WO2023165250A1 - 带有收纳功能的粒子或粒子链输送机构 - Google Patents

带有收纳功能的粒子或粒子链输送机构 Download PDF

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Publication number
WO2023165250A1
WO2023165250A1 PCT/CN2022/143706 CN2022143706W WO2023165250A1 WO 2023165250 A1 WO2023165250 A1 WO 2023165250A1 CN 2022143706 W CN2022143706 W CN 2022143706W WO 2023165250 A1 WO2023165250 A1 WO 2023165250A1
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WO
WIPO (PCT)
Prior art keywords
push rod
particle
particle chain
flexible push
storage
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PCT/CN2022/143706
Other languages
English (en)
French (fr)
Inventor
王学堂
朱鼎臣
付光明
Original Assignee
杭州大士科技有限公司
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Publication of WO2023165250A1 publication Critical patent/WO2023165250A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3468—Trocars; Puncturing needles for implanting or removing devices, e.g. prostheses, implants, seeds, wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
    • A61N5/1007—Arrangements or means for the introduction of sources into the body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
    • B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
    • A61N5/1007—Arrangements or means for the introduction of sources into the body
    • A61N2005/1009—Apparatus for loading seeds into magazines or needles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
    • A61N5/1007—Arrangements or means for the introduction of sources into the body
    • A61N2005/101—Magazines or cartridges for seeds
    • 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
    • A61N2005/1019—Sources therefor
    • A61N2005/1024—Seeds
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N2005/1092—Details
    • A61N2005/1094—Shielding, protecting against radiation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/30—Handled filamentary material
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Definitions

  • the invention relates to the field of particle conveying devices, in particular to a particle or particle chain conveying mechanism with a storage function.
  • Radioactive seed implantation surgery is to implant many radioactive seeds directly into the tumor for local radiotherapy through puncture. This surgery has a wide range of indications, including lung cancer, liver cancer, breast cancer, prostate cancer, etc. , and its small wound, less bleeding, relatively few surgical complications, but it can effectively inhibit the growth of tumors.
  • the basic procedure of this operation is to first take a preoperative CT, and determine the puncture path and particle arrangement plan in the TPS system, and then insert many puncture needles into the tumor according to the plan. This process can be accomplished with the help of a needle guide template, which ensures that the spacing and orientation of the individual needles is consistent with the pre-operative plan. After confirming that all the puncture needles have reached the target position through CT, the doctor will use the rigid push rod to push multiple particles out of the particle magazine through the channel established by the puncture needle, and push them all the way into the tumor, and then pull out the puncture needle.
  • the particle clip will automatically eject the next particle, and then implant a particle, repeat the above operation to implant the predetermined number of particles into the tumor Inside the body, the operation is completed.
  • the discrete distribution of multi-particles is easy to cause the displacement of particles due to gravity, extrusion, blood flow, etc., which will lead to insufficient radiation intensity of the particles to the tumor, and even migrate to other normal tissues to form embolism, resulting in severe
  • several particles can be arranged at intervals, and the spacers made of absorbable materials can be used to connect two adjacent particles, and they can be arranged according to the requirements of the preoperative TPS plan to form a particle chain. , placed in the particle implantation channel, and implanted into the human body at one time.
  • ordinary particle implantation devices cannot realize the one-time implantation of particle chains into the body.
  • the object of the present invention is to provide a particle or particle chain conveying mechanism with a storage function, which can transport particles or particle chains through the push rod output channel and use a flexible push rod to push out particles or particle chains, which can adapt to the
  • the drift movement of the puncture needle caused by the patient's breathing, heartbeat or body tremor ensures the safety of the patient, and is used for dynamic retraction when the flexible push rod or particle chain moves forward and backward through the flexible push rod storage mechanism or particle chain storage mechanism.
  • the mechanism stores unused flexible push rods or particle chains, which saves space and is convenient for shielding protection.
  • the present invention proposes a particle or particle chain delivery mechanism with a storage function, including a main body, a push rod output channel, a flexible push rod, a flexible push rod drive mechanism and a flexible push rod storage mechanism; the flexible push rod drive mechanism and the flexible push rod storage mechanism are installed on the main body, and the main body is provided with a push rod output channel for guiding the flexible push rod to move back and forth.
  • the flexible push rod driving mechanism can drive the flexible push rod to move along the push rod output channel. Moving back and forth, the particles or particle chains arranged at the front end of the flexible push rod are transported to a preset position along the push rod output channel, and the flexible push rod storage mechanism is used for dynamic retraction when the flexible push rod moves forward and backward.
  • the particle chain includes a particle and a spacer bar, and two adjacent particles are separated by a spacer bar, and the spacer bar is made of a material degradable by the human body; the particles and the spacer bar are separated by glue or interference fit connection, or the particles and the outer part of the spacer are set with a particle chain casing, and the particle chain casing is made of a human body degradable material, and the human body degradable material is collagen, high molecular polymer, gelatin , alginate, polyester degradable material or one or more combinations.
  • the flexible push rod is a flexible push rod with elasticity, which can be bent under the action of an external force, and can return to a straight state after the external force is removed.
  • the material of the flexible push rod is nickel-titanium alloy, spring steel, elastomer material, One or more combinations of composite materials; or the flexible push rod itself is a particle chain; or the first half of the push rod is a particle chain structure, and the second half of the push rod is a push rod wire; the length of the flexible push rod is greater than 300mm.
  • the push rod output channel communicates with the delivery catheter
  • the flexible push rod driving mechanism can drive the flexible push rod to move back and forth along the delivery catheter
  • the radiation source feeding part is arranged on the flexible push rod.
  • the particles or particle chains at the front end of the rod are transported to the preset position along the delivery conduit.
  • the radioactive source feeding part is used to place particles or particle chains to the front end of the flexible push rod, and the radioactive source feeding part is a kind of particle clip, particle chain clip, and particle chain feeding part.
  • the particle chain feeding part includes a cutting mechanism, through which the particle chain of the target length is cut off from the front end of the push rod, thereby realizing the feeding of the particle chain.
  • the particle chain feeding part is provided with a particle chain driving mechanism and a cutting mechanism, the particle chain is continuously output by the particle chain driving mechanism and the particle chain of the target length is cut off by the cutting mechanism, so as to realize the feeding of the particle chain, the particle
  • the chain driving mechanism is connected with the output channel of the particle chain, and the output channel of the particle chain is a rigid structure or a flexible and bendable structure, and the particle chain is output to the front of the flexible push rod through a bifurcated pipe structure or a motion platform.
  • the radioactive source feeding part adopts magazine feeding
  • the radioactive source feeding part is directly arranged in the output channel of the push rod, and the particles or prefabricated particle chains are installed in the bomb storage slot or bullet storage hole in the magazine , through the clip feeding mechanism installed on the clip, the particles or prefabricated particle chains are placed on the front end of the push rod for feeding.
  • the particle chain feeding part is also provided with a particle chain storage mechanism, and the particle chain storage mechanism is used for dynamic retraction of the particle chain when the particle chain driving mechanism drives the particle chain back and forth, and the particle chain A shielding shell is provided outside the storage mechanism, and the shielding shell is used to shield the particle chain from radiation to the outside world.
  • the flexible push rod storage mechanism or the particle chain storage mechanism is a wheeled storage mechanism, and the wheeled storage mechanism includes a storage wheel, and the flexible push rod or particle chain is wound and stored on the outer or inner circle of the storage wheel noodle.
  • the storage wheel is provided with an inner recess, and an opening is provided on the side, and a guide tube is provided at the opening, and the flexible push rod or particle chain extends into the storage wheel under the guidance of the guide tube at the side opening, and Under the action of elasticity, it is wound on the inner concave part of the storage wheel, and the storage wheel can freely rotate around its own axis without external force.
  • the wheel-type storage mechanism adopts a winding wheel assembly
  • the winding wheel assembly includes a storage wheel and a storage wheel drive mechanism.
  • One end of the flexible push rod or particle chain is fixed to the outer surface of the storage wheel, and is driven by the storage wheel.
  • the mechanism drives the storage wheel to rotate, so that the flexible push rod or the particle chain is wound on the outer surface of the storage wheel or outside the outer surface of the storage wheel.
  • the storage wheel is provided with an inner recess, and an opening is provided on the side, and a guide tube is provided at the opening, and the flexible push rod or particle chain stretches into the storage wheel under the guidance of the guide tube at the side opening, and the drive mechanism of the storage wheel The storage wheel is driven to rotate, so that the flexible push rod or the particle chain is wound on the inner concave part of the storage wheel.
  • the storage wheel is provided with a rotating elastic element.
  • One end of the rotating elastic element is connected to the output shaft of the storage wheel drive mechanism, and the other end is connected to the storage wheel.
  • the rotating elastic element can produce a certain angular deformation and displacement.
  • the rotating elastic element can be adaptively deformed to realize the synchronous retraction of the flexible push rod or particle chain.
  • the element is one or more combinations of coil springs, torsion springs, springs, elastic sheets, and elastic blocks.
  • the storage wheel drive mechanism is a synchronous transmission mechanism and/or an independent power element, the synchronous transmission mechanism is connected with the drive shaft on the flexible push rod drive mechanism or the particle chain drive mechanism, and drives the storage wheel to rotate with a certain transmission ratio,
  • the synchronous transmission mechanism is one or more combinations of a belt transmission mechanism, a chain transmission mechanism, and a gear transmission mechanism;
  • the independent power element is an independently arranged power element, such as one or a combination of an electric motor, an air motor, and a hydraulic motor , the independent power element is transmission-connected with the storage wheel, and the dynamic retraction of the flexible push rod or the particle chain is realized through the precise motion control of the storage wheel.
  • the storage wheel drive mechanism is also provided with a clutch device, so as to "establish”, or “cut off”, or “switch” the transmission connection between the output shaft of the storage wheel drive mechanism and the synchronous transmission mechanism and/or the independent power element.
  • the reel assembly directly realizes the storage of the flexible push rod or the particle chain through the rotational torque of the rotating elastic element.
  • the reel assembly includes a storage body, a storage wheel and a rotating elastic element. One end of the element is connected to the storage wheel, and the other end is connected to the storage body, and the rotation of the storage wheel is realized through the elastic release of the rotating elastic element, so that the flexible push rod or particle chain is wound up.
  • the storage wheel is connected to the reel shaft through a rotating elastic element, the reel shaft passes through the synchronous pulley, and the synchronous pulley passes through the flexible push rod drive mechanism or the particle chain drive mechanism
  • the synchronous transmission mechanism is connected by transmission, and a brake block is installed on the reel shaft through a spring ball.
  • the brake block can be pulled out along the axial direction of the reel shaft, and can be fixed on the reel shaft without fixing the axis in the circumferential direction.
  • the inner hole of the brake block is one of a D-shaped hole, a square hole, a spline hole, and a special-shaped hole, which is compatible with the reel shaft.
  • Two sets of grooves are provided on the outer side of the reel shaft, and a buckle mechanism is provided on the brake block, and the snap mechanism limits the axial position of the brake block on the reel shaft.
  • the reel shaft loses power at this time. Push the brake block into the inner groove of the reel shaft, and the brake block is matched with the D-shaped hole, or square hole, or spline hole, or special-shaped hole on the side synchronous pulley, so as to realize the synchronization of the brake block and The circumferential direction between the pulleys is fixed.
  • the reel shaft and the synchronous pulley are in the "engagement" state, so as to avoid the free rotation of the reel shaft and cause the flexible push rod or particle chain to scatter, and the movement of the synchronous transmission mechanism can be manually controlled to make
  • the flexible push rod is pushed in or out, and the storage wheel realizes the synchronous retraction and retraction of the flexible push rod, which is convenient for cleaning and disinfection.
  • the flexible push rod storage mechanism or the particle chain storage mechanism adopts a sleeve
  • the sleeve is connected to the rear end of the flexible push rod drive mechanism or the particle chain drive mechanism
  • the sleeve is a straight sleeve, a spiral sleeve or a film type
  • the material of the sleeve is one or more combinations of metal, plastic, rubber, latex, silica gel or elastomer materials
  • lubricant is provided in the sleeve to facilitate the flexible push rod
  • the particle chain can be smoothly inserted, or the inner surface of the casing can be evenly coated with lubricating oil or grease, or the inner surface of the casing can be lubricated by a lubricating coating, and the lubricating coating is made of Teflon.
  • the film-type sleeve is made of two layers of flexible and deformable films, and heat-sealing stripes are arranged on the film, and the heat-sealing stripes connect the two layers of films to form an isolation bag
  • the film-type sleeve is provided with multiple A semi-rigid bracket, the semi-rigid bracket is evenly distributed and attached to the outer surface of the isolation bag, before use, by squeezing the semi-rigid bracket in the middle direction to make it deform, the inside of the isolation bag will stretch out to form a strip-shaped void
  • the cavity is used to store flexible push rods or particle chains, and the film-type casing is also provided with guide strips for improving the rigidity of the film, avoiding wrinkles of the film, and facilitating the feeding and storage of the flexible push rods. .
  • the flexible push rod storage mechanism is a flexible push rod storage bucket
  • the flexible push rod storage bucket utilizes the flexibility and ease of guiding of the flexible push rod or the particle chain, and is guided and driven by the flexible push rod provided in the particle delivery mechanism.
  • the device provides push force and pull force, so that the flexible push rod can be stored and output along the spiral groove in the flexible push rod storage bucket.
  • the present invention uses a flexible push rod to push particles or particle chains, which can realize stable driving while ensuring safety, and is conducive to transmitting the driving force from the rear end of the flexible push rod to the front end, thereby realizing long Particle or particle chain push for distance.
  • the present invention adopts the flexible push rod driving mechanism to realize the driving of the flexible push rod, and adopts the particle chain driving mechanism to realize the driving of the particle chain, so as to meet the setting requirements of the thrust of the flexible push rod or the particle chain.
