressing mechanism or an active pressing mechanism; or the friction wheel or the friction belt is of an elastic structure, and the clamping of the push rod or the particle chain is realized through self extrusion; the friction wheel or the friction belt is provided with an anti-skid groove or an anti-skid pattern; the friction wheel or the friction belt is provided with an annular groove, and the push rod or the particle chain is limited in the annular groove.
As a preference for the present utility model, the passive compacting mechanism includes a compacting guide mechanism for guiding the friction assembly to move along a fixed track, and a compacting elastic member for applying a compacting force to the friction assembly to compact the push rod or the particle chain, and one or a combination of an elastic block, a spring, a torsion spring, a coil spring, or a torsion bar, and a pressure adjusting device for adjusting the compacting force by adjusting the pre-tightening amount of the compacting elastic member, and the pressure adjusting device employs an adjusting screw.
The active compressing mechanism comprises a compressing guide mechanism and a compressing driving element, the compressing guide mechanism is used for guiding the friction assembly to move along a fixed track, one or a combination of a chute, a hinge or a sliding rail can be adopted, the compressing driving element is used for actively applying compressing force to the friction assembly to compress the push rod or the particle chain, and one or a combination of an electromagnet, a motor, an electric push rod, a pneumatic push rod and a hydraulic push rod can be adopted.
Preferably, the device further comprises a position detection component, wherein the position detection component is used for measuring the actual position of the push rod or the particle chain relative to the push rod output channel, the position detection component comprises a rotary encoder which is directly connected or in transmission connection with the measuring wheel, one side of the measuring wheel is in contact with the push rod or the particle chain, the measuring wheel is driven to rotate when the push rod or the particle chain moves back and forth, and the displacement of the push rod or the particle chain can be converted by measuring the angular displacement of the measuring wheel through the rotary encoder.
The position detection part comprises a travel switch, the travel switch is arranged on one side of the output channel of the push rod, and when the push rod or the particle chain passes through the travel switch, a position signal is triggered.
The travel switch is a conductive travel switch, and the position of the push rod or the particle chain is judged by utilizing conductive on-off, and the travel switch comprises an elastic contact or an elastic needle; or the travel switch is a mechanical switch, a photoelectric switch or a Hall switch.
When the travel switch is a mechanical switch, the trigger piece which can be slidably or rotatably arranged outside the mechanical switch is contacted with the push rod to trigger the travel switch, one end of the trigger piece is arranged in the output channel of the push rod, and the other end of the trigger piece is propped against the mechanical switch; the trigger piece is a trigger lever, a trigger piece or a trigger needle, or the trigger piece is a roller, so that friction resistance between the trigger piece and a push rod or a particle chain is reduced.
The utility model also comprises a motor angle sensor, wherein the friction driving mechanism is driven by a motor, the motor angle sensor is directly connected or in transmission connection with an output shaft of the motor, so that the rotation angle of the motor is measured, the rotation angle is converted into the theoretical displacement of a push rod or a particle chain, and the slipping phenomenon of the friction driving mechanism can be judged through the difference between the theoretical displacement of the push rod or the particle chain and the actual displacement.
As a preference for the utility model, the utility model also comprises a thrust sensing module which can sense the thrust resistance of the push rod or the particle chain; the thrust sensing module is a current detection sensor of a driving motor of the friction driving mechanism, and the motor torque is calculated by utilizing the current, so that the pushing resistance of the push rod or the particle chain is converted and sensed.
Or the thrust sensing module is a force sensor or a moment sensor; at the moment, the force sensing module is arranged on a driving motor of the friction driving mechanism, and the real-time output torque of the motor is measured, so that the pushing resistance of the push rod or the particle chain is converted and sensed.
Or the thrust sensing module is arranged in the push rod driving mechanism and the push rod output channel or between the push rod driving mechanism and the push rod output channel, so that the internal acting force or the relative acting force between any two adjacent push rod or particle chain can be measured, and the measurement of the pushing resistance of the push rod or particle chain can be realized.
As the optimization of the utility model, the friction wheels or the friction belts are provided with a plurality of groups, and the synchronous motion of the friction wheels or the friction belts is realized through a synchronous transmission mechanism, so that the push rod or the particle chain is jointly driven to move back and forth, the overall driving force is improved, and the synchronous transmission mechanism is one or a combination of belt transmission, chain transmission and gear transmission; a guide channel is arranged between two adjacent groups of friction wheels or friction belts, the push rod or the particle chain passes through the guide channel, the guide channel plays a guide role, and the push rod or the particle chain is prevented from bending between the two adjacent groups of friction wheels or friction belts, so that driving blockage is caused.
As the optimization of the utility model, the flexible push rod is made of elastic materials, can be bent under the action of external force, and can recover the original state after the external force is removed; the flexible push rod is made of one or more of nickel-titanium alloy, stainless steel, spring steel, elastomer material and composite material; or the flexible push rod is a particle chain; or the front half part of the flexible push rod is of a particle chain structure, and the rear half part of the flexible push rod is of a push rod wire; the length of the flexible push rod is more than 300mm, and the outer diameter of the flexible push rod is 0.5-1.5mm.
In a preferred embodiment of the present utility model, when the pusher is a particle chain, the particle chain feeder includes a cutting mechanism, and the particle chain feeder feeds the particle chain by cutting the particle chain of a target length from the front end of the pusher by the cutting mechanism.
Or the particle chain feeding part comprises a friction driving mechanism and a cutting mechanism, the particle chain is continuously output through the friction driving mechanism and is cut off through the cutting mechanism, so that the feeding of the particle chain is realized, the friction driving mechanism is connected with a particle chain output channel, the particle chain output channel is of a rigid structure or a flexible bendable structure, and the particle chain output channel is arranged in front of the push rod through a bifurcation tube structure or a moving platform.
Or when the radioactive source feeding part adopts a particle cartridge clip or a particle chain cartridge clip, the radioactive source feeding part is directly arranged in the output channel of the push rod, particles or prefabricated particle chains are arranged in a bullet storage groove or a bullet storage hole in the cartridge clip, and the particles or the prefabricated particle chains are placed at the front end of the push rod for feeding through a cartridge clip feeding mechanism arranged on the particle cartridge clip or the particle chain cartridge clip.
In summary, the utility model can realize the following beneficial effects:
1. the friction driving type particle or particle chain implantation device provided by the utility model adopts the flexible conveying catheter to convey particles or particle chains, the friction driving mechanism can drive the flexible push rod or particle chains to move back and forth along the flexible conveying catheter, and the particles or particle chains arranged at the front end of the flexible push rod or particle chains are conveyed to a preset position along the flexible conveying catheter, and as the flexible conveying catheter can adapt to tiny vibration of the puncture needle due to heartbeat, respiration, body shake and the like of a patient in the operation process, the device has higher safety.
2. The friction driving type particle or particle chain implantation device provided by the utility model drives the flexible push rod or particle chain to move inwards and stretch in due to the friction contact mode of the friction component and the surface of the flexible push rod or particle chain, and the driving mode limits the maximum driving force acting on the flexible push rod or particle chain through the adjustment of the contact state of the surface of the friction component and the surface of the flexible push rod, so that the maximum driving force is enough to drive the particle or particle chain to move inwards along a preset path, but when the end part of the flexible push rod for pushing the particle or particle chain is blocked and offset and the resistance is instantaneously increased, the friction component and the surface of the flexible push rod or particle chain can slide in time, and the damage to the body of a patient is avoided.
3. The friction driving type particle or particle chain implantation device provided by the utility model adopts a friction driving mode to drive the flexible push rod or particle chain to move, and compared with the traditional supporting pushing driving mode, the friction driving type particle or particle chain implantation device is not limited by the working stroke of a driving mechanism, and is convenient for the light weight and miniaturized production of the particle or particle chain implantation device.