  • the present invention adopts various storage mechanisms to store unused flexible push rods or particle chains, which saves space and is convenient for shielding protection, and the flexible push rods are elastic and not easily deformed after storage.
  • the present invention arranges a flexible push rod storage mechanism or a particle chain storage mechanism on the main body, winds and stores the unused flexible push rod through the flexible push rod storage mechanism, and rolls the unused particle chain through the particle chain storage mechanism. It is stored around, which not only saves space, but also avoids the surgical risk of touching the flexible push rod or particle chain, and adopts a concave storage wheel, so that the flexible push rod or particle chain is stored on the inner wall of the storage wheel, avoiding The flexible push rod is stretched and loosened due to elasticity, resulting in unstable transportation; or the flexible push rod or particle chain is stored on the outer wall of the storage wheel, and a motor or transmission mechanism is used to drive the storage mechanism, so that the flexible push rod drive mechanism and the flexible push rod.
  • the rod storage mechanism operates synchronously, the particle chain drive mechanism and the particle chain storage mechanism operate synchronously, and the storage wheel is provided with a rotating elastic element.
  • One end of the rotating elastic element is connected to the output shaft of the storage wheel drive mechanism, and the other end is connected to the storage wheel.
  • the element can generate a certain angular deformation displacement.
  • the rotating elastic element can be adaptively deformed to Realize the synchronous retraction and release of flexible push rods or particle chains.
  • the storage wheel drive mechanism of the present invention is a synchronous transmission mechanism and/or an independent power element, and the synchronous transmission mechanism is connected with the drive shaft on the flexible push rod drive mechanism or the particle chain drive mechanism, and drives the storage wheel with a certain transmission ratio Rotation, the synchronous transmission mechanism is one or more combinations of belt transmission mechanism, chain transmission mechanism, gear transmission mechanism; Or in combination, the independent power element is connected to the transmission of the storage wheel, and the dynamic retraction of the flexible push rod or particle chain can be realized through the precise motion control of the storage wheel, which can be "established”, or “cut off”, or “switched” by the clutch
  • the output shaft of the drive mechanism of the storage wheel is connected to the synchronous transmission mechanism and/or the transmission of the independent power element, thereby changing the relative positional relationship between the storage wheel and the flexible push rod, and avoiding the flexible push rod being wound outside the storage wheel due to the slipping of the flexible push rod.
  • the rod is getting looser and looser.
  • Fig. 1 is one of overall structure schematic diagrams of the present invention
  • Fig. 2 is the second of the overall structure schematic diagram of the present invention.
  • Fig. 3 is the third schematic diagram of the overall structure of the present invention.
  • Fig. 4 is the enlarged schematic diagram of position C in Fig. 3 of the present invention.
  • FIG. 5 is a schematic diagram of the overall structure of Embodiment 2 of the present invention.
  • Fig. 6 is a schematic side view of Embodiment 2 of the present invention.
  • Fig. 7 is a specific structural schematic diagram of Embodiment 2 of the present invention.
  • Fig. 8 is a schematic diagram of the internal structure of Embodiment 2 of the present invention.
  • Fig. 9 is a side view of Embodiment 2 of the present invention.
  • Fig. 10 is an internal schematic diagram of the storage wheel of the second embodiment of the present invention.
  • Embodiment 3 of the present invention is a schematic diagram of the overall structure of Embodiment 3 of the present invention.
  • Fig. 12 is a schematic side view of Embodiment 3 of the present invention.
  • Fig. 13 is a schematic diagram of the internal structure of Embodiment 3 of the present invention.
  • Fig. 14 is a side view of Embodiment 3 of the present invention.
  • Fig. 15 is one of the structural schematic diagrams of Embodiment 4 of the present invention.
  • Fig. 16 is the second structural schematic diagram of Embodiment 4 of the present invention.
  • Fig. 17 is the third structural schematic diagram of the fourth embodiment of the present invention.
  • Fig. 18 is the fourth structural schematic diagram of the fourth embodiment of the present invention.
  • Fig. 19 is the fifth structural diagram of the fourth embodiment of the present invention.
  • Fig. 20 is one of the structural schematic diagrams of Embodiment 5 of the present invention.
  • Fig. 21 is the second structural schematic diagram of Embodiment 5 of the present invention.
  • Fig. 22 is the third structural schematic diagram of the fifth embodiment of the present invention.
  • Fig. 23 is a schematic diagram of the overall structure of Embodiment 6 of the present invention.
  • Fig. 24 is the second schematic diagram of the overall structure of Embodiment 6 of the present invention.
  • Fig. 25 is a third schematic diagram of the overall structure of Embodiment 6 of the present invention.
  • Fig. 26 is a fourth schematic diagram of the overall structure of Embodiment 6 of the present invention.
  • Figure 27 is one of the structural diagrams of the film-type casing in the present invention.
  • Fig. 28 is the second structural diagram of the film-type casing in the present invention.
  • Fig. 29 is a schematic diagram of the connection structure between the film-type casing and the core-pulling mechanism in the present invention.
  • Fig. 30 is a schematic structural diagram of Embodiment 7 of the present invention.
  • Fig. 31 is a top view of Embodiment 7 of the present invention.
  • Fig. 32 is a schematic diagram of the cutting mechanism, the particle chain driving mechanism and the flexible push rod driving mechanism of the seventh embodiment of the present invention.
  • Fig. 33 is a schematic structural view of the cutting mechanism of the seventh embodiment of the present invention.
  • Fig. 34 is a schematic diagram of the structure of the particle chain in the seventh embodiment of the present invention when it is rolled out;
  • Fig. 35 is a schematic structural diagram of Embodiment 8 of the present invention.
  • Fig. 36 is a top view of Embodiment 8 of the present invention.
  • Fig. 37 is a schematic structural view of the cutting mechanism of the eighth embodiment of the present invention.
  • Fig. 38 is a schematic diagram of the docking structure of the eighth embodiment of the present invention.
  • the present invention proposes a particle delivery mechanism with a storage function, including a main body 50, a push rod output channel 13, a flexible push rod 61, a flexible push rod driving mechanism and a flexible push rod storage mechanism; the flexible push rod Both the driving mechanism and the flexible push rod storage mechanism are installed on the main body 50, and the main body 50 is provided with a push rod output channel 13 for guiding the flexible push rod 61 to move back and forth.
  • the flexible push rod driving mechanism can drive the flexible push rod 61 Moving back and forth along the push rod output channel 13, the particles or particle chains arranged at the front end of the flexible push rod 61 are transported to the preset position along the push rod output channel 13; the flexible push rod storage mechanism is used for the flexible push rod 61 Dynamic retraction while moving back and forth.
  • the particle chain includes particles and spacer rods, two adjacent particles are separated by spacer rods, and the spacer rods are made of human-degradable materials; the particles and spacer rods are separated by glue or interference Cooperate connection, or the outside of the particle and the spacer is covered with a particle chain sleeve, the particle chain sleeve is made of human body degradable material, the human body degradable material is collagen, high molecular polymer, One or more combinations of gelatin, alginate, polyester degradable materials.
  • the flexible push rod 61 is a flexible push rod with elasticity, which can be bent under the action of an external force, and can return to a straight state after the external force is removed;
  • the flexible push rod 61 is an elastic elastic plastic wire or elastic metal wire, and the specific material is One or more combinations of nickel-titanium alloy, spring steel, elastomer material, composite material, or the flexible push rod 61 itself is a particle chain; or the first half of the push rod is a particle chain structure, and the second half of the push rod is a push rod.
  • Rod wire; the length of the flexible push rod is greater than 300mm.
  • the radioactive source feeding part which is used to place particles or particle chains to the front end of the flexible push rod, and the radioactive source feeding part is one of a particle clip, a particle chain clip, and a particle chain feeding part;
  • the particle chain feeding part includes a cutting mechanism, and the particle chain of the target length is cut off from the front end of the push rod by the cutting mechanism, thereby realizing the feeding of the particle chain.
  • the particle chain feeding part is provided with a particle chain driving mechanism and a cutting mechanism, the particle chain is continuously output by the particle chain driving mechanism and the particle chain of the target length is cut off by the cutting mechanism, so as to realize the feeding of the particle chain, the particle
  • the chain driving mechanism is connected with the output channel of the particle chain, and the output channel of the particle chain is a rigid structure or a flexible and bendable structure, and the particle chain is output to the front of the flexible push rod through a bifurcated pipe structure or a motion platform.
  • the radioactive source feeding part adopts magazine feeding
  • the radioactive source feeding part is directly arranged in the output channel of the push rod, and the particles or prefabricated particle chains are installed in the bomb storage slot or bullet storage hole in the magazine , through the clip feeding mechanism installed on the clip, the particles or prefabricated particle chains are placed on the front end of the push rod for feeding.
  • the push rod output channel communicates with the delivery conduit
  • the flexible push rod driving mechanism can drive the flexible push rod to move back and forth along the delivery catheter
  • the radioactive source feeding part is arranged at the front end of the flexible push rod Particles or particle chains are transported to preset positions along the transport conduit.
  • the particle chain feeding part is also provided with a particle chain storage mechanism, and the particle chain storage mechanism is used for dynamic retraction of the particle chain when the particle chain driving mechanism drives the particle chain to move back and forth.
  • a shielding shell is provided, and the shielding shell is used to shield the radiation of the particle chain to the outside world.
  • the flexible push rod storage mechanism or the particle chain storage mechanism is a reel assembly 59 for accommodating the flexible push rod 61 or the particle chain
  • the reel assembly includes a storage body, a storage wheel With the rotating elastic element (not shown in the figure), one end of the rotating elastic element is connected with the storage wheel, and the other end is connected with the storage body, and the rotation drive of the storage wheel is realized through the elastic release of the rotating elastic element, so that the flexible The push rod or the particle chain is wound up, and the rotating elastic element is one or more combinations of coil springs, torsion springs, springs, elastic sheets, and elastic blocks.
  • the power component 68 adopts the first motor 51 , or adopts the combination form of the first motor 51 and the reducer 52 .
  • the transmission component 69 includes a second friction component 63 and a first friction component 64 , one end of the first friction component 64 and/or the second friction component 63 is connected to the output shaft of the power component 68 .
  • the synchronous rotation is realized through the transmission mechanism, which is belt transmission, chain transmission and gear transmission.
  • the flexible push rod 61 or the particle chain passes between the second friction assembly 63 and the first friction assembly 64, the flexible push rod 61 or the particle chain contacts and connects with a side of the second friction assembly 63, and the flexible push rod 61 or the particle chain It is in contact with the side of the first friction assembly 64 , so that the first friction assembly 64 can drive the flexible push rod 61 or the particle chain to move forward/backward along the guide member 70 during rotation.
  • the transmission part 69 also includes a pressure regulating device 67, and the pressure regulating device 67 is used to regulate the distance between the second friction assembly 63 and the first friction assembly 64, thereby regulating the extrusion pressure on the flexible push rod 61 or the particle chain , it is convenient for the transmission part 69 to drive the flexible push rod 61 or the particle chain, and the particles or the particle chain are pushed out from the radiation source feeding part 75 at the front end, and the radiation source feeding part 75 is a particle clip or a particle chain bomb folder.
  • the flexible push rod 61 itself is a particle chain; or the first half of the push rod is a particle chain structure, and the second half of the push rod is a push rod wire, and the particle chain of the target length is cut off from the front end of the push rod by a cutting mechanism, thereby Realize the feeding of particle chains.
  • the first friction assembly 64 is a driving friction wheel/driving friction belt
  • the second friction assembly 63 is a driven friction wheel/driven friction belt
  • the first friction assembly 64 is an active friction wheel/an active friction belt
  • the second friction assembly 63 is an active friction wheel/an active friction belt.
  • the friction wheel or the friction belt is provided with an anti-slip groove, the width of which is 0.1-1 mm, and the angle between the direction of the anti-slip groove and the direction of the flexible push rod 61 or the particle chain is greater than 60 degrees.
  • the friction wheel or the friction belt is provided with an annular groove, and the flexible push rod 61 or particle chain is restricted in the annular groove.
  • the friction wheel or the friction belt clamps the flexible push rod 61 or the particle chain through a compression mechanism, and the compression mechanism adopts a passive compression mechanism or an active compression mechanism; Compression enables clamping of flexible push rods or particle chains.
  • the passive compression mechanism includes a compression guide mechanism and a compression elastic element.
  • the compression guide mechanism is used to guide the friction assembly to move along a fixed track. Specifically, one or a combination of chute, hinge or slide rail can be used.
  • the tight elastic element is used to apply a compressive force to the friction assembly so that it presses the flexible push rod, specifically, one or a combination of elastic blocks, springs, torsion springs, coil springs or torsion bars can be used.
  • the active pressing mechanism includes a pressing guide mechanism and a pressing driving element.
  • the pressing guiding mechanism is used to guide the friction assembly to move along a fixed track. Specifically, one or a combination of slide grooves, hinges or slide rails can be used.
  • the pressing The tight driving element is used to actively apply a pressing force to the friction assembly to make it press the flexible push rod, specifically, one or a combination of an electromagnet, a motor, an electric push rod, a pneumatic push rod, and a hydraulic push rod can be used.
  • the storage mechanism 1500 in this embodiment adopts a winding wheel assembly
  • the winding wheel assembly includes a storage wheel and a storage wheel driving mechanism, one end of a flexible push rod or a particle chain and the outer surface of the storage wheel Fixed, the storage wheel is driven to rotate through the storage wheel drive mechanism, so that the flexible push rod or particle chain is wound on the outer surface of the storage wheel or outside the outer surface of the storage wheel.
  • the outer cylindrical surface of the reel assembly accommodates the flexible push rod 61 or particle chain.
  • the storage wheel is provided with a rotating elastic element.
  • One end of the rotating elastic element is connected to the output shaft of the storage wheel drive mechanism, and the other end is connected to the storage wheel.
  • the rotating elastic element can produce a certain angular deformation and displacement.