Drawings
FIG. 1 is a schematic view of the overall structure of a particle or particle chain implant device according to the present utility model;
FIG. 2 is a second schematic view of the overall structure of a particle or particle chain implant device according to the present utility model;
FIG. 3 is a schematic view of a flexible pushrod driving mechanism in a particle or particle chain implant device according to one embodiment of the utility model;
FIG. 4 is a second schematic view of a flexible pushrod driving mechanism in a particle or particle chain implant device according to the utility model;
FIG. 5 is an enlarged schematic view of the utility model at position C of FIG. 4;
FIG. 6 is a schematic view of the overall cross-sectional structure of a particle or particle chain implant device of the present utility model;
FIG. 7 is an enlarged schematic view of the particle magazine or particle chain magazine of FIG. 6 in accordance with the present utility model;
FIG. 8 is a schematic view showing a state in which particles or chains of particles are present in a particle cartridge or a particle chain cartridge according to the present utility model;
FIG. 9 is a schematic view showing a state where there is no particle or particle chain path in the particle cartridge or the particle chain cartridge according to the present utility model;
FIG. 10 is a schematic view showing a state in which no particle or particle chain is closed in the particle cartridge or the particle chain cartridge according to the present utility model;
FIG. 11 is a schematic overall structure of embodiment 2 of the present utility model;
FIG. 12 is a schematic side view of example 2 of the present utility model;
fig. 13 is a schematic view showing the internal structure of embodiment 2 of the present utility model;
FIG. 14 is a side view of embodiment 2 of the present utility model;
FIG. 15 is a schematic view of a passive tightening mechanism according to the present utility model;
FIG. 16 is a schematic view of another construction of the passive tightening mechanism of the present utility model;
FIG. 17 is a schematic diagram of an assembled spring-loaded travel switch according to the present utility model;
FIG. 18 is an exploded view of the reed type travel switch of the present utility model;
FIG. 19 is a schematic view of a spring-loaded travel switch of the present utility model in an open cut-away state;
FIG. 20 is a schematic view of a trigger cut-away state of a spring-loaded travel switch according to the present utility model;
FIG. 21 is a schematic view of a storage mechanism according to the present utility model;
FIG. 22 is a second schematic view of the storage mechanism of the present utility model;
FIG. 23 is a third schematic view of the housing mechanism of the present utility model;
FIG. 24 is a view showing one of the construction of a film-type bushing according to the present utility model;
FIG. 25 is a second block diagram of a film sleeve according to the present utility model;
fig. 26 is a schematic view of a connection structure between a film sleeve and a core pulling mechanism according to the present utility model.
FIG. 27 is a schematic view showing the structure of embodiment 5 of the present utility model;
FIG. 28 is a top view of embodiment 5 of the present utility model;
FIG. 29 is a schematic view of a cutting mechanism, a particle chain drive mechanism and a friction drive mechanism according to embodiment 5 of the present utility model;
fig. 30 is a schematic structural view of a cutting mechanism according to embodiment 5 of the present utility model;
FIG. 31 is a schematic view showing the structure of the particle chain according to example 5 of the present utility model when pushed out;
FIG. 32 is a schematic diagram of the structure of embodiment 6 of the present utility model;
FIG. 33 is a top view of example 6 of the present utility model;
fig. 34 is a schematic structural view of a cutting mechanism in embodiment 6 of the present utility model;
fig. 35 is a schematic view of the docking structure according to embodiment 6 of the present utility model.
Detailed Description
The following specific examples are intended to be illustrative of the utility model and are not intended to be limiting, as modifications of the utility model will be apparent to those skilled in the art upon reading the specification without inventive contribution thereto, and are intended to be protected by the patent law within the scope of the appended claims.
The scheme is realized by the following technical means:
example 1:
in the embodiment shown in fig. 1 and 2, a friction-driven particle or particle chain implanting device, which has a push rod output channel and enables automatic implantation of particles or particle chains, mainly comprises a main body 50, a friction driving mechanism, a particle cartridge or particle chain cartridge 75, a flexible push rod 61, a receiving mechanism and a push rod output channel 13. The main body 50 is provided with a push rod output channel 13 for guiding the flexible push rod 61 or the particle chain to move back and forth, and the friction driving mechanism can drive the flexible push rod 61 or the particle chain to move back and forth along the push rod output channel 13, so that the particles or the particle chain arranged at the front end of the flexible push rod 61 are implanted at a preset position along the push rod output channel 13. The push rod output channel is of a rigid structure or a flexible bendable structure.
The friction driving mechanism comprises a friction assembly, at least one part of the surface of the friction assembly is tightly attached to the surface of the flexible push rod or the particle chain, the flexible push rod or the particle chain is driven to move back and forth through friction force generated by attachment, the radiation source feeding part is used for placing particles or the particle chain at the front end of the flexible push rod, and the radiation source feeding part is one of a particle cartridge clip, a particle chain cartridge clip and a particle chain feeding part. The push rod output channel can be communicated with the conveying guide pipe, and the friction driving mechanism can drive the push rod or the particle chain to move back and forth along the conveying guide pipe and the puncture needle connected to the front end of the conveying guide pipe, so that particles or the particle chain with the radioactive source feeding part arranged at the front end of the push rod or the particle chain are implanted into biological tissues along the conveying guide pipe and the puncture needle connected to the front end of the conveying guide pipe.
The friction assembly is a friction wheel or a friction belt, the friction wheel or the friction belt clamps the flexible push rod or the particle chain through a compression mechanism, and the compression mechanism adopts a passive compression mechanism or an active compression mechanism; or the friction wheel or the friction belt is of an elastic structure, and the clamping of the push rod or the particle chain is realized through self extrusion; the friction wheel or the friction belt is provided with an anti-skid groove or an anti-skid pattern; the friction wheel or the friction belt is provided with an annular groove, and the flexible push rod or the particle chain is limited in the annular groove.
The passive compacting mechanism comprises a compacting guide mechanism and a compacting elastic element, wherein the compacting guide mechanism is used for guiding the friction assembly to move along a fixed track, one or a combination of a chute, a hinge or a sliding rail can be adopted, the compacting elastic element is used for applying compacting force to the friction assembly to enable the friction assembly to compact a flexible push rod or a particle chain, one or a combination of an elastic block, a spring, a torsion spring, a coil spring or a torsion bar can be adopted, the passive compacting mechanism further comprises a pressure adjusting device used for adjusting the compacting force by adjusting the pre-tightening amount of the compacting elastic element, and the pressure adjusting device adopts an adjusting screw.
The active compressing mechanism comprises a compressing guide mechanism and a compressing driving element, the compressing guide mechanism is used for guiding the friction assembly to move along a fixed track, one or a combination of a chute, a hinge or a sliding rail can be adopted, the compressing driving element is used for actively applying compressing force to the friction assembly to compress the flexible push rod or the particle chain, and one or a combination of an electromagnet, a motor, an electric push rod, a pneumatic push rod and a hydraulic push rod can be adopted. The flexible push rod 61 is made of elastic materials, can be bent under the action of external force, and can recover to a original state after the external force is removed, and the material of the flexible push rod 61 is one or a combination of a plurality of nickel-titanium alloy, stainless steel, spring steel, elastomer materials and composite materials. Or the flexible push rod is a particle chain; or the front half part of the push rod is of a particle chain structure, and the rear half part of the push rod is of a push rod wire; the length of the flexible push rod 61 is more than 300mm, and the outer diameter is 0.5-1.5mm.
As shown in fig. 3, the main body 50 is provided with a storage mechanism, which can be used for storing the flexible push rod 61 or the particle chain, a rotary elastic element is arranged in the storage disc, the storage wheel is driven to rotate by the elastic release of the rotary elastic element, so that the flexible push rod or the particle chain is wound on the outer surface of the storage wheel or the outer side of the outer surface of the storage wheel, and the rotary elastic element is one or more combinations of a coil spring, a torsion spring, a spring, an elastic sheet and an elastic block.
Or the containing mechanism adopts a sleeve, the sleeve is connected to the rear end of the friction driving mechanism, the sleeve is any one of a straight sleeve, a spiral sleeve and a film-type sleeve, and the sleeve is made of one or more of metal, plastic, rubber, latex, silica gel or elastomer materials; the sleeve is internally provided with a lubricant, so that the flexible push rod or the particle chain can be conveniently and smoothly stretched into the sleeve, or the inner surface of the sleeve can be uniformly coated with lubricating grease or the inner surface of the sleeve is lubricated by adopting a lubricating coating, and the lubricating coating is made of Teflon.
The friction drive mechanism includes a power member 68, a transmission member 69, a guide member 70, a mount 50-1, and a position detecting member 60.
The power component 68, the transmission component 69, the guiding component 70 and the position detecting component 60 are all arranged on the mounting frame 50-1, the power component 68 is used for providing power for moving the flexible push rod 61 or the particle chain, the transmission component 69 is used for transmitting the power output by the power component 68 to the flexible push rod 61 or the particle chain, the guiding component 70 is used for guiding the flexible push rod 61 or the particle chain, and the position detecting component 60 is used for measuring the position of the flexible push rod 61 or the particle chain on the guiding component 70 or/and the position relative to the mounting frame 50-1.
As shown in fig. 2, the power unit 68 is a first motor 51, or a combination of the first motor 51 and the decelerator 52. The decelerator 52 is fixed to the mounting frame 50-1 by a first fixing plate 56.
The friction wheels or the friction belts are provided with a plurality of groups, and synchronous motion of the friction wheels or the friction belts is realized through a synchronous transmission mechanism, so that the flexible push rod or the particle chain is jointly driven to move back and forth, the overall driving force is improved, and the synchronous transmission mechanism is one or a combination of belt transmission, chain transmission and gear transmission; the guide channel is arranged between two adjacent groups of friction wheels or friction belts, the flexible push rod or the particle chain passes through the guide channel, the guide channel plays a guide role, and the flexible push rod or the particle chain is prevented from bending between the two adjacent groups of friction wheels or friction belts, so that the drive is blocked.
As shown in fig. 4 and 5, the transmission component 69 includes a second friction component 63 and a first friction component 64, and one end of the first friction component 64 and/or one end of the second friction component 63 are/is connected with the output shaft of the power component 68; the transmission member is disposed between the third fixing plate 58 and the fixing frame. The second friction assembly 63 is supported on the mounting frame through a group of limiting seats 65, bearings 66 are arranged in the limiting seats 65, and the bearings 66 are sleeved on the second friction assembly 63 and supported in supporting sliding grooves of the limiting seats 65.
At least one second friction assembly 63 and at least one first friction assembly 64;
the flexible push rod 61 or the particle chain passes between the second friction component 63 and the first friction component 64, the flexible push rod 61 or the particle chain is in contact connection with one side of the second friction component 63, and the flexible push rod 61 or the particle chain is in contact connection with one side of the first friction component 64, so that the first friction component 64 can drive the flexible push rod 61 or the particle chain to move forwards or backwards along the guide component 70 in the rotating process.
The first friction assembly 64 is a driving friction wheel/driving friction belt, and the second friction assembly 63 is a driven friction wheel/driven friction belt;
alternatively, the first friction assembly 64 is a driven friction wheel/belt and the second friction assembly 63 is a driving friction wheel/belt.
As shown in fig. 4, the guide member 70 includes a guide holder 62 and a connecting pipe 71, the guide holder 62 is mounted on the mounting frame 50-1, and a position detecting member is provided on the guide member 70. Wherein the connecting pipe 71 for particle or particle chain transport is a bendable flexible pipe, and the flexible pushrod 61 is a bendable flexible pushrod. The flexible push rod has certain elasticity, and can recover a straight state when external force is withdrawn, and the specific material is one or a plurality of combinations of nickel-titanium alloy, spring steel, elastomer and composite material.
The second friction component 63 is directly connected with the encoder 55, or drives the encoder 55 to rotate through a transmission component 69; a storage disc 59 is arranged on the mounting frame 50-1, and a flexible push rod 61 or a particle chain is coiled on the storage disc 59; the storage tray 59 is a concave storage tray. The encoder 55 is mounted on the mounting block 50-1 by a second fixing plate 57.
The first friction component 64 and the second friction component 63 are one or more combinations of metal, plastic, ceramic, silica gel and rubber.
The first friction component 64 is at least 1 friction wheel, the surface of the friction wheel is provided with a transverse anti-slip groove, the width of the transverse anti-slip groove is 0.1-1mm, and the included angle between the direction of the transverse anti-slip groove and the direction of the flexible push rod 61 or the particle chain is larger than 60 degrees.
The first friction component 64 and the second friction component 63 are respectively provided with a limit groove which is matched with the flexible push rod 61 or the particle chain, so that the flexible push rod 61 or the particle chain is prevented from being separated from the friction wheel. The mounting rack 50-1 is provided with a storage tray 59 for storing the flexible push rod 61 or the particle chain, the flexible push rod 61 or the particle chain is coiled inside or outside the storage tray 59, preferably, the storage tray 59 is a concave storage tray, and at this time, under the elastic action of the flexible push rod, the flexible push rod is automatically coiled inside the concave surface of the storage tray.
As shown in fig. 3, the mounting frame 50-1 is provided with one or more position detecting members, which include a travel switch, a position encoder, or a displacement sensor, and which are capable of measuring the actual position of the flexible push rod 61 or the particle chain.
The travel switch is arranged on one side of the push rod output channel, and triggers a position signal when the flexible push rod or the particle chain passes through the travel switch. The travel switch is a conductive travel switch, and the position of the flexible push rod or the particle chain is judged by utilizing conductive on-off, and the flexible push rod or the particle chain comprises an elastic contact or an elastic needle; when the flexible push rod 61 or the particle chain with good conductivity is matched in use, a conductive loop is formed among a plurality of contacts when the flexible push rod 61 or the particle chain passes through the conductive travel switch 60-1, and corresponding position detection signals can be triggered at the moment. Or the travel switch is a mechanical switch, a photoelectric switch or a Hall switch.
When the travel switch is a mechanical switch, the mechanical travel switch presses a corresponding mechanical button when a flexible push rod or a particle chain passes through, so that a corresponding position detection signal is triggered; the trigger piece which can slide or rotate is arranged outside the mechanical switch and is contacted with the push rod to trigger the travel switch, one end of the trigger piece is arranged in the output channel of the push rod, and the other end of the trigger piece is propped against the mechanical switch; the trigger piece is a trigger lever, a trigger piece or a trigger needle, or the trigger piece is a roller, so that friction resistance between the trigger piece and the flexible push rod or the particle chain is reduced.
Taking the spring travel switch of fig. 13-16 as an example, wherein:
2132201-mount A, 2132202-mount B, 2132203-microswitch, 2132204-spring, 2132205-thin gauge head, 2132206-delivery channel, 2132207-microswitch spring contact, 61-flexible push rod or particle chain.
Mount pad B2132202 is fixed in mount pad a 2132201, micro-gap switch 2132203 is fixed mount pad a 2132201, thin slice gauge head 2132205 is installed in the spout between mount pad B2132202 and mount pad a 2132201, spring 2132204 is tight in thin slice gauge head 2132205 in one end, and one end is tight in micro-gap switch 2132203 in the other end. The limit card is between mount pad B2132202 and mount pad A2132201.
When the flexible push rod 61 or the particle chain moves forward in the conveying passage 2132206 to the position of the sheet gauge head 2132205, the flexible push rod 61 or the particle chain head pushes the sheet gauge head 2132205 downward along the head inclined surface of the sheet gauge head 2132205 by the self-pushing force until the flexible push rod 61 or the particle chain head smoothly passes through the conveying passage 2132206, and the pressing is stopped. In the process of downward ejection of the sheet gauge head 2132205, the micro switch elastic contact 2132207 is driven by the sheet gauge head 2132205 to be pressed down together. After being pushed down to a certain extent, the micro switch 2132203 can be detected to be triggered. This indicates that the flexible push rod 61 or the particle chain has advanced to this position. When the flexible push rod 61 or the particle chain is just retracted to the rear of the position of the sheet measuring head 2132205 along the conveying passage 2132206, the spring 2132204 pushes the sheet measuring head 2132205 to reset upwards, and the micro switch elastic contact 2132207 is immediately rebounded and reset. The microswitch 2132203 detects an off trigger. This indicates that the flexible push rod 61 or the particle chain has been retracted to this position.
The sliding groove between the mounting seat B2132202 and the mounting seat a 2132201 may be replaced by a hinge, and the thin gauge head 2132205 will rotate around the hinge, and the thin gauge head 2132205 may be replaced by a gauge pin, a measuring lever, or a measuring pulley.
The position detection component comprises a rotary encoder which is directly connected with the measuring wheel or in transmission connection with the measuring wheel; one side of the measuring wheel is contacted with the push rod or the particle chain, when the push rod or the particle chain moves back and forth, the measuring wheel is driven to rotate, and the displacement of the push rod or the particle chain can be converted by measuring the angular displacement of the measuring wheel through the rotary encoder.