  • the rotating elastic element can be adaptively deformed to realize the synchronous retraction of the flexible push rod or particle chain.
  • the element is one or more combinations of coil springs, torsion springs, springs, elastic sheets, and elastic blocks.
  • the storage wheel drive mechanism is a synchronous transmission mechanism and/or an independent power element, the synchronous transmission mechanism is connected with the drive shaft on the flexible push rod drive mechanism or the particle chain drive mechanism, and drives the storage wheel to rotate with a certain transmission ratio,
  • the synchronous transmission mechanism is one or more combinations of a belt transmission mechanism, a chain transmission mechanism, and a gear transmission mechanism;
  • the independent power element is an independently arranged power element, such as one or a combination of an electric motor, an air motor, and a hydraulic motor , the independent power element is transmission-connected with the storage wheel, and the dynamic retraction of the flexible push rod or the particle chain is realized through the precise motion control of the storage wheel.
  • the storage wheel drive mechanism is also provided with a clutch device, thereby "establishing”, or “cutting off”, or “switching” the transmission connection between the output shaft of the storage wheel drive mechanism and the synchronous transmission mechanism and/or the independent power element; thereby changing the storage
  • the relative positional relationship between the wheel and the flexible push rod prevents the flexible push rod from slipping and causes the flexible push rod wound outside the storage wheel to become looser and looser.
  • the flexible push rod driving mechanism 1600 drives the flexible push rod 61 to reciprocate along a preset direction through friction, or the particle chain drive mechanism drives the particle chain to reciprocate along a preset direction through friction, and the flexible push rod 61 is
  • the flexible push rod with elasticity can be bent under the action of external force, and can return to a straight state after removing the external force.
  • the flexible push rod 61 can drive particles to be transported to a preset position along the particle delivery conduit 2800 ie the push rod output channel 13 .
  • a transmission mechanism 1200 is also arranged on the reel assembly, which is used to provide power to the reel assembly, or is arranged between the reel assembly and the flexible push rod drive mechanism 1600 or the particle chain drive mechanism, and is used to drive the flexible push rod
  • the power of the rod driving mechanism 1600 or the particle chain driving mechanism is transmitted to the storage mechanism 1500 .
  • the transmission mechanism 1200 adopts one or more combinations of motor transmission, belt transmission, chain transmission or gear transmission, etc., to realize the synchronous movement of the flexible push rod driving mechanism 1600 or the particle chain driving mechanism and the storage mechanism 1500; in this embodiment, The transmission mechanism 1200 adopts belt transmission, and the transmission mechanism 1200 includes a first pulley 1700 , a second pulley 1800 and a belt 1900 .
  • the first pulley 1700 is arranged coaxially with the friction wheel in the flexible push rod driving mechanism 1600 or the particle chain driving mechanism
  • the second pulley 1800 is arranged coaxially with the storage mechanism
  • the first pulley 1700 and the second pulley 1800 are arranged coaxially.
  • the reel assembly directly realizes the storage of the flexible push rod or particle chain through the rotational torque of the rotating elastic element.
  • the reel assembly includes a storage body, a storage wheel 2000 and Rotating elastic element 2500, one end of the rotating elastic element is connected to the storage wheel, and the other end is connected to the storage body, and the rotation of the storage wheel is realized through the elastic release of the rotating elastic element, so that the flexible push rod or particle chain is wound stand up.
  • the storage wheel 2000 is connected to the reel shaft 2100 through the rotating elastic element 2500.
  • the rotating elastic element 2500 is used to provide a certain floating amount and provide the pre-tightening force of the storage mechanism 1500, so that the storage mechanism can tightly roll the flexible push rod 61 or the particle chain. Wrap around the outer surface of the storage wheel 2000 to prevent the flexible push rod from bouncing off.
  • the inside of the storage wheel 2000 is provided with a reel shaft 2100, one end of the reel shaft 2100 is connected to the transmission mechanism 1200, and tongues 2300 are arranged around the storage wheel 2000, and the tongues 2300 are in close contact with both sides of the main body to prevent the flexible push rod or
  • the particle chain is involved in the gap between the storage wheel 2000 and the main body.
  • the rotating elastic element 2500 is arranged inside the storage wheel 2000. One end of the rotating elastic element 2500 is connected to the reel shaft 2100 and the other end is connected to the storage wheel 2000.
  • the rotating elastic element 2500 can be placed between the reel shaft 2100 and the storage wheel 2000. The deflection angle and torque are generated between them; the rotating elastic element 2500 adopts one or more combinations of coil springs, torsion springs or springs, etc.
  • the flexible push rod driving mechanism 1600 that drives the flexible push rod 61 to move, or the particle chain driving mechanism that drives the particle chain to move includes one or more sets of friction assemblies.
  • the friction assembly includes a friction wheel 2400.
  • the friction wheel 2400 includes a driving friction wheel and a driven friction wheel.
  • the friction wheel 2400 is provided with an anti-skid groove 2900.
  • the friction wheel 2400 contacts with the flexible push rod 61 or the particle chain through the anti-skid groove 2900 and drives the flexible push rod by friction.
  • the rod 61 or particle chain can avoid slipping; or the friction assembly includes a friction belt, and the friction belt includes a driving friction belt and a driven friction belt.
  • the flexible push rod driving mechanism 1600 or the particle chain driving mechanism also includes a power element 1300 and a measuring element 1400.
  • a power element 1300 There is a gap for the flexible push rod or particle chain to pass between the friction components, and the friction wheel 2400 can be in contact with the flexible push rod or particle chain.
  • the power element 1300 is connected with the active friction wheel or the active friction belt to provide power
  • the measuring element 1400 is connected with the driven friction wheel or the driven friction belt
  • the measuring element 1400 can pass through the friction wheel 2400
  • the movement of the friction belt measures the actual delivery length of the flexible push rod or the particle chain, and one side of the friction assembly is also connected with the transmission mechanism 1200 .
  • the storage mechanism and the flexible push rod drive mechanism or particle chain drive mechanism run synchronously through the transmission mechanism, Improve the accuracy of flexible push rod or particle chain transmission;
  • the transmission mechanism adopts one or more combinations of motor drive, belt drive, chain drive or gear drive, so that the flexible push rod drive mechanism or particle chain drive mechanism and the storage mechanism The operation is consistent; the belt drive can reduce the manufacturing cost while ensuring the transmission; the flexible push rod or particle chain is wound around the storage wheel, and the storage wheel realizes the storage of the flexible push rod or particle chain, which reduces the space occupation.
  • the setting of the storage mechanism improves the safety of the storage mechanism; the rotating elastic element can pre-tighten the storage wheel, so that the flexible push rod or particle chain is wound and attached to the storage wheel, and the rotating elastic element can adjust the rotation degree of the storage wheel, so that the flexible push rod
  • the moving speed of the rod on the storage wheel is equal to the moving speed on the flexible push rod driving mechanism, so that the moving speed of the particle chain on the storage wheel is equal to the moving speed on the particle chain driving mechanism, which improves the transportation of the flexible push rod or particle chain stability and avoid slipping.
  • the winding wheel assembly in this embodiment includes a storage wheel 59, the storage wheel 59 is an internal concave structure, and an opening is provided on the side, and the flexible push rod 61 or particle chain extends into the storage wheel from the side opening 59, and wind up in the concave area inside the storage wheel 59 under the action of its own elastic force.
  • the storage wheel 59 can freely rotate along its axis without external force, and a guide pipe 2600 for guiding the flexible push rod 61 or the particle chain is provided between the storage mechanism 1500 and the flexible push rod driving mechanism 1600 or the particle chain driving mechanism.
  • the guide tube 2600 extends the flexible push rod 61 or particle chain into the storage wheel 59 along the tangential direction or approximately tangential direction of the storage wheel 59, and the flexible push rod driving mechanism 1600 is driving the flexible push rod While 61 is moving back and forth, or the particle chain drive mechanism is driving the particle chain to move back and forth, it pulls or extends the storage wheel 59 to make it rotate synchronously, and automatically accommodates the flexible push rod 61 or particle chain, flexible push rod 61 or particle chain.
  • the end of the chain is fixedly connected with the fixed opening in the inner recessed area of the receiving wheel 59 .
  • the flexible push rod driving mechanism 1600 or the particle chain driving mechanism also includes a power element 1300 and a measuring element 1400.
  • a power element 1300 There is a gap for the flexible push rod or particle chain to pass between the friction components, and the friction wheel 2400 can be in contact with the flexible push rod or particle chain.
  • the power element 1300 is connected with the active friction wheel or the active friction belt to provide power
  • the measuring element 1400 is connected with the driven friction wheel or the driven friction belt
  • the measuring element 1400 can pass through the friction wheel 2400
  • the movement of the friction belt measures the actual delivery length of the flexible push rod or the particle chain, and one side of the friction assembly is also connected with the transmission mechanism 1200 .
  • the storage wheel is a concave disc, and its concave surface is used to accommodate flexible push rods or particle chains.
  • the storage wheel is in a free-rotating state and automatically rotates under the push of the flexible push rod or particle chain; or a guide tube is provided to guide the flexible push rod or particle chain to extend into the storage wheel from the side; or the storage wheel is in a certain proportion with the flexible push rod.
  • the rod drive mechanism or particle chain drive mechanism moves synchronously.
  • the technical solution is to realize the disengagement of the synchronous transmission mechanism and the reel shaft 3005 through the clutch assembly;
  • the clutch assembly includes a brake block 3001, a spring ball 3002, a pressing
  • the spring 3003 is provided with a brake groove 3004 for braking the brake block on the reel shaft.
  • the clutch assembly is arranged coaxially with the synchronous pulley, the winding pulley and the friction wheel assembly.
  • the flexible push rod 61 or particle chain is a bendable and flexible push rod.
  • the reel shaft 3005 is connected to one of the synchronous pulleys 3006 of the synchronous transmission mechanism through a clutch.
  • the clutch When the clutch is in the "engaged” state, the movement of the synchronous pulley controls the rotation of the reel shaft 3005, and the reel shaft passes through the rotating elastic element Drive or directly drive the reel shaft to rotate, and the reel shaft can wrap the flexible push rod or particle chain on the surface of the storage wheel to realize automatic storage.
  • the flexible push rod drives the reciprocating motion through the flexible push rod driving mechanism
  • the particle chain drives the reciprocating motion through the particle chain driving mechanism.
  • the synchronous pulley is connected with the flexible push rod drive mechanism or the particle chain drive mechanism through a synchronous transmission mechanism
  • a brake block 3001 is installed on the reel shaft 3005 through a spring ball 3002, and the brake block 3001 can move along the It can be pulled out along the axial direction of the reel shaft 3005, and can be arranged on the reel shaft 3005 with the circumferential fixed axis not fixed.
  • the inner hole of the brake block is one of a D-shaped hole, a square hole, a spline hole, and a special-shaped hole, which is compatible with the reel shaft.
  • Two sets of grooves are provided on the outer side of the reel shaft 3005, and a buckle mechanism is provided on the brake block, and the snap mechanism limits the axial position of the brake block on the reel shaft; specifically, the spring ball 3002 is equipped with The compression spring 3003 on the brake block 3001 and above the spring ball can be pressed into the brake groove, thereby limiting the position of the brake block.
  • the reel shaft loses power at this time. Push the brake block into the inner groove of the reel shaft, and the brake block is matched with the D-shaped hole, or square hole, or spline hole, or special-shaped hole on the side synchronous pulley, so as to realize the synchronization of the brake block and The circumferential direction between the pulleys is fixed.
  • the reel shaft and the synchronous pulley are in the "engagement" state, so as to avoid the free rotation of the reel shaft and cause the flexible push rod or particle chain to scatter, and the movement of the synchronous transmission mechanism can be manually controlled to make
  • the flexible push rod is pushed in or out, and the storage wheel realizes the synchronous retraction and retraction of the flexible push rod, which is convenient for cleaning and disinfection.
  • the storage mechanism in this embodiment adopts a passive storage mechanism
  • the passive storage mechanism includes a sleeve 38, which is connected to the rear end of the flexible push rod drive mechanism or the particle chain drive mechanism, and the sleeve is straight.
  • the material of the casing is one or more combinations of metal, plastic, rubber, latex, silica gel or elastomer materials;
  • a lubricant is provided to facilitate the smooth insertion of the flexible push rod or the particle chain.
  • the inner surface of the sleeve can be evenly coated with lubricating oil or grease or the inner surface of the sleeve can be lubricated with Teflon lubricating coating.
  • the film-type sleeve 4000 is made of two layers of flexible and deformable films, and heat-sealing stripes are arranged on the films, and the heat-sealing stripes connect the two layers of films to form an isolation bag 4002.
  • a strip-shaped cavity is formed to store flexible push rods or particle chains, and guide strips are also provided on the film-type sleeve to improve the rigidity of the film, avoid wrinkles in the film, and facilitate the flexible push rod or particle chain. Delivery and storage.
  • the film-type casing 4000 includes a connecting piece 4001, which is connected to the opening end of the isolation bag, and the film-type casing is arranged on the flexible push rod driving mechanism or the particle chain driving mechanism through the connecting piece The rear end is used for the collection of flexible push rods or particle chains.
  • the flexible push rod storage mechanism or particle chain storage mechanism of the particle implant gun adopts the storage barrel 4, which is used for dynamic storage when the flexible push rod or particle chain moves back and forth.
  • the storage bucket 4 utilizes the flexibility and ease of guiding of the flexible push rod or the particle chain, and provides thrust and pulling force through the front end flexible push rod driving mechanism or the particle chain driving mechanism, so that the flexible push rod or the particle chain moves along the flexible push rod storage bucket.
  • the inner spiral groove realizes storage and output.
  • the radioactive source feeding part adopts a particle chain feeding part
  • the radioactive source feeding part includes a particle chain driving mechanism, a particle chain output channel, and a cutting mechanism, and is continuously connected through the particle chain driving mechanism.
  • the particle chain is output and the particle chain of the target length is cut off by 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 a rigid structure or flexible and bendable structure. structure.
  • the particle chain is output to the front of the flexible push rod through the bifurcated tube structure.
  • the particle chain feeding part is also provided with a particle chain storage mechanism, and the particle chain storage mechanism is used for dynamic retraction of the particle chain when the particle chain driving mechanism drives the particle chain to move back and forth.
  • a shielding shell is provided, and the shielding shell is used to shield the radiation of the particle chain to the outside world.
  • the flexible push rod or particle chain storage mechanism is a wheel-type storage mechanism, and the wheel-type storage mechanism includes a storage wheel, and the flexible push rod or particle chain is wound and stored on the inner surface of the storage wheel.
  • the storage wheel is provided with an inner recess, and an opening is provided on the side, and a guide tube is provided at the opening.
  • the flexible push rod or particle chain extends into the storage wheel under the guidance of the guide tube at the side opening, and under the action of its own elasticity, Wound on the inner recess of the storage wheel, the storage wheel can freely rotate around its own axis without external force.
  • the output channel of the push rod and the output channel of the particle chain are converged into a single channel through a bifurcated pipe, the first branch of the bifurcated pipe is connected with the output channel of the push rod, the second branch of the bifurcated pipe is connected with the output channel of the particle chain, and the bifurcation
  • the main pipe of the tube is connected with the mixing output channel, and the mixing output channel is a rigid structure or a flexible and bendable structure.
  • the particle chain driving mechanism withdraws the uncut particle chain The main pipe of the bifurcated pipe, and then the push rod moves forward under the drive of the push rod driving mechanism to enter the main pipe of the bifurcated pipe, and moves forward together with the particle chain of the target length, and the particle chain is connected with the delivery pipe along the
  • the puncture needle at the front end of the delivery catheter has been pushed into the biological tissue to complete the implantation of the particle chain at one time.
  • the bifurcated tube can also be a multi-channel bifurcated tube, the number of branches of the multi-channel bifurcated tube is greater than 2, and a plurality of particle chain drive mechanisms that drive particle chains of different types or lengths of spacer rods are provided.
  • the particle chain output channels of the chain drive mechanism are connected to different branches of the bifurcated tube, so that different types of particle chains can be converged into the main pipeline, so that different types of particle chains can be set according to surgical needs, and implanted into biological tissues through push rods Inside.
  • the cutting mechanism is arranged at any one of the particle chain output channel, the bifurcated pipe, and the mixing output channel.
  • the main pipe of the branch pipe is provided with a one-way non-return mechanism to prevent the reverse flow of particle chains.
  • the cutting mechanism adopts one or more combinations of guillotine cutting mechanism, scissors cutting mechanism and circular cutting mechanism.
  • the guillotine cutting mechanism uses unilateral blade movement to complete the cutting. Cutting is completed by using both side blades to move toward each other at the same time, and the circumcision cutting mechanism uses at least three blades to move toward the center point simultaneously to realize cutting.
  • the swing arm mechanism 2026216 works to insert the docking nozzle 2026215 into the hole on the needle plate to complete the docking with the implant channel 2026213, and the particle chain 202621 is sent into the docking after being cut off through the cooperation of the particle chain driving mechanism 202623, the travel switch and the cutting mechanism 202622 In the mouth 2026215, the flexible push rod 202624 moves forward through the flexible push rod driving mechanism 2026211 against the severed particle chain 202621 and enters the human body together to complete particle implantation at one time.
  • the position of the cutting mechanism 202622 can also be placed at the docking mouth (that is, after the pipes converge), so that the particle chain can be driven to the docking mouth first, then cut off, and then withdrawn from the docking mouth, and then changed to a flexible push Rod pushes particle chain
  • the rotary arm mechanism 2026216 works (through the cooperation of a rotating component and two linear motion components), insert the docking nozzle 2026215 into the corresponding connection hole of the implanting channel 2026213 to complete the docking with the implanting channel 2026213
  • the particle chain 202621 (a chain-shaped implant composed of particles and spacer rods) is sent into the sub-pipeline of the delivery pipeline 202625 via the particle chain driving mechanism 202623.
  • the particle chain drive mechanism 202623 continues to drive the particle chain 202621 forward (because the particle chain 202621 will be squeezed and deformed during the cutting process, in order to ensure that the particle chain 202621 after cutting can continue to move forward, a guide port 202622- is provided at the fracture 5 for guidance, see Fig. 33), after the particle chain 202621 that is cut off enters the front end of the docking nozzle, the particle chain 202621 is recycled back into the particle chain winding wheel 202628 (the front end of the docking nozzle is provided with damping to prevent the particle chain from being cut off when reclaiming the particle chain) The position of the particle chain is shifted, see Figure 34).
  • the flexible push rod 202624 moves forward through the flexible push rod driving mechanism 2026211 (detected and recorded by the travel switch 2 2026210) and merges into the main pipeline from the sub-pipeline of the delivery pipeline 202625 (the main pipeline and the docking nozzle are relatively fixed) against the washer
  • the severed particle chains 202621 enter the human body together to complete particle implantation at one time, and then the flexible push rod 202624 is recovered into the flexible push rod winding wheel 202629.
  • step 1 can be performed in the process of step 2 to step 4. Synchronization complete.
  • a particle or particle chain implantation device adopts a particle chain feeding part
  • the radiation source feeding part includes a particle chain driving mechanism, a particle chain output channel
  • the cutting mechanism continuously outputs the particle chain through the particle chain driving mechanism and cuts the particle chain of the 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
  • the output channel is a rigid structure or a flexible and bendable structure, and the particle chain is output to the front of the flexible push rod through the motion platform.
  • the particle chain feeding part is also provided with a particle chain storage mechanism, and the particle chain storage mechanism is used for dynamic retraction of the particle chain when the particle chain driving mechanism drives the particle chain to move back and forth.
  • a shielding shell is provided, and the shielding shell is used to shield the radiation of the particle chain to the outside world.
  • the flexible push rod or particle chain storage mechanism is a wheel-type storage mechanism, and the wheel-type storage mechanism includes a storage wheel, and the flexible push rod or particle chain is wound and stored on the inner surface of the storage wheel.
  • the storage wheel is provided with an inner recess, and an opening is provided on the side, and a guide tube is provided at the opening.
  • the flexible push rod or particle chain extends into the storage wheel under the guidance of the guide tube at the side opening, and under the action of its own elasticity, Wound on the inner recess of the storage wheel, the storage wheel can freely rotate around its own axis without external force.
  • It also includes a mixing output channel and a second motion platform, one end of the push rod output channel and one end of the particle chain output channel are arranged on the second motion platform, and the push rod output channel and particle chain are realized through the switching motion of the second motion platform.
  • the chain output channels are respectively connected to the mixed output channels arranged on the second motion platform; the mixed output channels are rigid structures or flexible bendable structures.
  • the second motion platform can change the relative positional relationship of one end of the push rod output channel, one end of the particle chain output channel and one end of the mixing output channel, specifically in one of the following ways.
  • One end of the mixing output channel moves, one end of the fader output channel and/or one end of the particle chain output channel is still;
  • One end of the mixing output channel is static, one end of the fader output channel and one end of the particle chain output channel are moving;
  • One end of the mixing output channel moves, one end of the fader output channel and/or one end of the particle chain output channel moves;
  • the second motion platform connects the particle chain output channel with the mixing output channel, and the particle chain driving mechanism pushes the cut particle chain of the target length into the mixing output channel, and the mixing output channel is connected with the delivery conduit.
  • the second motion platform finally connects the output channel of the push rod with the mixing output channel, and the push rod driving mechanism drives the push rod to push the particle chain along the mixing output channel, the delivery catheter and the puncture needle connected to the front end of the delivery catheter until it is implanted into the within biological tissues.
  • the number of the particle chain drive mechanisms is greater than or equal to 2, and the number of particle chain output channels is also greater than or equal to 2 at this time.
  • the types of particle chains driven by different particle chain drive mechanisms or the lengths of spacer bars are different.
  • the second motion platform is based on The operation needs to connect different particle chain output channels with the mixed output channel, and push different types of particle chains into the mixed output channel, the mixed output channel is connected with the delivery catheter, and the second motion platform finally puts The push rod output channel is connected to the mixing output channel, and the push rod is driven by the push rod driving mechanism to push the particle chain along the mixing output channel, the delivery catheter and the puncture needle connected to the front end of the delivery catheter and has been pushed into the biological tissue.
  • 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 guillotine cutting mechanism, scissors cutting mechanism and circular cutting mechanism.
  • the guillotine cutting mechanism uses unilateral blade movement to complete the cutting. Cutting is completed by using both side blades to move toward each other at the same time, and the circumcision cutting mechanism uses at least three blades to move toward the center point simultaneously to realize cutting.
  • the particle or particle chain implantation device also includes a first motion platform and a connecting piece, on which one end of a plurality of delivery catheters is installed; one end of the push rod output channel or one end of the mixing output channel is installed on the second On a motion platform, the first motion platform is used to realize the relative movement between one end of the push rod output channel or one end of the mixing output channel and the connecting piece in space, so that the push rod output channel or the mixing output channel and the Any delivery catheter on the connector is connected to form a delivery channel for particles or particle chains, thereby realizing multi-channel implantation;
  • the first motion platform is one of the following ways:
  • the connector moves, and one end of the push rod output channel or one end of the mixed output channel is stationary;
  • the connector is stationary, and one end of the push rod output channel or one end of the mixed output channel moves;
  • the connector moves, and one end of the push rod output channel or one end of the mixed output channel moves.
  • the first moving platform is exactly the second moving platform, and one end of the output channel of the push rod, one end of the output channel of the particle chain and the connector are all installed on the first moving platform, and the first moving platform can change the push rod One end of the output channel, one end of the particle chain output channel and the relative positional relationship between the connector, specifically one of the following methods:
  • the connector moves, and one end of the push rod output channel and/or one end of the particle chain output channel is stationary;
  • the connector is stationary, and one end of the output channel of the push rod and one end of the output channel of the particle chain move;
  • the first motion platform first connects one end of the particle chain output channel with a certain conveying conduit provided on the connecting piece, and the particle chain driving mechanism pushes the particle chain cut with the target length into the conveying conduit, and then the The first moving platform connects one end of the push rod output channel with the delivery catheter, and the push rod is driven by the push rod driving mechanism to push the cut off particle chain along the delivery catheter and the puncture needle connected to the front end of the delivery catheter to push and implant to the within biological tissues.
  • One end of the delivery catheter is installed on the connector through an implanted quick connector, and the implanted quick connector adopts one or more combinations of screw connection, lock connection, taper connection, and pin connection.
  • the second motion platform is the cooperation of the guide assembly B262112215 (rail slider, guide post, etc.)
  • One end of the output channel is stationary, and one end of the fader output channel and one end of the particle chain output channel move.
  • the arm mechanism 2026216 works, insert the docking nozzle 2026215 into the hole on the needle plate to complete the docking with the implant channel 2026213, cut the particle chain 202621 into the required length according to the operation situation, and then guide the component B262112215 (rail slider, guide post, etc. ) cooperates with the transmission assembly B262112213 (rack and pinion, screw rod, timing belt, etc.) to switch back and forth between the particle chain outlet B2621122117 and the drive wire outlet B262112216 and dock with the docking nozzle 2026215, and the drive wire 202624 moves forward through the flexible push rod drive mechanism 2026211
  • the transmission assembly B262112213 rack and pinion, screw rod, timing belt, etc.
  • the cantilever needle selection structure 2026216 works (through the cooperation of a rotating component and two linear motion components), insert the docking nozzle 2026215 into the corresponding connection hole of the implanting channel 2026213 to complete the docking with the implanting channel 2026213.
  • the guide assembly B262112215 (rail slider, guide post, etc.) cooperates with the transmission assembly B262112213 (pinion rack, screw, timing belt, etc.) to make the particle chain outlet B2621122117 dock with the docking nozzle 2026215 (the docking nozzle 2026215 is fixed with the installation frame B262112212 , the outlet of the particle chain, the outlet of the drive wire and the corresponding drive components are installed on the moving plate).
  • Particle chain 202621 (a chain-shaped implant composed of particles and spacer rods) is transported forward to a specified length by particle chain drive mechanism 202623 and cut off by cutting mechanism 202622 (travel switch 3 2026212 marks the zero position, and travel switch 1202627 judges the particle Whether the chain is used up, the cutting knife 202622-2 is connected with the push rod 202622-3, and when the push rod 202622-3 moves forward, it will drive the cutting knife 202622-2 forward together to complete the cutting, and the cutting knife 202622-2 moves along the cutting direction Guide post 202622-4 is provided to ensure that the cutting knife will not deviate from the cutting direction (see Figure 37).
  • the particle chain drive mechanism 202623 continues to drive the particle chain 202621 forward (because the particle chain 202621 will be squeezed and deformed during the cutting process, in order to ensure that the particle chain 202621 after cutting can continue to move forward, a guide port 202622- is provided at the fracture 5 for guidance, see Fig. 37), after the particle chain 202621 that is cut off enters the docking nozzle 2026215, the particle chain 202621 is recovered in the particle chain winding wheel 202628 backwards.
  • the guide component B262112215 (rail slider, guide post, etc.) cooperates with the transmission component B262112213 (pinion rack, screw rod, timing belt, etc.) to make the drive wire outlet B262112216 dock with the docking nozzle 2026215.
  • the drive wire 202624 moves forward through the flexible push rod drive mechanism 2026211 (detected and recorded by the travel switch 2 2026210) and enters the human body forward through the drive wire outlet B262112216 from the docking mouth 2026215 against the severed particle chain 202621 to complete the process at one time The particles are implanted, and the drive wire 202624 is then retracted into the flexible pushrod windup wheel 202629.
  • the cantilever needle selection structure works again. Insert the docking nozzle into the corresponding connection hole of the next implant channel to be implanted and repeat the above implantation until the implantation is completed.