The transmission part 69 further comprises a pressure adjusting device 67, and the pressure adjusting device 67 is used for adjusting and controlling the extrusion force between the second friction assembly 63 and the first friction assembly 64, so as to adjust and control the driving friction force to the flexible push rod 61 or the particle chain, and facilitate the transmission part 69 to drive the flexible push rod 61 or the particle chain; the pressure adjusting device 67 is formed by adopting a limit screw and an elastomer, wherein one side of the elastomer props against a bearing of the second friction assembly or/and the first friction assembly, the elastomer has a certain pre-tightening amount, so that extrusion force is generated between the two components, the limit screw props against the other side of the elastomer, and the pre-tightening amount of the elastomer is adjusted by adjusting the up-down position of the limit screw, so that extrusion force between the second friction assembly 63 and the first friction assembly 64 is adjusted. The elastic body is one or a plurality of combinations of a spring, a shrapnel and an elastic block. The elastic block is made of elastic material.
The first motor 51 drives the driving friction wheel to rotate through the bevel gear group 53, the driving friction wheel drives the flexible push rod 61 or the particle chain to move, the driven friction wheel follows to rotate, the encoder 55 is driven through the spur gear 54, the encoder 55 can calculate the displacement length of the flexible push rod 61 or the particle chain according to the rotation quantity, the guide component 70 can guide the flexible push rod 61 or the particle chain to conduct adjustment in position and direction, when the flexible push rod 61 or the particle chain passes through the travel switch, the contact point on the flexible push rod 61 or the particle chain is contacted with the contact point in the travel switch to generate a signal, and the current actual position of the flexible push rod 61 or the particle chain can be measured by matching with the displacement length measured by the encoder.
The friction wheel is used for driving, the pressing wheel is used for measuring the actual distance in cooperation with the encoder, so that the high-thrust driving and high-precision position control of the flexible push rod or the particle chain are realized, and the function of implanting particles or the particle chain is realized; and judging various conditions (such as needle sheath blockage, pipeline blockage fault or whether a particle cartridge clip or a particle chain cartridge clip is empty or not) in the particle or particle chain implantation process by utilizing the difference of the motor driving displacement, the travel switch trigger signal and the displacement measured by the encoder.
With the friction drive mechanism of the particle or particle chain implanting device, if the theoretical amount of motion of the flexible push rod or particle chain converted from the rotation amount of the power unit (motor or motor with encoder) and the actual amount of motion of the flexible push rod or particle chain converted by the position detection unit (driven friction wheel/driven friction belt driven encoder) have a difference, the slipping phenomenon is described, and at this time, according to the slipping position (converted by encoder), there are the following 2 cases:
1) The slipping occurs in the puncture needle or the connecting pipeline, which indicates that the phenomenon of needle sheath blockage or connecting pipeline blockage occurs at the moment;
2) Slip occurs in the particle magazine or particle chain magazine 75, if the particle magazine or particle chain magazine 75 is designed to have no particles 86 closed, then it is an indication that no particles 86 or particles chains or a blockage fault (possibly a particle 86 or chains jam) has occurred in the particle magazine or particle chain magazine 75; if the particle clip or particle chain clip 75 is designed to be free of particles 86 or particle chain time paths, then a blockage fault is indicated in the particle clip or particle chain clip 75;
meanwhile, for the no-particle 86 or particle chain open scheme, the method for detecting whether the particle 86 or particle chain exists in the particle cartridge or particle chain cartridge 75 is as follows: if the theoretical position of the flexible push rod or the particle chain calculated by the encoder does not reach the actual position of the travel switch after the trigger signal appears on the travel switch, it is indicated that the flexible push rod or the particle chain is pushing out a new particle 86 or particle chain at the moment, and the two are contacted with each other to increase the length of the conductor, so that the travel switch is contacted in advance, or the mechanical travel switch is triggered in advance by the particle or the particle chain, so that the trigger signal is generated. If the trigger signal is not present in advance, it is indicated that no new particles 86 or chains of particles are being pushed out at this time, i.e. no particles 86 or chains of particles are present in the particle magazine or chain magazine 75.
The conversion of the theoretical motion quantity of the flexible push rod or the particle chain is to adopt a motor or a motor with an encoder, the conversion of the actual motion quantity of the flexible push rod or the particle chain is to adopt a position detection component, and the slipping position can be converted by the encoder.
As shown in fig. 6, 7 and 8, the particle magazine or particle chain magazine 75 includes a bin 82, a particle pushing device, and a particle anti-falling mechanism, a guide slot 89 is provided in the bin 82, the particle pushing device includes a pressing sheet 85, a guide block 84, and a spring 83, the guide block 84 is slidably disposed in the guide slot 89, the spring 83 is pressed against the guide block 84, and the pressing sheet 85 is disposed in the bin below the guide block and contacts with the particle 86 or the particle chain. A particle channel 48 is arranged between the bin 82 and the particle falling prevention mechanism 87, an elastic plug 88 is arranged on the particle falling prevention mechanism 87, and the tablet 85 continuously pushes particles or particle chains into the particle conveying channel;
the particle clip or the particle chain clip 75 is directly arranged at the front end of the friction driving mechanism, a particle conveying channel in the particle clip or the particle chain clip is communicated with a flexible push rod conveying channel of the friction driving mechanism, and the flexible push rod can push out and move the particle or the particle chain at the tail end in the particle clip or the particle chain clip 75.
Or the front end of the particle conveying mechanism is provided with a flexible guide pipe, the flexible guide pipe is connected with a particle clip or a particle chain clip 75 after extending for a certain distance, at this time, the particle clip or the particle chain clip 75 and the particle conveying mechanism can move relatively in a small range, and the flexible push rod moves to the particle clip or the particle chain clip 75 through the flexible guide pipe and pushes out and moves the particle or the particle chain at the tail end in the particle clip or the particle chain clip 75.
The particle 86 or chain is completely pushed out, the particle clip or chain clip 75 has 2 designs, the first is no particle or chain path (as shown in fig. 9), i.e. when there is no particle or chain in the clip or chain clip, for example, the guide block 84 is no longer moving downward under the constraint of the guide slot 89, and the compression piece 85 will also leave room for the passage, the flexible push rod 61 can freely pass through the particle implantation passage in the clip or chain clip;
the other is a particle-free or particle chain closed circuit (as shown in fig. 10), where the pushing device above the particle or particle chain will continue to move down when there is no particle 86 or particle chain in the particle cartridge or particle chain cartridge, such as: after the particles 86 or chains of particles are completely pushed out, the tablet 85 will move directly to the lowest end, blocking the channel;
The particle 86 or particle chain open scheme is preferred because blocking the channel can result in forced slipping of the friction wheel or a sharp increase in motor load, which can result in wear of the friction wheel and flexible pushrod 61 or particle chain or loss of the motor to some extent, reducing service life.
The guide block 84 can slide in the guide slot 89 in the bin 82, a particle channel 48 is arranged between the bin 82 and the particle anti-drop mechanism 87, the particles or particle chains arranged in a row are pressed by the pressing sheet 85 under the pressure of the spring 83, the particle 86 or particle chain at the bottom end is kept static under the action of friction force, but if the particles 86 or particle chains are separated due to vibration and the like, the elastic plugs 88 of the particle anti-drop mechanism 87 can clamp the movement channels of the particles 86 or particle chains forwards and backwards, so that the particles 86 or particle chains can not slide out of the particle channel 48 any more, when the flexible push rod 61 or particle chains are pushed forwards with larger thrust, the elastic plugs 88 can be deformed downwards, so that the particle channel 48 is unblocked, the flexible push rod 61 pushes the particles 86 or particle chains at the bottom end forwards along the pipeline until the particles or particle chains are pushed into the tumor, then retract to the initial position, and at the moment, the subsequent particles 86 or particle chains are timely complemented under the action of the spring 83, and the process is circulated until all the particles 86 or particle chains are pushed out; when the particles 86 or chains of particles are used up, the guide block 84 is no longer moved downwards under the constraint of the guide groove 89, and the tablet 85 will also leave room for the particle channel 48, allowing the flexible push rod 61 or chains of particles to pass freely.
The particle or particle chain implantation device in the embodiment provides an automatic particle or particle chain implantation device with a push rod output channel, separates the particle or particle chain implantation device from the puncture needle, realizes butt joint through the push rod output channel, and can adapt to the drift of the puncture needle in a small range due to the fact that the push rod output channel can deform to a certain extent, and ensures the safety of patients. Thereby realizing high-precision position control and high-precision particle or particle chain implantation so as to solve the defects of the prior art and the technical requirements which cannot be achieved.