Abstract

本发明涉及带有收纳功能的粒子或粒子链输送机构，柔性推杆驱动机构和柔性推杆收纳机构均安装在主体上，在主体上设置有用于导向柔性推杆做前后移动的推杆输出通道，柔性推杆驱动机构能够驱动柔性推杆沿着推杆输出通道前后运动，将设置在柔性推杆前端的粒子或粒子链沿着推杆输出通道植入到预设位置上；柔性推杆收纳机构用于柔性推杆前后运动时的动态收放；粒子链收纳机构用于粒子链驱动机构在驱动粒子链前后运动时对粒子链的动态收放。本发明柔性推杆收纳机构和/或粒子链收纳机构采用轮式收纳机构、卷线轮组件或套管等，采用各种不同的收纳机构，通过收纳机构收纳柔性推杆和/或粒子链，节省空间，并且柔性推杆具有弹性，收纳后不易变形。

Description

带有收纳功能的粒子或粒子链输送机构 技术领域
本发明涉及粒子输送装置领域，具体为带有收纳功能的粒子或粒子链输送机构。
背景技术
放射性粒子植入手术是通过穿刺的方式，将具有很多个具有放射性的粒子直接植入到肿瘤内做一个局部的放疗，这种手术适应症很广，包括肺癌、肝癌、乳腺癌、前列腺癌等，而且其创口小、出血少，手术并发症相对较少，但却可以有效的抑制肿瘤的生长。
这种手术的基本流程是，首先拍摄术前CT，并在TPS系统中确定穿刺路径与粒子布置方案，之后根据规划，将很多根穿刺针插到肿瘤内。这个过程可以借助穿刺引导模板完成，从而保证各个针之间的间距和方向与术前规划保持一致。在通过CT确认所有穿刺针均到达目标位置之后，医生再通过穿刺针建立的通道，使用刚性推杆，将多个粒子从粒子弹夹中推出，一直推入到肿瘤内部，然后将穿刺针拔出一小段到下一位置，并将推杆回撤至弹夹上方后，粒子弹夹会自动弹出下一颗粒子，然后再植入一颗粒子，重复上述操作将预定数量粒子按照植入瘤体内，完成手术。但目前多颗粒子离散分布很容易因为重力、挤压、血液流动等造成粒子的移位，这会导致粒子对肿瘤的辐照强度不足，甚至移位到其他正常的组织中形成栓塞，产生严重的手术并发症，随着技术发展，可以将若干个粒子间隔排列，用人体可吸收材料做成间隔杆将相邻两颗粒子连接起来，将其按照术前TPS计划要求排布做成粒子链，放入粒子植入通道内，一次性植入人体内。但是普通的粒子植入装置无法实现将粒子一次性链植入体内。
另外，目前这种手术时间较长，且医生在植入过程中需与粒子近距离接触，受到极大的辐射伤害，这极大地限制了这类手术的应用与推广。若采用自动化粒子植入机取代人工植入，那么就必须设置可以将放射性粒子植入肿瘤的推送机构，此时如果采用刚性推杆，那么穿刺针将和粒子植入机刚性相连，这样很容易划伤患者，一种解决方式是采用较长的柔性导管与柔性推杆输送粒子，利用柔性导管的自适应性提高手术的安全性。但如果采用柔性推杆进行长距离输送粒子，如何紧凑地收纳较长的柔性推杆就是一个技术难题。
发明内容
针对现有技术存在的不足，本发明的目的在于提供带有收纳功能的粒子或粒子链输送机构，通过推杆输出通道输送粒子或粒子链并采用柔性推杆推出粒子或粒子链，可以适应由患者呼吸、心跳或身体颤动等导致的穿刺针漂移运动，保证患者的安全，并通过柔性推杆收纳 机构或粒子链收纳机构用于柔性推杆或粒子链前后运动时的动态收放，通过收纳机构收纳未使用的柔性推杆或粒子链，节省空间也便于做屏蔽防护。
为实现上述目的，本发明提出了带有收纳功能的粒子或粒子链输送机构，包括主体、推杆输出通道、柔性推杆、柔性推杆驱动机构和柔性推杆收纳机构；柔性推杆驱动机构和柔性推杆收纳机构均安装在主体上，在主体上设置有用于导向柔性推杆做前后移动的推杆输出通道，所述柔性推杆驱动机构能够驱动柔性推杆沿着推杆输出通道作前后运动，将设置在柔性推杆前端的粒子或粒子链沿着推杆输出通道输送到预设位置上，所述柔性推杆收纳机构用于柔性推杆前后运动时的动态收放。
优选的，所述粒子链包括粒子与间隔杆，相邻两个粒子之间通过间隔杆隔开，间隔杆采用人体可降解的材料制成；粒子和间隔杆之间通过粘胶或过盈配合连接，或者所述粒子与间隔杆的外部套设粒子链套管，所述粒子链套管采用人体可降解的材料制成，所述人体可降解的材料为胶原蛋白、高分子聚合物、明胶、海藻酸盐、聚酯可降解材料的一种或多种组合。
优选的，所述柔性推杆为具有弹性的柔性推杆，在外力作用下能被弯折，撤销外力后能恢复笔直状态，柔性推杆的材料为镍钛合金、弹簧钢、弹性体材料、复合材料中的一种或多种组合；或者柔性推杆本身为粒子链；或者推杆的前半部分为粒子链结构，推杆的后半部分为推杆丝；所述柔性推杆的长度大于300mm。
优选的，还包括输送导管，所述推杆输出通道与所述输送导管连通，所述柔性推杆驱动机构能够驱动柔性推杆沿着输送导管前后运动，将放射源供料部设置在柔性推杆前端的粒子或粒子链沿着输送导管输送到预设位置上。
优选的，还包括放射源供料部，用于向柔性推杆的前端放置粒子或粒子链，所述放射源供料部为粒子弹夹、粒子链弹夹、粒子链供料部的一种；当柔性推杆本身为粒子链时，所述粒子链供料部包括切断机构，通过切断机构将目标长度的粒子链从推杆前端切离下来，从而实现粒子链的供料。
或者所述粒子链供料部设有粒子链驱动机构和切断机构，通过粒子链驱动机构连续输出粒子链并通过切断机构对目标长度的粒子链进行切断，实现粒子链的供料，所述粒子链驱动机构与粒子链输出通道连接，所述粒子链输出通道为刚性结构或柔性可弯折结构，通过分叉管结构或运动平台实现将粒子链输出到柔性推杆前方。
当所述放射源供料部采用弹夹供料时，放射源供料部直接设置在推杆输出通道中，粒子或预制好的粒子链装于弹夹内的储弹槽或储弹孔里，通过装设于弹夹上的弹夹供料机构将粒子或预制好的粒子链放置于推杆的前端进行供料。
优选的，所述粒子链供料部也设有粒子链收纳机构，所述粒子链收纳机构用于粒子链驱动机构在驱动粒子链前后运动时的对粒子链的动态收放，所述粒子链收纳机构外部设有屏蔽外壳，所述屏蔽外壳用于屏蔽粒子链对外界的辐射。
优选的，所述柔性推杆收纳机构或粒子链收纳机构为轮式收纳机构，所述轮式收纳机构包括收纳轮，柔性推杆或粒子链卷绕收纳于收纳轮的外圆面或内圆面。
优选的，所述收纳轮设有内凹部，并在侧面设有开口，开口处设有引导管，柔性推杆或粒子链从侧面开口处的引导管的引导下伸入收纳轮，并在自身弹性作用下卷绕在收纳轮的内凹部，收纳轮在不受外力情况下能绕自身轴线自由转动。
优选的，所述轮式收纳机构采用卷线轮组件，所述卷线轮组件包括收纳轮与收纳轮驱动机构，柔性推杆或粒子链的一端与收纳轮的外表面固定，通过收纳轮驱动机构驱动收纳轮转动，使柔性推杆或粒子链卷绕在收纳轮外表面上或收纳轮外表面外侧。
或者所述收纳轮设有内凹部，并在侧面设有开口，开口处设有引导管，柔性推杆或粒子链从侧面开口处的引导管的引导下伸入收纳轮，通过收纳轮驱动机构驱动收纳轮转动，使柔性推杆或粒子链卷绕在收纳轮的内凹部。
所述收纳轮内设有旋转弹性元件，旋转弹性元件一端与收纳轮驱动机构的输出轴连接，另一端与收纳轮连接，旋转弹性元件可以产生一定的角度形变位移，当柔性推杆或粒子链的实际驱动位移量与收纳轮驱动机构对柔性推杆或粒子链的收纳位移量不能精确同步时，旋转弹性元件可以自适应形变以实现柔性推杆或粒子链的同步收放，所述旋转弹性元件为卷簧、扭簧、弹簧、弹性片、弹性块的一种或多种组合。
所述收纳轮驱动机构为同步传动机构和/或独立动力元件，所述同步传动机构与柔性推杆驱动机构或粒子链驱动机构上的驱动轴连接，并以一定的传动比驱动收纳轮转动，所述同步传动机构为带传动机构、链传动机构、齿轮传动机构的一种或多种组合；所述独立动力元件为独立设置的动力元件，如电机、气动马达、液压马达的一种或组合，所述独立动力元件与收纳轮传动连接，并通过对收纳轮的精确运动控制实现柔性推杆或粒子链的动态收放。
所述收纳轮驱动机构还设有离合装置，从而“建立”、或“切断”、或“切换”收纳轮驱动机构的输出轴与同步传动机构和/或独立动力元件的传动连接。
或者所述卷线轮组件直接通过旋转弹性元件的旋转扭力实现对柔性推杆或粒子链的收纳，此时所述卷线轮组件包括收纳主体、收纳轮与旋转弹性元件，通过所述旋转弹性元件的一端与收纳轮连接，另一端与收纳主体连接，通过旋转弹性元件的弹性释放实现对收纳轮的旋转驱动，从而将柔性推杆或粒子链卷绕起来。
优选的，所述收纳轮通过旋转弹性元件连接到卷线轮轴上，所述卷线轮轴从所述同步带轮中穿过，所述同步带轮与柔性推杆驱动机构或粒子链驱动机构通过同步传动机构传动连接，且卷线轮轴上通过弹簧球装设有制动块，制动块能够沿着卷线轮轴的轴线方向拉出，并能够周向固定轴线不固定的设置在卷线轮轴上，所述制动块的内孔为D型孔、方孔、花键孔、异形孔的一种，与所述卷线轮轴相适配。
所述卷线轮轴外侧设有两组凹槽，制动块上设有卡扣机构，所述卡扣机构限制制动块的在卷线轮轴上的轴向位置。
在粒子输送机构工作时，此时需要向外拔出制动块至卷线轮轴的外侧凹槽，此时卷线轮轴与同步带轮处于“脱离”状态，当柔性推杆驱动机构或粒子链驱动机构带动柔性推杆或粒子链运动时，同步传动机构会带动同步带轮进行空转，此时与卷线轮轴传动连接的卷线轮电机控制卷线轮轴做旋转运动，根据位置检测机构测量出的柔性推杆或粒子链的实际位移量控制收纳轮的旋转运动，实现柔性推杆或粒子链的动态收放；或者所述卷线轮电机以设定的力矩转动，驱动收纳轮旋转实现柔性推杆或粒子链的动态收放。
在粒子或粒子链输送机构工作结束后，如果需要将粒子或粒子链输送机构拆卸下来清洗消毒，此时卷线轮轴失去动力，此时为了避免柔性推杆或粒子链散开，则需要向内推入制动块至卷线轮轴内部凹槽，所述制动块与旁边同步带轮上的D型孔、或方孔、或花键孔、或异形孔相适配，从而实现制动块与同步带轮之间的周向固定，此时卷线轮轴与同步带轮处于“接合”状态，从而避免卷线轮轴自由旋转导致柔性推杆或粒子链散开，并且可以手动控制同步传动机构运动使柔性推杆进行推入或推出，且收纳轮实现柔性推杆的同步收放，便于清洗消毒工作。
优选的，所述柔性推杆收纳机构或粒子链收纳机构采用套管，套管连接在柔性推杆驱动机构或粒子链驱动机构的后端，套管为直套管、螺旋套管或薄膜型套管中的任意一种，所述套管的材料为金属、塑料、橡胶、乳胶、硅胶或弹性体材料的一种或多种组合；所述套管中设有润滑剂，便于柔性推杆或粒子链顺利地伸入，或者可在套管内表面均匀涂有润滑油或润滑脂，或套管内表面采用润滑涂层实现润滑作用，润滑涂层材质为特氟龙。
优选的，所述薄膜型套管由两层柔性可变形的薄膜制成，在薄膜上设有热封条纹，热封条纹将两层薄膜连接起来形成隔离袋，薄膜型套管上设有多个半刚性支架，半刚性支架均匀分布并附着在隔离袋的外表面，在使用前，通过向中间方向挤压半刚性支架使其产生形变，隔离袋内部会舒展开来形成一个条状的空腔用以存放柔性推杆或粒子链，所述薄膜型套管上还设有引导条，用于提升薄膜的刚性，避免薄膜出现褶皱，便于柔性推杆的送入与收纳。。
优选的，所述柔性推杆收纳机构为柔性推杆收纳桶，所述柔性推杆收纳桶利用柔性推杆或粒子链的柔性与易导向性，通过粒子输送机构内设置的柔性推杆导向传动装置提供推力与拉力，使柔性推杆沿着柔性推杆收纳桶内的螺旋槽实现收纳与输出。
与现有技术相比，本发明的有益效果如下：
1、本发明使用了具有柔性的柔性推杆来推动粒子或粒子链，可以在保证安全性的同时，实现稳定驱动，有利于将驱动力从柔性推杆的后端传递至前端，从而实现长距离的粒子或粒子链推送。
2、本发明采用柔性推杆驱动机构实现对柔性推杆的驱动，采用粒子链驱动机构实现对粒子链的驱动，以满足柔性推杆或粒子链的推力大小设置要求。本发明采用各种不同的收纳机构，通过收纳机构收纳未使用的柔性推杆或粒子链，节省空间也便于做屏蔽防护，并且柔性推杆为具有弹性，收纳后不易变形。
3、本发明通过在主体上设置柔性推杆收纳机构或粒子链收纳机构，通过柔性推杆收纳机构将未使用的柔性推杆卷绕收纳起来，通过粒子链收纳机构将未使用的粒子链卷绕收纳起来，不仅节省了空间占用，而且避免了触碰到柔性推杆或粒子链的手术风险，并且采用了内凹式的收纳轮，使得柔性推杆或粒子链收纳于收纳轮内壁，避免了柔性推杆因弹性而外张松弛，造成输送不稳定；或者使柔性推杆或粒子链收纳于收纳轮的外壁，并采用电机或传动机构驱动收纳机构，使得柔性推杆驱动机构和柔性推杆收纳机构同步运行，粒子链驱动机构和粒子链收纳机构同步运行，收纳轮内设有旋转弹性元件，旋转弹性元件一端与收纳轮驱动机构的输出轴连接，另一端与收纳轮连接，旋转弹性元件可以产生一定的角度形变位移，当柔性推杆或粒子链的实际驱动位移量与收纳轮驱动机构对柔性推杆或粒子链的收纳位移量不能精确同步时，旋转弹性元件可以自适应形变以实现柔性推杆或粒子链的同步收放。
4、本发明收纳轮驱动机构为同步传动机构和/或独立动力元件，所述同步传动机构与柔性推杆驱动机构或粒子链驱动机构上的驱动轴连接，并以一定的传动比驱动收纳轮转动，所述同步传动机构为带传动机构、链传动机构、齿轮传动机构的一种或多种组合；所述独立动力元件为独立设置的动力元件，如电机、气动马达、液压马达的一种或组合，所述独立动力元件与收纳轮传动连接，并通过对收纳轮的精确运动控制实现柔性推杆或粒子链的动态收放可以通过离合器“建立”、或“切断”、或“切换”收纳轮驱动机构的输出轴与同步传动机构和/或独立动力元件的传动连接，从而改变收纳轮与柔性推杆之间的相对位置关系，避免柔性推杆打滑导致收纳轮外部卷绕的柔性推杆越来越松。
附图说明
图1为本发明整体结构示意图之一；
图2为本发明整体结构示意图之二；
图3为本发明整体结构示意图之三；
图4为本发明图3中C位置的放大示意图；
图5为本发明的实施例二的整体结构示意图；
图6为本发明的实施例二的侧面示意图；
图7为本发明的实施例二的具体结构示意图；
图8为本发明的实施例二的内部结构示意图；
图9为本发明的实施例二的侧视图；
图10为本发明的实施例二的收纳轮的内部示意图；
图11为本发明的实施例三的整体结构示意图；
图12为本发明的实施例三的侧面示意图；
图13为本发明的实施例三的内部结构示意图；
图14为本发明的实施例三的侧视图；
图15为本发明的实施例四的结构示意图之一；
图16为本发明的实施例四的结构示意图之二；
图17为本发明的实施例四的结构示意图之三；
图18为本发明的实施例四的结构示意图之四；
图19为本发明的实施例四的结构示意图之五；
图20为本发明的实施例五的结构示意图之一；
图21为本发明的实施例五的结构示意图之二；
图22为本发明的实施例五的结构示意图之三；
图23为本发明的实施例六的整体结构示意图一；
图24为本发明的实施例六的整体结构示意图二；
图25为本发明的实施例六的整体结构示意图三；
图26为本发明的实施例六的整体结构示意图四；
图27为本发明中薄膜型套管的结构图之一；
图28为本发明中薄膜型套管的结构图之二；
图29为本发明中薄膜型套管与拔芯机构连接结构示意图；
图30为本发明实施例七的结构示意图；
图31为本发明实施例七的俯视图；
图32为本发明实施例七的切断机构、粒子链驱动机构和柔性推杆驱动机构的示意图；
图33为本发明实施例七的切断机构的结构示意图；
图34为本发明实施例七的粒子链推出时的结构示意图；
图35为本发明实施例八的结构示意图；
图36为本发明实施例八的俯视图；
图37为本发明实施例八的切断机构的结构示意图；
图38为本发明实施例八的对接时的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
请参阅图1-38，本发明提出了带有收纳功能的粒子输送机构，包括主体50、推杆输出通道13、柔性推杆61、柔性推杆驱动机构和柔性推杆收纳机构；柔性推杆驱动机构和柔性推杆收纳机构均安装在主体50上，在主体50上设置有用于导向柔性推杆61做前后移动的推杆输出通道13，所述柔性推杆驱动机构能够驱动柔性推杆61沿着推杆输出通道13前后运动，将设置在柔性推杆61前端的粒子或粒子链沿着推杆输出通道13输送到预设位置上；所述柔性推杆收纳机构用于柔性推杆61前后运动时的动态收放。
所述粒子链包括粒子与间隔杆，相邻两个粒子之间通过间隔杆隔开，所述间隔杆采用人体可降解的材料制成；所述粒子和间隔杆之间通过粘胶或过盈配合连接，或者所述粒子与间隔杆的外部套设粒子链套管，所述粒子链套管采用人体可降解的材料制成，所述人体可降解的材料为胶原蛋白、高分子聚合物、明胶、海藻酸盐、聚酯可降解材料的一种或多种组合。
所述柔性推杆61为具有弹性的柔性推杆，在外力作用下可以被弯折，撤销外力后可以恢复笔直状态；柔性推杆61为具有弹性的弹性塑料丝或弹性金属丝，具体材料为镍钛合金、弹簧钢、弹性体材料、复合材料的一种或多种组合，或者柔性推杆61本身为粒子链；或者推杆的前半部分为粒子链结构，推杆的后半部分为推杆丝；柔性推杆的长度大于300mm。
还包括放射源供料部，用于向柔性推杆的前端放置粒子或粒子链，所述放射源供料部为粒子弹夹、粒子链弹夹、粒子链供料部的一种；当柔性推杆61本身为粒子链时，所述粒子 链供料部包括切断机构，通过切断机构将目标长度的粒子链从推杆前端切离下来，从而实现粒子链的供料。
或者所述粒子链供料部设有粒子链驱动机构和切断机构，通过粒子链驱动机构连续输出粒子链并通过切断机构对目标长度的粒子链进行切断，实现粒子链的供料，所述粒子链驱动机构与粒子链输出通道连接，所述粒子链输出通道为刚性结构或柔性可弯折结构，通过分叉管结构或运动平台实现将粒子链输出到柔性推杆前方。
当所述放射源供料部采用弹夹供料时，放射源供料部直接设置在推杆输出通道中，粒子或预制好的粒子链装于弹夹内的储弹槽或储弹孔里，通过装设于弹夹上的弹夹供料机构将粒子或预制好的粒子链放置于推杆的前端进行供料。
还包括输送导管，所述推杆输出通道与所述输送导管连通，所述柔性推杆驱动机构能够驱动柔性推杆沿着输送导管前后运动，将放射源供料部设置在柔性推杆前端的粒子或粒子链沿着输送导管输送到预设位置上。
所述粒子链供料部也设有粒子链收纳机构，所述粒子链收纳机构用于粒子链驱动机构在驱动粒子链前后运动时的对粒子链的动态收放，所述粒子链收纳机构外部设有屏蔽外壳，所述屏蔽外壳用于屏蔽粒子链对外界的辐射。
实施例一
如图1-4所示，所述柔性推杆收纳机构或粒子链收纳机构为卷线轮组件59，用于收纳柔性推杆61或粒子链，所述卷线轮组件包括收纳主体、收纳轮与旋转弹性元件(图中未示出)，通过所述旋转弹性元件的一端与收纳轮连接，另一端与收纳主体连接，通过旋转弹性元件的弹性释放实现对收纳轮的旋转驱动，从而将柔性推杆或粒子链卷绕起来，所述旋转弹性元件为卷簧、扭簧、弹簧、弹性片、弹性块的一种或多种组合。
所述动力部件68是采用第一电机51，或者是采用第一电机51与减速器52组合形式。
所述传动部件69包括第二摩擦组件63、第一摩擦组件64，所述第一摩擦组件64和/或第二摩擦组件63的一端与动力部件68的输出轴连接。通过传动机构实现同步转动，传动机构为带传动、链传动、齿轮传动。
所述第二摩擦组件63至少为一个，所述第一摩擦组件64至少为一个。
柔性推杆61或粒子链是在第二摩擦组件63与第一摩擦组件64之间通过，柔性推杆61或粒子链与第二摩擦组件63一侧面接触连接，以及柔性推杆61或粒子链与第一摩擦组件64一侧面接触连接，这样第一摩擦组件64在转动过程中能够带动柔性推杆61或粒子链沿着导向部件70向前/向后移动。
所述传动部件69还包括压力调节装置67，所述压力调节装置67用于调控第二摩擦组件63与第一摩擦组件64之间间距，从而调控对柔性推杆61或粒子链的挤压压力，便于传动部件69对柔性推杆61或粒子链进行驱动，并从前端的放射源供料部75中将粒子或粒子链推出，所述放射源供料部75是粒子弹夹或粒子链弹夹。
或者柔性推杆61本身为粒子链；或者推杆的前半部分为粒子链结构，推杆的后半部分为推杆丝，通过切断机构将目标长度的粒子链从推杆前端切离下来，从而实现粒子链的供料。
其中，所述第一摩擦组件64为主动摩擦轮/主动摩擦皮带，所述第二摩擦组件63为从动摩擦轮/从动摩擦皮带。或者，所述第一摩擦组件64为主动摩擦轮/主动摩擦皮带，所述第二摩擦组件63为主动摩擦轮/主动摩擦皮带。
所述摩擦轮或摩擦皮带上设有防滑槽，所述防滑槽宽度为0.1-1mm，防滑槽方向与柔性推杆61或粒子链方向夹角大于60度。或者，所述摩擦轮或摩擦皮带上设有环形槽，柔性推杆61或粒子链被限制在环形槽内。
所述摩擦轮或摩擦皮带通过压紧机构将柔性推杆61或粒子链夹紧，压紧机构采用被动压紧机构或主动压紧机构；或者摩擦轮或摩擦带本身为弹性结构，通过自身挤压实现对柔性推杆或粒子链的夹紧。
所述被动压紧机构包括压紧引导机构和压紧弹性元件，压紧引导机构用于引导摩擦组件沿固定轨迹运动，具体可采用滑槽、铰链或滑轨的一种或组合，所述压紧弹性元件用于对摩擦组件施加压紧力，使其压紧柔性推杆，具体可采用弹性块、弹簧、扭簧、卷簧或扭杆的一种或组合。所述主动压紧机构包括压紧引导机构和压紧驱动元件，压紧引导机构用于引导摩擦组件沿固定轨迹运动，具体可采用滑槽、铰链或滑轨的一种或组合，所述压紧驱动元件用于主动对摩擦组件施加压紧力，使其压紧柔性推杆，具体可采用电磁铁、电机、电推杆、气动推杆、液压推杆的一种或组合。
实施例二
如5-7所示，本实施例中的收纳机构1500采用卷线轮组件，所述卷线轮组件包括收纳轮与收纳轮驱动机构，柔性推杆或粒子链的一端与收纳轮的外表面固定，通过收纳轮驱动机构驱动收纳轮转动，使柔性推杆或粒子链卷绕在收纳轮外表面上或收纳轮外表面外侧。卷线轮组件的外圆柱面收纳柔性推杆61或粒子链。
所述收纳轮内设有旋转弹性元件，旋转弹性元件一端与收纳轮驱动机构的输出轴连接，另一端与收纳轮连接，旋转弹性元件可以产生一定的角度形变位移，当柔性推杆或粒子链的 实际驱动位移量与收纳轮驱动机构对柔性推杆或粒子链的收纳位移量不能精确同步时，旋转弹性元件可以自适应形变以实现柔性推杆或粒子链的同步收放，所述旋转弹性元件为卷簧、扭簧、弹簧、弹性片、弹性块的一种或多种组合。
所述收纳轮驱动机构为同步传动机构和/或独立动力元件，所述同步传动机构与柔性推杆驱动机构或粒子链驱动机构上的驱动轴连接，并以一定的传动比驱动收纳轮转动，所述同步传动机构为带传动机构、链传动机构、齿轮传动机构的一种或多种组合；所述独立动力元件为独立设置的动力元件，如电机、气动马达、液压马达的一种或组合，所述独立动力元件与收纳轮传动连接，并通过对收纳轮的精确运动控制实现柔性推杆或粒子链的动态收放。
所述收纳轮驱动机构还设有离合装置，从而“建立”、或“切断”、或“切换”收纳轮驱动机构的输出轴与同步传动机构和/或独立动力元件的传动连接；从而改变收纳轮与柔性推杆之间的相对位置关系，避免柔性推杆打滑导致收纳轮外部卷绕的柔性推杆越来越松。
柔性推杆驱动机构1600通过摩擦力作用驱动柔性推杆61沿着预设方向往复式移动，或粒子链驱动机构通过摩擦力作用驱动粒子链沿着预设方向往复式移动，柔性推杆61为具有弹性的柔性推杆，在外力作用下可以被弯折，撤销外力后可以恢复笔直状态，该柔性推杆61能够驱动粒子沿着粒子输送导管2800即推杆输出通道13输送到预设位置。
在卷线轮组件上还设置有一传动机构1200，用于向卷线轮组件提供动力，或者设置在卷线轮组件和柔性推杆驱动机构1600或粒子链驱动机构之间，用于将柔性推杆驱动机构1600或粒子链驱动机构的动力传输至收纳机构1500。
传动机构1200采用电机传动或带传动或链条传动或齿轮传动等中的一种或多种组合，实现柔性推杆驱动机构1600或粒子链驱动机构与收纳机构1500的同步运动；本实施例中，传动机构1200采用带传动，传动机构1200包括第一带轮1700、第二带轮1800和皮带1900。第一带轮1700与柔性推杆驱动机构1600或粒子链驱动机构中的摩擦轮同轴设置，第二带轮1800与收纳机构同轴线设置，第一带轮1700与第二带轮1800之间设有皮带1900。
如图8-10所示，或者所述卷线轮组件直接通过旋转弹性元件的旋转扭力实现对柔性推杆或粒子链的收纳，此时所述卷线轮组件包括收纳主体、收纳轮2000与旋转弹性元件2500，通过所述旋转弹性元件的一端与收纳轮连接，另一端与收纳主体连接，通过旋转弹性元件的弹性释放实现对收纳轮的旋转驱动，从而将柔性推杆或粒子链卷绕起来。
收纳轮2000通过旋转弹性元件2500与卷线轮轴2100连接，旋转弹性元件2500用于提供一定的浮动量，并提供收纳机构1500的预紧力，使收纳机构将柔性推杆61或粒子链紧密卷绕在收纳轮2000外表面，从而避免柔性推杆弹开。收纳轮2000的内部设有卷线轮轴 2100，卷线轮轴2100的一端与传动机构1200连接，收纳轮2000的四周设有舌片2300，舌片2300与主体两侧紧密接触，防止柔性推杆或粒子链卷入收纳轮2000与主体的间隙内。