The particle or particle chain implantation device in the embodiment implants particles or particle chains through the push rod output channel and pushes out the particles or particle chains by adopting the flexible push rod, so that the high-precision position control and the high-precision particle or particle chain implantation are realized while the safety is improved, and the defects of the prior art and the technical requirements which cannot be achieved are solved. The flexible push rod with certain elasticity and flexibility is used for pushing particles or particle chains, so that stable driving of the friction wheel can be realized while safety is ensured, driving force is transmitted to the front end from the rear end of the flexible push rod, and long-distance particle or particle chain pushing is realized. The flexible push rod is a flexible thread with elasticity, can be bent under the action of external force, and can recover a straight state after the external force is removed.
In order to realize high-precision particle or particle chain implantation, the actual position of the flexible push rod in the push rod output channel needs high-precision real-time measurement, meanwhile, as the distance of the push rod output channel is long, and some elements in the push rod output channel and the particle cartridge clip or the particle chain cartridge clip can generate friction obstruction to the flexible push rod, the thrust of the flexible push rod cannot be too small, and compared with the rigid push rod, the high-thrust driving and high-precision position control of the flexible push rod are more difficult. At the same time, during the implantation of the particles or chains of particles, there may be cases where blood within the puncture needle solidifies to form a needle sheath occlusion, and where there are no particles or chains of particles in the particle cartridge or the chain cartridge, for which the particle or chain implant device should have sensing and judging capabilities in order to feed these back to the physician.
Example 2: in this embodiment, a friction driving type particle or particle chain implanting device has the same technical scheme as that of embodiment 1, except that:
as shown in fig. 11-14, the storage mechanism includes a storage wheel 59, the storage wheel 59 is of an internal concave structure and is provided with an opening on the side, and a flexible push rod 61 or a particle chain extends into the storage wheel 59 from the opening on the side and is wound in the internal concave area of the storage wheel 59 under the action of self elasticity.
The storage wheel 59 can freely rotate along the axis under the condition of not receiving external force, a guide pipe 2600 for guiding the flexible push rod 61 or the particle chain is arranged between the storage mechanism 1500 and the flexible push rod driving mechanism 1600 or the particle chain driving mechanism, the guide pipe 2600 stretches the flexible push rod 61 or the particle chain into the storage wheel 59 along the tangential direction or the approximate tangential direction of the storage wheel 59, the flexible push rod driving mechanism 1600 drives the flexible push rod 61 to move back and forth or drives the particle chain driving mechanism to move back and forth while driving the particle chain to synchronously rotate through pulling or pushing the storage wheel 59, the flexible push rod 61 or the particle chain is automatically stored, and the tail end of the flexible push rod 61 or the particle chain is fixedly connected with a fixed port of a concave area inside the storage wheel 59.
The flexible push rod driving mechanism 1600 or the particle chain driving mechanism further comprises a power element 1300 and a measuring element 1400, a gap for the flexible push rod or the particle chain to pass through is arranged between the friction components, the friction wheel 2400 can be in contact with the flexible push rod or the particle chain and drive the flexible push rod or the particle chain to reciprocate, the power element 1300 is connected with a driving friction wheel or a driving friction belt and used for providing power, the measuring element 1400 is connected with a driven friction wheel or a driven friction belt, the measuring element 1400 can measure the actual conveying length of the flexible push rod or the particle chain through the movement of the friction wheel 2400 or the friction belt, and one side of the friction components is further connected with the transmission mechanism 1200.
Example 3:
in this embodiment, the friction driving mechanism 1600 drives the flexible push rod to move through a friction wheel or a friction belt, the friction wheel or the friction belt clamps the flexible push rod or the particle chain through a pressing mechanism, and the pressing mechanism adopts a passive pressing mechanism or an active pressing mechanism; or the friction wheel or the friction belt is of an elastic structure, and the flexible push rod or the particle chain is clamped by self-extrusion.
The friction wheel or the friction belt is provided with an anti-skid groove or an anti-skid pattern; or the friction wheel or the friction belt is provided with an annular groove, and the flexible push rod or the particle chain is limited in the annular groove.
As shown in fig. 15, in the passive tightening mechanism 6000 in this embodiment, a driving device 6001 drives a driving shaft 6002 to rotate, a friction wheel or a measuring wheel is mounted on the driving shaft 6002, a friction wheel or a measuring wheel is mounted on a driven shaft 6003, a layer of elastomer is disposed on an outer circumferential surface of the friction wheel or the measuring wheel, a flexible push rod 61 or a particle chain passes through elastomer areas on two groups of friction or two groups of measuring wheels, a clamping element is disposed between the driving shaft 6002 and the driven shaft 6003, the clamping element is composed of two groups of clamping jaws 6005 hinged by a hinge shaft 6004, similar to a pliers structure, front ends of each group of clamping jaws are cooperatively mounted on corresponding shafts, middle parts of the two groups of clamping jaws are hinged, rear parts of the two groups of clamping jaws are connected by a spring 6006, the flexible push rod 61 or a particle chain can be clamped between the elastomers of the two groups of friction wheels or between the elastomers of the two groups of measuring wheels, and under the combined action of the elastomer and the clamping element, the two groups of friction wheels or the two groups of measuring wheels can relatively rotate under the action of the friction force, and the flexible push rod 61 or the particle chain can be pushed out from between the two groups of friction wheels or two groups of measuring wheels.
As shown in fig. 16, as another alternative: the outer circumferential surfaces of the friction wheel or the measuring wheel are respectively provided with a gear 6007 which can be meshed, and the gears are made of elastomer materials.
Example 4:
as shown in fig. 21, 22 and 23, in the illustrated embodiment, a friction driving type particle or particle chain implanting device has the same technical scheme as that of embodiment 1, except that:
the storage mechanism adopts a passive storage mechanism, the passive storage mechanism comprises a sleeve 38, the sleeve 38 is connected to the rear end of the friction driving mechanism, the sleeve is any one of a straight sleeve, a spiral sleeve and a film sleeve, and the sleeve is made of one or more of metal, plastic, rubber, latex, silica gel or an elastomer material; the sleeve is internally provided with a lubricant, so that the needle core can be conveniently stretched into the sleeve smoothly, the inner surface of the sleeve can be uniformly coated with lubricating oil or lubricating grease, or the inner surface of the sleeve adopts a lubricating coating to realize the lubricating effect, and the lubricating coating is made of Teflon.
As shown in fig. 24, 25 and 26, the film sleeve 4000 is made of two layers of flexible deformable films, heat seal strips are arranged on the films, the heat seal strips connect the two layers of films to form an isolation bag 4002, semi-rigid supports 4003 are arranged on the film sleeve and are uniformly distributed and attached to the outer surface of the isolation bag, when the needle core collecting work is required, the semi-rigid supports are pressed in the middle direction to deform, the inside of the isolation bag is stretched to form a strip-shaped cavity for storing the needle core, and guide strips are further arranged on the film sleeve and used for improving the rigidity of the films, avoiding the films from wrinkling, and facilitating the feeding and storage of flexible push rods or particle chains.
The film-type sleeve 4000 comprises a connecting piece 4001, the connecting piece is connected with the opening end of the isolation bag, and the film-type sleeve is arranged at the output position of the core pulling mechanism through the connecting piece and is used for collecting the needle cores.
Example 5
As shown in fig. 27-31, the radiation source feeding portion adopts a particle chain feeding portion, the radiation source feeding portion includes a particle chain driving mechanism, a particle chain output channel and a cutting mechanism, and the particle chain driving mechanism continuously outputs the particle chain and cuts the particle chain with a target length through the cutting mechanism to realize the feeding of the particle chain, the particle chain driving mechanism is connected with the particle chain output channel, and the particle chain output channel is of a rigid structure or a flexible bendable structure. The particle chains are output to the front of the flexible push rod through the bifurcation tube structure.
Particle chain feed portion also is equipped with particle chain receiving mechanism, particle chain receiving mechanism is used for particle chain drive mechanism to the dynamic receive and releases of particle chain when driving particle chain back-and-forth movement, particle chain receiving mechanism outside is equipped with shielding shell, shielding shell is used for shielding the radiation of particle chain to the external world.
The flexible push rod storage mechanism and/or the particle chain storage mechanism are wheel storage mechanisms, the wheel storage mechanisms comprise storage wheels, and the flexible push rod and/or the particle chain are wound and stored on the inner circular surfaces of the storage wheels.
The storage wheel is provided with an inner concave part, an opening is formed in the side face of the storage wheel, a guide pipe is arranged at the opening, the flexible push rod and/or the particle chain extend into the storage wheel from the guide of the guide pipe at the opening of the side face of the storage wheel, the storage wheel is wound in the inner concave part of the storage wheel under the self elastic action, and the storage wheel can freely rotate around the self axis under the condition of not receiving external force.