旋转弹性元件2500设置在收纳轮2000的内部，旋转弹性元件2500的一端连接在卷线轮轴2100上，另一端连接在收纳轮2000上，旋转弹性元件2500能够在卷线轮轴2100和收纳轮2000之间产生偏转角和扭矩；旋转弹性元件2500采用卷簧、扭簧或弹簧等中的一种或多种组合。
驱动柔性推杆61移动的柔性推杆驱动机构1600、或驱动粒子链移动的粒子链驱动机构包括一组或多组摩擦组件。摩擦组件包括摩擦轮2400，摩擦轮2400包括主动摩擦轮和从动摩擦轮，摩擦轮2400上设有防滑槽2900，摩擦轮2400通过防滑槽2900与柔性推杆61或粒子链接触并摩擦驱动柔性推杆61或粒子链，能够避免打滑；或摩擦组件包括摩擦带，摩擦带包括主动摩擦带和从动摩擦带。
柔性推杆驱动机构1600或粒子链驱动机构还包括动力元件1300、测量元件1400，摩擦组件之间设有用于柔性推杆或粒子链通过的间隙，摩擦轮2400能与柔性推杆或粒子链接触并驱动柔性推杆或粒子链往复移动，动力元件1300与主动摩擦轮或主动摩擦带连接，用以提供动力，测量元件1400与从动摩擦轮或从动摩擦带连接，测量元件1400能够通过摩擦轮2400或摩擦带的运动测量柔性推杆或粒子链的实际输送长度，摩擦组件的一侧还与传动机构1200连接。
通过收纳机构收纳未使用的柔性推杆或粒子链，节省空间，并且柔性推杆为具有弹性，收纳后不易变形；通过传动机构使得收纳机构和柔性推杆驱动机构或粒子链驱动机构同步运行，提升柔性推杆或粒子链输送的精确性；传动机构采用电机传动或带传动或链条传动或齿轮传动等中的一种或多种组合，使得柔性推杆驱动机构或粒子链驱动机构与收纳机构的运行一致；带传动在保证传动的同时，降低制造成本；柔性推杆或粒子链卷绕在收纳轮外围，收纳轮实现了对柔性推杆或粒子链的收纳，减少了空间占用，舌片的设置提高了收纳机构的安全性；旋转弹性元件能够预紧收纳轮，使得柔性推杆或粒子链卷绕贴合在收纳轮上，并且旋转弹性元件能够调节收纳轮的转动程度，使得柔性推杆在收纳轮上的移动速度等于在柔性推杆驱动机构上的移动速度，使得粒子链在收纳轮上的移动速度等于在粒子链驱动机构上的移动速度，提高了柔性推杆或粒子链输送的稳定性，避免打滑。
实施例三
如图11-14所示，本实施例中卷线轮组件包括收纳轮59，收纳轮59为内部凹陷结构，并在侧面设有开口，柔性推杆61或粒子链从侧面开口伸入收纳轮59内，并在自身弹力作用下卷绕在收纳轮59内部凹陷区域内。
收纳轮59在不受外力的情况下能够沿其轴线自由转动，收纳机构1500和柔性推杆驱动机构1600或粒子链驱动机构之间设有用于引导柔性推杆61或粒子链的导向管2600，导向管2600将柔性推杆61或粒子链沿着收纳轮59的切线方向或是近似切线方向将柔性推杆61或粒子链伸入收纳轮59内，柔性推杆驱动机构1600在驱动柔性推杆61前后运动的同时，或粒子链驱动机构在驱动粒子链前后运动的同时，通过牵拉或者顶伸收纳轮59使其同步旋转，自动收纳柔性推杆61或粒子链，柔性推杆61或粒子链的末端与收纳轮59内部凹陷区域的固定口固定连接。
柔性推杆驱动机构1600或粒子链驱动机构还包括动力元件1300、测量元件1400，摩擦组件之间设有用于柔性推杆或粒子链通过的间隙，摩擦轮2400能与柔性推杆或粒子链接触并驱动柔性推杆或粒子链往复移动，动力元件1300与主动摩擦轮或主动摩擦带连接，用以提供动力，测量元件1400与从动摩擦轮或从动摩擦带连接，测量元件1400能够通过摩擦轮2400或摩擦带的运动测量柔性推杆或粒子链的实际输送长度，摩擦组件的一侧还与传动机构1200连接。
另一种方案：收纳轮为内凹圆盘，其内凹面用于收纳柔性推杆或粒子链。
收纳轮为自由旋转状态，在柔性推杆或粒子链的推动作用下自动旋转；或设有引导管，引导柔性推杆或粒子链从侧面伸入收纳轮；或者收纳轮以一定比例与柔性推杆驱动机构或粒子链驱动机构同步运动。
实施例四
如图15-19所示，本实施例中，其技术方案在于：通过离合器组件实现同步传动机构与卷线轮轴3005的脱开；所述离合器组件包括制动块3001、弹簧球3002、压紧弹簧3003，在卷线轮轴上设置有用于实现对制动块制动的制动凹槽3004。具体的，离合器组件与同步带轮、卷线轮以及摩擦轮组件同轴设置。柔性推杆61或粒子链为可弯折的柔性的推杆。
所述卷线轮轴3005与同步传动机构的其中一个同步带轮3006通过离合器连接，当离合器处于“接合”状态时，所述同步带轮运动控制卷线轮轴3005旋转，卷线轮轴通过旋转弹性元件驱动或直接驱动卷线轮轴旋转，卷线轮轴能够将柔性推杆或粒子链缠绕在收纳轮表面上实现自动收纳。
柔性推杆通过柔性推杆驱动机构驱动往复运动，粒子链通过粒子链驱动机构驱动往复运动，所述收纳轮通过旋转弹性元件装设于卷线轮轴上，卷线轮轴3005从其中一个同步带轮3006中穿过，同步带轮与柔性推杆驱动机构或粒子链驱动机构通过同步传动机构传动连接，且卷线轮轴3005上通过弹簧球3002装设有制动块3001，制动块3001能够沿着卷线轮轴3005的轴线方向拉出，并能够周向固定轴线不固定的设置在卷线轮轴3005上。所述制动块的内孔为D型孔、方孔、花键孔、异形孔的一种，与所述卷线轮轴相适配。
所述卷线轮轴3005外侧设有两组凹槽，制动块上设有卡扣机构，所述卡扣机构限制制动块的在卷线轮轴上的轴向位置；具体为弹簧球3002装于制动块3001上，且弹簧球上方的压紧弹簧3003能够压入制动凹槽内，从而限制制动块的位置。
在粒子输送机构工作时，此时需要向外拔出制动块至卷线轮轴的外侧凹槽，此时卷线轮轴与同步带轮处于“脱离”状态，当柔性推杆驱动机构或粒子链驱动机构带动柔性推杆或粒子链运动时，同步传动机构会带动同步带轮进行空转，此时与卷线轮轴传动连接的卷线轮电机控制卷线轮轴做旋转运动，根据位置检测机构测量出的柔性推杆或粒子链的实际位移量控制收纳轮的旋转运动，实现柔性推杆或粒子链的动态收放；或者所述卷线轮电机以设定的力矩转动，驱动收纳轮旋转实现柔性推杆或粒子链的动态收放。
在粒子或粒子链输送机构工作结束后，如果需要将粒子或粒子链输送机构拆卸下来清洗消毒，此时卷线轮轴失去动力，此时为了避免柔性推杆或粒子链散开，则需要向内推入制动块至卷线轮轴内部凹槽，所述制动块与旁边同步带轮上的D型孔、或方孔、或花键孔、或异形孔相适配，从而实现制动块与同步带轮之间的周向固定，此时卷线轮轴与同步带轮处于“接合”状态，从而避免卷线轮轴自由旋转导致柔性推杆或粒子链散开，并且可以手动控制同步传动机构运动使柔性推杆进行推入或推出，且收纳轮实现柔性推杆的同步收放，便于清洗消毒工作。
实施例五
如图20-22所示，本实施例中收纳机构采用被动收纳机构，被动收纳机构包括套管38，套管38连接在柔性推杆驱动机构或粒子链驱动机构的后端，套管为直套管、螺旋套管或薄膜型套管中的任意一种，所述套管的材料为金属、塑料、橡胶、乳胶、硅胶或弹性体材料的一种或多种组合；所述套管中设有润滑剂，便于柔性推杆或粒子链顺利地伸入，可在套管内表面均匀涂有润滑油或润滑脂或套管内表面采用特氟龙润滑涂层实现润滑作用。
如图27～29所示，所述薄膜型套管4000由两层柔性可变形的薄膜制成，在薄膜上设有热封条纹，热封条纹将两层薄膜连接起来形成隔离袋4002，薄膜型套管上设有半刚性支架 4003，半刚性支架均匀分布并附着在隔离袋的外表面，在使用前，通过向中间方向挤压半刚性支架使其产生形变，隔离袋内部会舒展开来形成一个条状的空腔用以存放柔性推杆或粒子链，所述薄膜型套管上还设有引导条，用于提升薄膜的刚性，避免薄膜出现褶皱，便于柔性推杆或粒子链的送入与收纳。
如图27-28所示，所述薄膜型套管4000包括连接件4001，连接件与隔离袋的开口端连接，通过连接件将薄膜型套管设置在柔性推杆驱动机构或粒子链驱动机构的后端，用以柔性推杆或粒子链的收集工作。
实施例六
如图23-26所示，在本实施例中粒子植入枪的柔性推杆收纳机构或粒子链收纳机构采用收纳桶4，用于柔性推杆或粒子链前后运动时的动态收放。
所述收纳桶4，利用柔性推杆或粒子链的柔性与易导向，通过前端柔性推杆驱动机构或粒子链驱动机构提供推力与拉力，使柔性推杆或粒子链沿着柔性推杆收纳桶内的螺旋槽实现收纳与输出。
实施例七
如图30-34所示，所述放射源供料部采用粒子链供料部，所述放射源供料部包括粒子链驱动机构、粒子链输出通道、切断机构，并通过粒子链驱动机构连续输出粒子链并通过切断机构对目标长度的粒子链进行切断，实现粒子链的供料，所述粒子链驱动机构与粒子链输出通道连接，所述粒子链输出通道为刚性结构或柔性可弯折结构。通过分叉管结构实现将粒子链输出到柔性推杆前方。
所述粒子链供料部也设有粒子链收纳机构，所述粒子链收纳机构用于粒子链驱动机构在驱动粒子链前后运动时的对粒子链的动态收放，所述粒子链收纳机构外部设有屏蔽外壳，所述屏蔽外壳用于屏蔽粒子链对外界的辐射。
所述柔性推杆收纳机构或粒子链收纳机构为轮式收纳机构，所述轮式收纳机构包括收纳轮，柔性推杆或粒子链卷绕收纳于收纳轮的内圆面。
所述收纳轮设有内凹部，并在侧面设有开口，开口处设有引导管，柔性推杆或粒子链从侧面开口处的引导管的引导下伸入收纳轮，并在自身弹性作用下卷绕在收纳轮的内凹部，收纳轮在不受外力情况下能绕自身轴线自由转动。
所述推杆输出通道与粒子链输出通道通过分叉管汇聚为单通道，分叉管的第一分支与推杆输出通道连接，分叉管的第二分支与粒子链输出通道连接，分叉管的主管道与混合输出通道连接，所述混合输出通道为刚性结构或柔性可弯折结构。
所述粒子或粒子链植入装置需要植入时，将已切断的目标长度的粒子链通过粒子链驱动机构输送到分叉管的主管道后，粒子链驱动机构将未切断的粒子链撤出分叉管的主管道，而后推杆在推杆驱动机构的驱动下向前运动进入到分叉管的主管道，顶着目标长度的粒子链一起向前，将粒子链顺着输送导管与连接在输送导管前端的穿刺针一直推入生物体组织内从而一次完成粒子链的植入。
所述分叉管还可以是多通道分叉管，所述多通道分叉管的分支数大于2，并设置有多个驱动不同型号或间隔杆长度的粒子链的粒子链驱动机构，不同粒子链驱动机构的粒子链输出通道与分叉管的不同分支连接，从而将不同类型的粒子链汇聚到主管道，从而根据手术需要设置不同类型的粒子链，并通过推杆植入到生物体组织内。
所述切断机构设置在粒子链输出通道、分叉管、混合输出通道的任意一处。
所述分叉管的主管道上设有防止粒子链反向回流的单向止回机构。
所述切断机构采用闸刀式切断机构、剪刀式切断机构、环切式切断机构的一种或多种组合，所述闸刀式切断机构采用单侧刀片运动完成切断，所述剪刀式切断机构采用双侧刀片同时相向运动完成切断，所述环切式切断机构采用至少三个刀片同时向中心点运动实现切断。
旋臂机构2026216工作将对接嘴2026215插入针板上的孔内完成与植入通道2026213的对接，粒子链202621通过粒子链驱动机构202623、行程开关及切断机构202622的配合在被切断后送入对接嘴内2026215，柔性推杆202624通过柔性推杆驱动机构2026211向前运动顶着被切断的粒子链202621一起向前进入人体从而一次完成粒子植入。
注意切断机构202622的位置也可以放在对接嘴处(即管道汇聚后)，这样可以先将粒子链驱动至对接嘴处，而后切断，然后再从对接嘴处撤出，然后再改为柔性推杆推动粒子链
粒子链植入流程:
一：旋臂机构2026216工作(通过一个旋转组件和两个直线运动组件的配合)将对接嘴2026215插入本次植入的植入通道2026213对应连接孔内完成与植入通道2026213的对接
二：粒子链202621(粒子和间隔杆组成的链状植入物)经由粒子链驱动机构202623送入输送管道202625的分管道内。
三：在输送至指定长度(指定长度小于对接嘴2026215的长度，例图33)后由切断机构202622切断(行程开关3 2026212标记零位，行程开关1 202627判断粒子链是否用完，切断刀202622-2与推杆202622-3连接，推杆202622-3向前运动时会带动切断刀202622-2一起向前从而完成切断，切断刀202622-2沿切断方向上设有导向柱202622-4保证切断刀不会偏离切断方向见图33)。