The particle chain output channel is characterized in that the push rod output channel and the particle chain output channel are converged into a single channel through a bifurcation pipe, a first branch of the bifurcation pipe is connected with the push rod output channel, a second branch of the bifurcation pipe is connected with the particle chain output channel, a main pipeline of the bifurcation pipe is connected with the mixing output channel, and the mixing output channel is of a rigid structure or a flexible bendable structure.
When the particle or particle chain implantation device needs to be implanted, after the particle chain with the cut target length is conveyed to the main pipeline of the bifurcation pipe through the particle chain driving mechanism, the particle chain driving mechanism withdraws the particle chain which is not cut out of the main pipeline of the bifurcation pipe, then the push rod moves forwards to enter the main pipeline of the bifurcation pipe under the driving of the push rod driving mechanism, the particle chain with the target length is pushed forwards together, and the particle chain is always pushed into organism tissues along the conveying guide pipe and the puncture needle connected to the front end of the conveying guide pipe, so that the implantation of the particle chain is completed once.
The multi-channel branch pipe is characterized in that the branch pipe can be a multi-channel branch pipe, the branch number of the multi-channel branch pipe is larger than 2, a plurality of particle chain driving mechanisms for driving particle chains of different types or with different spacing rod lengths are arranged, particle chain output channels of the different particle chain driving mechanisms are connected with different branches of the branch pipe, so that different types of particle chains are converged to the main pipeline, different types of particle chains are arranged according to operation requirements, and the particle chains are implanted into organism tissues through the push rod.
The cutting mechanism is arranged at any one of the particle chain output channel, the bifurcation pipe and the mixing output channel.
The main pipeline of the bifurcation pipe is provided with a one-way check mechanism for preventing the reverse backflow of the particle chain.
The particle or particle chain implantation device further comprises a first motion platform and a connecting piece, wherein one ends of a plurality of conveying guide pipes are arranged on the connecting piece; one end of the push rod output channel or one end of the mixed output channel is arranged on a first motion platform, and the first motion platform is used for realizing the relative motion of one end of the push rod output channel or one end of the mixed output channel and the connecting piece in space, so that the push rod output channel or the mixed output channel is communicated with any conveying conduit on the connecting piece to form a conveying channel of particles or particle chains, thereby realizing multi-channel implantation.
The first motion platform is one of the following modes:
A. the connecting piece moves, and one end of the push rod output channel or one end of the mixing output channel is static;
B. the connecting piece is static, and one end of the push rod output channel or one end of the mixing output channel moves;
C. the connecting piece moves, and one end of the push rod output channel or one end of the mixing output channel moves.
The cutting mechanism adopts one or more combinations of a guillotine cutting mechanism, a scissors cutting mechanism and a circular cutting type cutting mechanism, the guillotine cutting mechanism adopts single-side blade movement to complete cutting, the scissors cutting mechanism adopts double-side blades to simultaneously move in opposite directions to complete cutting, and the circular cutting type cutting mechanism adopts at least three blades to simultaneously move towards a central point to realize cutting.
The first moving platform is a radial arm mechanism 2026216, the connecting piece is a needle plate, the radial arm mechanism 2026216 works to insert the docking nozzle 2026215 into a hole on the needle plate to complete docking with the implantation channel 2026213, the particle chain 202621 is fed into the docking nozzle 2026215 after being cut off through the cooperation of the particle chain driving mechanism 202623, the travel switch and the cutting mechanism 202622, and the flexible push rod 202624 moves forward along with the cut-off particle chain 202621 through the friction driving mechanism 2026211 to enter the human body forward so as to complete particle implantation once.
Note that the cutting mechanism 202622 could also be positioned at the docking nozzle (i.e., after the pipes are gathered) so that the chains are driven to the docking nozzle, then cut, then withdrawn from the docking nozzle, and then replaced with a flexible push rod to push the chains.
Particle chain implantation procedure:
and (3) a step of: the radial arm mechanism 2026216 is operated (by the cooperation of a rotating component and two linear motion components) to insert the docking nozzle 2026215 into the corresponding connection hole of the implantation channel 2026213 for the current implantation to complete the docking with the implantation channel 2026213.
And II: the particle chain 202621 (chain implant of particles and spacer rods) is fed into the branch pipes of the delivery pipe 202625 via the particle chain drive 202623.
Thirdly,: after the particle chain is conveyed to a specified length (the specified length is smaller than the length of the butt joint nozzle 2026215, in fig. 30), the particle chain is cut off by a cutting mechanism 202622 (a travel switch 3 2026212 marks a zero position, the travel switch 1 202627 judges whether the particle chain is used up, a cutting knife 202622-2 is connected with a push rod 202622-3, the push rod 202622-3 drives the cutting knife 202622-2 to move forwards together so as to finish cutting, a guide column 202622-4 is arranged on the cutting knife 202622-2 along the cutting direction so as to ensure that the cutting knife cannot deviate from the cutting direction, in fig. 30), and the cutting knife 202622 can be arranged at any one of a particle chain output channel, a bifurcation pipe and a mixed output channel; the travel switch 3 2026212 may be provided at any one of the particle chain output channel, the bifurcation, and the mixing output channel.
Fourth, the method comprises the following steps: the particle chain driving mechanism 202623 continues to drive the particle chain 202621 forward (since the cutting process will squeeze the particle chain 202621 to deform, a guide opening is provided at the break to ensure that the cut particle chain 202621 continues to move forward.
202622-5, see fig. 30), the particle chains 202621 are recovered back into the particle chain winding wheel 202628 after the severed particle chains 202621 enter the front end of the docking nozzle (the front end of the docking nozzle is provided with damping to prevent the position of the severed particle chains from shifting when the particle chains are recovered, see fig. 31).
Fifth step: the flexible push rod 202624 moves forward (detected and recorded by the travel switch 2 2026210) through the friction driving mechanism 2026211, and is gathered into the main pipeline (the main pipeline is fixed relatively to the butt joint mouth) from the branch pipeline of the conveying pipeline 202625, and enters the human body forward along with the cut particle chain 202621, so as to finish particle implantation once, then the flexible push rod 202624 is recovered into the flexible push rod winding wheel 202629, the travel switch 2 2026210 can be further arranged at any position of a push rod output channel, a branch pipeline and a mixing output channel, and the travel switch 2 2026210 and the travel switch 3 2026212 can be the same.
Sixth,: the radial arm mechanism works again to insert the butt joint mouth into the corresponding connecting hole of the next implantation channel to be implanted, and the implantation actions are repeated until the implantation is completed, so that the first step can be completed synchronously in the process of the second step to the fourth step for saving time.
Example 6
As shown in fig. 32-35, a friction driving type particle or particle chain implantation device is provided, the particle chain feeding portion is adopted by the radiation source feeding portion, the radiation source feeding portion comprises a particle chain driving mechanism, a particle chain output channel and a cutting mechanism, the particle chain is continuously output through the particle chain driving mechanism, the particle chain with the target length is cut off through the cutting mechanism, the feeding of the particle chain is achieved, the particle chain driving mechanism is connected with the particle chain output channel, the particle chain output channel is of a rigid structure or a flexible bendable structure, and the particle chain is output to the front of the flexible push rod through a motion platform.
Particle chain feed portion also is equipped with particle chain receiving mechanism, particle chain receiving mechanism is used for particle chain drive mechanism to the dynamic receive and releases of particle chain when driving particle chain back-and-forth movement, particle chain receiving mechanism outside is equipped with shielding shell, shielding shell is used for shielding the radiation of particle chain to the external world.
The flexible push rod storage mechanism and/or the particle chain storage mechanism are wheel storage mechanisms, the wheel storage mechanisms comprise storage wheels, and the flexible push rod and/or the particle chain are wound and stored on the inner circular surfaces of the storage wheels.
The storage wheel is provided with an inner concave part, an opening is formed in the side face of the storage wheel, a guide pipe is arranged at the opening, the flexible push rod and/or the particle chain extend into the storage wheel from the guide of the guide pipe at the opening of the side face of the storage wheel, the storage wheel is wound in the inner concave part of the storage wheel under the self elastic action, and the storage wheel can freely rotate around the self axis under the condition of not receiving external force.
The device comprises a first motion platform, a second motion platform, a mixing output channel and a particle chain output channel, wherein one end of the first motion platform is connected with the first motion platform, and the other end of the first motion platform is connected with the particle chain output channel; the mixing output channel is of a rigid structure or a flexible bendable structure.
The second motion platform can change the relative position relationship among one end of the push rod output channel, one end of the particle chain output channel and one end of the mixing output channel, and specifically one of the following modes is as follows:
A. one end of the mixing output channel moves, and one end of the push rod output channel and/or one end of the particle chain output channel is static;
B. one end of the mixing output channel is static, and one end of the push rod output channel and one end of the particle chain output channel move;
C. One end of the mixing output channel moves, and one end of the push rod output channel and/or one end of the particle chain output channel moves;
the second motion platform is used for conducting the particle chain output channel in a butt joint mode with the mixed output channel, the particle chain driving mechanism is used for pushing the cut particle chain with the target length into the mixed output channel, the mixed output channel is connected with the conveying catheter, the second motion platform is used for conducting the push rod output channel in a butt joint mode with the mixed output channel, and the push rod driving mechanism is used for driving the push rod to push the particle chain to be pushed into organism tissues along the mixed output channel, the conveying catheter and the puncture needle connected to the front end of the conveying catheter.
The particle or particle chain implantation device further comprises a first motion platform and a connecting piece, wherein one ends of a plurality of conveying guide pipes are arranged on the connecting piece; one end of the push rod output channel or one end of the mixed output channel is arranged on a first motion platform, and the first motion platform is used for realizing the relative motion of one end of the push rod output channel or one end of the mixed output channel and the connecting piece in space, so that the push rod output channel or the mixed output channel is communicated with any conveying conduit on the connecting piece to form a conveying channel of particles or particle chains, thereby realizing multi-channel implantation;
Or, the first motion platform is the second motion platform, one end of the push rod output channel, one end of the particle chain output channel and the connecting piece are all installed on the first motion platform, and the first motion platform can change the relative positional relationship between one end of the push rod output channel, one end of the particle chain output channel and the connecting piece, specifically one of the following modes:
A. the connecting piece moves, and one end of the push rod output channel and/or one end of the particle chain output channel is stationary;
B. the connecting piece is static, and one end of the push rod output channel and one end of the particle chain output channel move;
C. the connecting piece moves, and one end of the push rod output channel and/or one end of the particle chain output channel move;
the first moving platform is used for communicating one end of the particle chain output channel with one conveying guide pipe arranged on the connecting piece, the particle chain is pushed into the conveying guide pipe by the particle chain driving mechanism, one end of the push rod output channel is communicated with the conveying guide pipe, and the push rod driving mechanism is used for driving the push rod to push the particle chain to be pushed into organism tissues along the conveying guide pipe and a puncture needle connected to the front end of the conveying guide pipe.
The number of the particle chain driving mechanisms is more than or equal to 2, at the moment, the number of the particle chain output channels is also more than or equal to 2, the types of particle chains driven by different particle chain driving mechanisms or the lengths of the spacing rods are different, the second moving platform is used for butting and conducting different particle chain output channels and mixed output channels according to operation requirements and pushing different types of particle chains into the mixed output channels, the mixed output channels are connected with the conveying guide pipe, the second moving platform is used for butting and conducting the push rod output channels and the mixed output channels, and the push rod driving mechanism is used for driving the push rod to push the particle chains to be pushed into organism tissues along the mixed output channels, the conveying guide pipe and the puncture needle connected to the front end of the conveying guide pipe.
The cutting mechanism is arranged at any one of the particle chain output channel and the mixing output channel.
The cutting mechanism adopts one or more combinations of a guillotine cutting mechanism, a scissors cutting mechanism and a circular cutting type cutting mechanism, the guillotine cutting mechanism adopts single-side blade movement to complete cutting, the scissors cutting mechanism adopts double-side blades to simultaneously move in opposite directions to complete cutting, and the circular cutting type cutting mechanism adopts at least three blades to simultaneously move towards a central point to realize cutting.
In this embodiment, the second motion platform is the cooperation of the guide component B262112215 (guide rail slider, guide pillar, etc.) and the transmission component B262112213 (rack and pinion, lead screw, synchronous belt, etc.), the mixing output channel is the butt joint mouth 2026215, one end of the mixing output channel is stationary, one end of the push rod output channel and one end of the particle chain output channel move.
The first moving platform is a radial arm mechanism 2026216, the connecting piece is a needle plate, the radial arm mechanism 2026216 works to insert the butt joint mouth 2026215 into a hole on the needle plate to finish butt joint with the implantation channel 2026213, the particle chain 202621 is cut into a required length according to the operation condition, then the guide assembly B262112215 (guide rail sliding block, guide pillar and the like) is matched with the transmission assembly B262112213 (gear rack, lead screw, synchronous belt and the like) to enable the particle chain outlet B2621122117 to be switched back and forth with the driving wire outlet B262112216 and butt joint mouth 2026215, and the driving wire 202624 moves forward against the particle chain 202621 to enter a human body through the friction driving mechanism 2026211 to finish particle implantation once.
A particle chain implantation process;
and (3) a step of: the cantilever needle selection structure 2026216 works (by the cooperation of a rotating component and two linear motion components) to insert the docking nozzle 2026215 into the corresponding connection hole of the implantation channel 2026213 implanted at the time to complete docking with the implantation channel 2026213.
And II: the guiding component B262112215 (guide rail sliding block, guide pillar, etc.) cooperates with the transmission component B262112213 (gear rack, lead screw, synchronous belt, etc.) to enable the particle chain outlet B2621122117 to be in butt joint with the butt joint nozzle 2026215 (the butt joint nozzle 2026215 is fixed with the mounting frame B262112212, and the particle chain outlet, the driving wire outlet and the corresponding driving components are all arranged on the moving plate).
Thirdly,: the particle chain 202621 (chain implant consisting of particles and spacer rods) is cut off by the cutting mechanism 202622 after being conveyed forward to a designated length by the particle chain driving mechanism 202623 (the travel switch 3 2026212 marks zero position, the travel switch 1202627 judges whether the particle chain is used up, the cutting blade 202622-2 is connected with the push rod 202622-3, and the push rod 202622-3 drives the cutting blade 202622-2 to move forward together to finish cutting when moving forward, and the cutting blade 202622-2 is provided with the guide post 202622-4 along the cutting direction to ensure that the cutting blade cannot deviate from the cutting direction, see fig. 34).
Fourth, the method comprises the following steps: the particle chain driving mechanism 202623 continues to drive the particle chain 202621 forward (since the cutting process will squeeze the particle chain 202621 to deform, a guide opening is provided at the break to ensure that the cut particle chain 202621 continues to move forward.
202622-5, see fig. 34), the pellet chain 202621 is recycled back into the pellet chain winding wheel 202628 after the severed pellet chain 202621 enters the docking nozzle 2026215.
Fifth step: the guide assembly B262112215 (rail slide, guide post, etc.) mates with the drive assembly B262112213 (rack and pinion, lead screw, timing belt, etc.) to interface the drive wire outlet B262112216 with the interface nozzle 2026215.
Sixth,: the drive wire 202624 is advanced through the friction drive mechanism 2026211 (detected and registered by the travel switch 2 2026210) from the docking nozzle 2026215 through the drive wire outlet B262112216 and forward into the human body against the severed particle chain 202621 to complete particle implantation once, after which the drive wire 202624 is retrieved into the flexible push rod winding wheel 202629.
Seventh,: and the cantilever needle selecting structure works again, the butt joint mouth is inserted into the corresponding connecting hole of the next implantation channel to be implanted, and the implantation action is repeated until the implantation is completed.
For convenience of description, the orientations described above are now defined as follows: the above-mentioned up-down-left-right-front-rear direction coincides with the up-down-left-right-front-rear direction of the projection relationship of fig. 1 itself.
While the utility model has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the utility model. Therefore, the protection scope of the utility model is subject to the protection scope of the claims.
Claims (10)
1. A friction-driven particle or particle chain implant device, characterized by: the device comprises a main body, a push rod output channel, a push rod, a friction driving mechanism and a radioactive source feeding part, wherein the main body is provided with the push rod output channel or the particle chain output channel for guiding the push rod or the particle chain to move back and forth, the friction driving mechanism can drive the push rod to move back and forth along the push rod output channel or the particle chain output channel, the push rod conveys particles or the particle chain arranged at the front end of the push rod to a preset position along the push rod output channel or the particle chain output channel, and the push rod output channel or the particle chain output channel is of a rigid structure or a flexible bendable structure; the friction driving mechanism comprises a friction assembly, at least one part of the surface of the friction assembly is tightly attached to the surface of the push rod or the particle chain, the push rod or the particle chain is driven to move back and forth through friction force generated by attachment, the radioactive source feeding part is used for arranging particles or particle chains at the front end of the push rod, and the radioactive source feeding part is one or a combination of a particle cartridge clip, a particle chain cartridge clip and a particle chain feeding part.
2. A friction-driven particle or particle chain implant device according to claim 1, wherein: the friction driving mechanism can drive the push rod or the particle chain to move back and forth along the conveying conduit, and the particle or the particle chain of the radiation source feeding part arranged at the front end of the push rod is conveyed to a preset position along the conveying conduit; the delivery catheter is a first flexible delivery catheter, the push rod is a flexible push rod or a particle chain, and the friction drive mechanism is a flexible push rod drive mechanism or a particle chain drive mechanism.
3. A friction-driven particle or particle chain implant device according to claim 1, wherein: the friction assembly is a friction wheel or a friction belt, the friction wheel or the friction belt clamps the push rod or the particle chain through a pressing mechanism, and the pressing mechanism adopts a passive pressing mechanism or an active pressing mechanism; or the friction wheel or the friction belt is of an elastic structure, and the clamping of the push rod or the particle chain is realized through self extrusion; the friction wheel or the friction belt is provided with an anti-skid groove or an anti-skid pattern; the friction wheel or the friction belt is provided with an annular groove, and the push rod or the particle chain is limited in the annular groove.
4. A friction-driven particle or particle chain implant device according to claim 3, wherein: the passive compacting mechanism comprises a compacting guide mechanism and a compacting elastic element, wherein the compacting guide mechanism is used for guiding the friction assembly to move along a fixed track, one or a combination of a chute, a hinge or a sliding rail can be adopted, the compacting elastic element is used for applying compacting force to the friction assembly to enable the friction assembly to compact a push rod or a particle chain, one or a combination of an elastic block, a spring, a torsion spring, a coil spring or a torsion bar can be adopted, the passive compacting mechanism further comprises a pressure adjusting device used for adjusting the compacting force by adjusting the pre-tightening amount of the compacting elastic element, and the pressure adjusting device adopts an adjusting screw;
The active compressing mechanism comprises a compressing guide mechanism and a compressing driving element, the compressing guide mechanism is used for guiding the friction assembly to move along a fixed track, one or a combination of a chute, a hinge or a sliding rail can be adopted, the compressing driving element is used for actively applying compressing force to the friction assembly to compress the push rod or the particle chain, and one or a combination of an electromagnet, a motor, an electric push rod, a pneumatic push rod and a hydraulic push rod can be adopted.
5. A friction-driven particle or particle chain implant device according to claim 1, wherein: the device comprises a measuring wheel, a push rod or a particle chain, a position detection component, a rotary encoder, a sensor and a sensor, wherein the measuring wheel is connected with the sensor through the sensor;
the position detection component comprises a travel switch, the travel switch is arranged on one side of the output channel of the push rod, and when the push rod or the particle chain passes through the travel switch, a position signal is triggered;
The travel switch is a conductive travel switch, and the position of the push rod or the particle chain is judged by utilizing conductive on-off, and the travel switch comprises an elastic contact or an elastic needle; or the travel switch is a mechanical switch, a photoelectric switch or a Hall switch;
when the travel switch is a mechanical switch, the trigger piece which can be slidably or rotatably arranged outside the mechanical switch is contacted with the push rod to trigger the travel switch, one end of the trigger piece is arranged in the output channel of the push rod, and the other end of the trigger piece is propped against the mechanical switch; the trigger piece is a trigger lever, a trigger piece or a trigger needle, or the trigger piece is a roller, so that friction resistance between the trigger piece and a push rod or a particle chain is reduced.
6. A friction-driven particle or particle chain implant device according to claim 1, wherein: the friction driving mechanism is driven by a motor, the motor angle sensor is directly connected or in transmission connection with an output shaft of the motor, so that the rotation angle of the motor is measured, the rotation angle is converted into the theoretical displacement of a push rod or a particle chain, and the phenomenon of slipping of the friction driving mechanism can be judged through the difference between the theoretical displacement of the push rod or the particle chain and the actual displacement.
7. A friction-driven particle or particle chain implant device according to claim 1, wherein: the device also comprises a thrust sensing module which can sense the propulsion resistance of the push rod or the particle chain; the thrust sensing module is a current detection sensor of a driving motor of the friction driving mechanism, and the motor torque is calculated by utilizing the current, so that the pushing resistance of a push rod or a particle chain is converted and sensed;
or the thrust sensing module is a force sensor or a moment sensor; the force sensing module is arranged on a driving motor of the friction driving mechanism, and the real-time output torque of the motor is measured, so that the pushing resistance of the push rod or the particle chain is converted and sensed;
or the thrust sensing module is arranged in the push rod driving mechanism and the push rod output channel or between the push rod driving mechanism and the push rod output channel, so that the internal acting force or the relative acting force between any two adjacent push rod or particle chain can be measured, and the measurement of the pushing resistance of the push rod or particle chain can be realized.
8. A friction-driven particle or particle chain implant device according to claim 3, wherein: the friction wheels or the friction belts are provided with a plurality of groups, and synchronous motion of the friction wheels or the friction belts is realized through a synchronous transmission mechanism, so that the push rod or the particle chain is jointly driven to move back and forth, the overall driving force is improved, and the synchronous transmission mechanism is one or a combination of belt transmission, chain transmission and gear transmission; a guide channel is arranged between two adjacent groups of friction wheels or friction belts, the push rod or the particle chain passes through the guide channel, the guide channel plays a guide role, and the push rod or the particle chain is prevented from bending between the two adjacent groups of friction wheels or friction belts, so that driving blockage is caused.
9. A friction-driven particle or particle chain implant device according to claim 2, wherein: the flexible push rod is made of elastic materials, can be bent under the action of external force, and can recover the original state after the external force is removed; the flexible push rod is made of one or more of nickel-titanium alloy, stainless steel, spring steel, elastomer material and composite material; or the flexible push rod is a particle chain; or the front half part of the flexible push rod is of a particle chain structure, and the rear half part of the flexible push rod is of a push rod wire; the length of the flexible push rod is more than 300mm, and the outer diameter of the flexible push rod is 0.5-1.5mm.
10. A friction-driven particle or particle chain implant device according to claim 1, wherein: when the push rod is a particle chain, the particle chain feeding part comprises a cutting mechanism, and the particle chain with the target length is cut off from the front end of the push rod through the cutting mechanism, so that the feeding of the particle chain is realized;
or the particle chain feeding part comprises a friction driving mechanism and a cutting mechanism, the particle chain is continuously output through the friction driving mechanism, the particle chain with the target length is cut off through the cutting mechanism, the feeding of the particle chain is realized, the friction driving mechanism is connected with a particle chain output channel, the particle chain output channel is of a rigid structure or a flexible bendable structure, and the particle chain output channel is used for realizing that the particle chain is arranged in front of a push rod through a bifurcation tube structure or a moving platform;
Or when the radioactive source feeding part adopts a particle cartridge clip or a particle chain cartridge clip for feeding, the radioactive source feeding part is directly arranged in the output channel of the push rod, particles or prefabricated particle chains are arranged in a bullet storage groove or a bullet storage hole in the cartridge clip, and the particles or the prefabricated particle chains are placed at the front end of the push rod for feeding through a cartridge clip feeding mechanism arranged on the particle cartridge clip or the particle chain cartridge clip.
Applications Claiming Priority (8)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210207077 | 2022-03-03 | ||
| CN2022102070770 | 2022-03-03 | ||
| CN2022110329819 | 2022-08-26 | ||
| CN202211032981 | 2022-08-26 | ||
| CN2022114762804 | 2022-11-23 | ||
| CN202211476280 | 2022-11-23 | ||
| CN2022115865935 | 2022-12-09 | ||
| CN202211586593 | 2022-12-09 |
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| CN202223513369.1U Active CN219185647U (en) | 2022-03-03 | 2022-12-28 | Friction driving particle or particle chain implantation device |
| CN202211695044.1A Pending CN116688371A (en) | 2022-03-03 | 2022-12-28 | Friction driving particle or particle chain implantation device |
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| CN202211695044.1A Pending CN116688371A (en) | 2022-03-03 | 2022-12-28 | Friction driving particle or particle chain implantation device |
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