四：粒子链驱动机构202623继续向前驱动粒子链202621(由于切断过程会将粒子链202621挤压变形，为保证切断后的粒子链202621能继续向前运动，在断口处设有引导口202622-5进行引导，见图33)，在被切断的粒子链202621进入对接嘴前端后粒子链202621向后回收至粒子链卷绕轮202628内(对接嘴前端设有阻尼，防止回收粒子链时切断的粒子链位置发生偏移，见图34)。
五：柔性推杆202624通过柔性推杆驱动机构2026211向前运动(由行程开关2 2026210检测并记录)从输送管道202625的分管道内汇入主管道(主管道与对接嘴相对固定)顶着被切断的粒子链202621一起向前进入人体从而一次完成粒子植入，随后柔性推杆202624回收至柔性推杆卷绕轮202629内。
六：旋臂机构再次工作将对接嘴插入下一个需要植入的的植入通道对应连接孔内重复上述植入动作直至植入完成,为节约时间步骤一可在步骤二至步骤四的过程中同步完成。
实施例八
如图35-38所示，一种粒子或粒子链植入装置，所述放射源供料部采用粒子链供料部，所述放射源供料部包括粒子链驱动机构、粒子链输出通道、切断机构，并通过粒子链驱动机构连续输出粒子链并通过切断机构对目标长度的粒子链进行切断，实现粒子链的供料，所述粒子链驱动机构与粒子链输出通道连接，所述粒子链输出通道为刚性结构或柔性可弯折结构，通过运动平台实现将粒子链输出到柔性推杆前方。
所述粒子链供料部也设有粒子链收纳机构，所述粒子链收纳机构用于粒子链驱动机构在驱动粒子链前后运动时的对粒子链的动态收放，所述粒子链收纳机构外部设有屏蔽外壳，所述屏蔽外壳用于屏蔽粒子链对外界的辐射。
所述柔性推杆收纳机构或粒子链收纳机构为轮式收纳机构，所述轮式收纳机构包括收纳轮，柔性推杆或粒子链卷绕收纳于收纳轮的内圆面。
所述收纳轮设有内凹部，并在侧面设有开口，开口处设有引导管，柔性推杆或粒子链从侧面开口处的引导管的引导下伸入收纳轮，并在自身弹性作用下卷绕在收纳轮的内凹部，收纳轮在不受外力情况下能绕自身轴线自由转动。
还包括混合输出通道和第二运动平台，所述推杆输出通道的一端和粒子链输出通道的一端设置于第二运动平台上，且通过第二运动平台的切换运动实现推杆输出通道和粒子链输出通道分别与设置在第二运动平台上的混合输出通道的导通；所述混合输出通道为刚性结构或柔性可弯折结构。
所述第二运动平台能够改变推杆输出通道的一端、粒子链输出通道的一端和混合输出通道的一端的相对位置关系，具体是如下方式中的一种。
A、混合输出通道的一端运动，推杆输出通道的一端和/或粒子链输出通道的一端静止；
B、混合输出通道的一端静止，推杆输出通道的一端和粒子链输出通道的一端运动；
C、混合输出通道的一端运动，推杆输出通道的一端和/或粒子链输出通道的一端运动；
所述第二运动平台将粒子链输出通道与混合输出通道对接导通，粒子链驱动机构将已经切断的目标长度的粒子链推入到混合输出通道中，混合输出通道与输送导管连接，所述第二运动平台最后将推杆输出通道与混合输出通道对接导通，推杆驱动机构驱动推杆顶推粒子链顺着混合输出通道、输送导管与连接在输送导管前端的穿刺针一直植入到生物体组织内。
所述粒子链驱动机构的数量大于等于2，此时粒子链输出通道的数量也大于等于2，不同粒子链驱动机构所驱动的粒子链的型号或间隔杆长度不同，所述第二运动平台根据手术需要将不同的粒子链输出通道与混合输出通道对接导通，并将不同类型的粒子链推入到混合输出通道中，所述混合输出通道与输送导管连接，所述第二运动平台最后将推杆输出通道与混合输出通道对接导通，通过推杆驱动机构驱动推杆顶推粒子链顺着混合输出通道、输送导管与连接在输送导管前端的穿刺针一直推入植入到生物体组织内。
所述切断机构设置在粒子链输出通道和混合输出通道的任意一处。
所述切断机构采用闸刀式切断机构、剪刀式切断机构、环切式切断机构的一种或多种组合，所述闸刀式切断机构采用单侧刀片运动完成切断，所述剪刀式切断机构采用双侧刀片同时相向运动完成切断，所述环切式切断机构采用至少三个刀片同时向中心点运动实现切断。
所述粒子或粒子链植入装置还包括第一运动平台和连接件，多个输送导管的一端安装在所述连接件上；所述推杆输出通道的一端或混合输出通道的一端安装在第一运动平台上，所述第一运动平台用于实现所述推杆输出通道的一端或混合输出通道的一端和连接件在空间中的相对运动，使所述推杆输出通道或混合输出通道与连接件上的任一输送导管连通形成粒子或粒子链的输送通道，从而实现多通道植入；
所述第一运动平台是如下方式中的一种：
A、连接件运动，推杆输出通道的一端或混合输出通道的一端静止；
B、连接件静止，推杆输出通道的一端或混合输出通道的一端运动；
C、连接件运动，推杆输出通道的一端或混合输出通道的一端运动。
或者所述第一运动平台就是第二运动平台，所述推杆输出通道的一端、粒子链输出通道的一端和连接件均安装在第一运动平台上，所述第一运动平台能够改变推杆输出通道的一 端、粒子链输出通道的一端和连接件之间的相对位置关系，具体是如下方式中的一种：
A、连接件运动，推杆输出通道的一端和/或粒子链输出通道的一端静止；
B、连接件静止，推杆输出通道的一端和粒子链输出通道的一端运动；
C、连接件运动，推杆输出通道的一端和/或粒子链输出通道的一端运动；
所述第一运动平台先将粒子链输出通道的一端与连接件上设有的某一个输送导管连通，由粒子链驱动机构将以目标长度切断的粒子链推入到该输送导管内，而后所述第一运动平台将推杆输出通道的一端与该输送导管连通，通过推杆驱动机构驱动推杆顶推切断的粒子链顺着输送导管与连接在输送导管前端的穿刺针一直推动植入到生物体组织内。
所述输送导管的一端通过植入快速接头安装在所述连接件上，所述植入快速接头是采用螺纹连接、锁扣连接、锥度连接、销钉连接的一种或多种组合。
本实施例中，第二运动平台为导向组件B262112215(导轨滑块、导柱等)与传动组件B262112213(齿轮齿条、丝杆、同步带等)的配合，混合输出通道为对接嘴2026215，混合输出通道的一端静止，推杆输出通道的一端和粒子链输出通道的一端运动。
旋臂机构2026216工作将对接嘴2026215插入针板上的孔内完成与植入通道2026213的对接，根据手术情况将粒子链202621切割成所需长度，然后导向组件B262112215(导轨滑块、导柱等)与传动组件B262112213(齿轮齿条、丝杆、同步带等)配合使粒子链出口B2621122117与驱动丝出口B262112216来回切换和对接嘴2026215对接，驱动丝202624通过柔性推杆驱动机构2026211向前运动顶着粒子链202621向前进入人体从而一次完成粒子植入。
粒子链植入流程；
一：悬臂选针结构2026216工作(通过一个旋转组件和两个直线运动组件的配合)将对接嘴2026215插入本次植入的植入通道2026213对应连接孔内完成与植入通道2026213的对接。
二：导向组件B262112215(导轨滑块、导柱等)与传动组件B262112213(齿轮齿条、丝杆、同步带等)配合使粒子链出口B2621122117与对接嘴2026215对接(对接嘴2026215与安装架B262112212固定，粒子链出口与驱动丝出口和相应驱动组件均安装在移动板上)。
三：粒子链202621(粒子和间隔杆组成的链状植入物)经由粒子链驱动机构202623向前输送至指定长度后由切断机构202622切断(行程开关3 2026212标记零位，行程开关1202627判断粒子链是否用完，切断刀202622-2与推杆202622-3连接，推杆202622-3向前 运动时会带动切断刀202622-2一起向前从而完成切断，切断刀202622-2沿切断方向上设有导向柱202622-4保证切断刀不会偏离切断方向见图37)。
四：粒子链驱动机构202623继续向前驱动粒子链202621(由于切断过程会将粒子链202621挤压变形，为保证切断后的粒子链202621能继续向前运动，在断口处设有引导口202622-5进行引导，见图37)，在被切断的粒子链202621进入对接嘴2026215后粒子链202621向后回收至粒子链卷绕轮202628内。
五：导向组件B262112215(导轨滑块、导柱等)与传动组件B262112213(齿轮齿条、丝杆、同步带等)配合使驱动丝出口B262112216与对接嘴2026215对接。
六：驱动丝202624通过柔性推杆驱动机构2026211向前运动(由行程开关2 2026210检测并记录)通过驱动丝出口B262112216从对接嘴2026215顶着被切断的粒子链202621一起向前进入人体从而一次完成粒子植入，随后驱动丝202624回收至柔性推杆卷绕轮202629内。
七：悬臂选针结构再次工作将对接嘴插入下一个需要植入的的植入通道对应连接孔内重复上述植入动作直至植入完成。
以上显示和描述了本发明的基本原理和主要特征和本发明的优点，对于本领域技术人员而言，显然本发明不限于上述示范性实施例的细节，而且在不背离本发明的精神或基本特征的情况下，能够以其他的具体形式实现本发明。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本发明的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本发明内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。
此外，应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。

Claims (10)

  1. 带有收纳功能的粒子或粒子链输送机构，其特征在于，包括主体、推杆输出通道、柔性推杆、柔性推杆驱动机构和柔性推杆收纳机构；柔性推杆驱动机构和柔性推杆收纳机构均安装在主体上，在主体上设置有用于导向柔性推杆做前后移动的推杆输出通道，所述柔性推杆驱动机构能够驱动柔性推杆沿着推杆输出通道作前后运动，将设置在柔性推杆前端的粒子或粒子链沿着推杆输出通道输送到预设位置上，所述柔性推杆收纳机构用于柔性推杆前后运动时的动态收放。
  2. 根据权利要求1所述的带有收纳功能的粒子或粒子链输送机构，其特征在于，所述粒子链包括粒子与间隔杆，相邻两个粒子之间通过间隔杆隔开，所述间隔杆采用人体可降解的材料制成；所述粒子和间隔杆之间通过粘胶或过盈配合连接，或者所述粒子与间隔杆的外部套设粒子链套管，所述粒子链套管采用人体可降解的材料制成，所述人体可降解的材料为胶原蛋白、高分子聚合物、明胶、海藻酸盐、聚酯可降解材料的一种或多种组合。
  3. 根据权利要求1所述的带有收纳功能的粒子或粒子链输送机构，其特征在于，所述柔性推杆为具有弹性的柔性推杆，在外力作用下能被弯折，撤销外力后能恢复笔直状态，柔性推杆的材料为镍钛合金、弹簧钢、弹性体材料、复合材料中的一种或多种组合；或者柔性推杆本身为粒子链；或者推杆的前半部分为粒子链结构，推杆的后半部分为推杆丝；所述柔性推杆的长度大于300mm。
  4. 根据权利要求1所述的带有收纳功能的粒子或粒子链输送机构，其特征在于，还包括输送导管，所述推杆输出通道与所述输送导管连通，所述柔性推杆驱动机构能够驱动柔性推杆沿着输送导管前后运动，将放射源供料部设置在柔性推杆前端的粒子或粒子链沿着输送导管输送到预设位置上。
  5. 根据权利要求1～4中任一所述的带有收纳功能的粒子或粒子链输送机构，其特征在于，还包括放射源供料部，用于向柔性推杆的前端放置粒子或粒子链，所述放射源供料部为粒子弹夹、粒子链弹夹、粒子链供料部的一种；当柔性推杆本身为粒子链时，所述粒子链供料部包括切断机构，通过切断机构将目标长度的粒子链从推杆前端切离下来，从而实现粒子链的供料；
    或者所述粒子链供料部设有粒子链驱动机构和切断机构，通过粒子链驱动机构连续输出粒子链并通过切断机构对目标长度的粒子链进行切断，实现粒子链的供料，所述粒子链驱动机构与粒子链输出通道连接，所述粒子链输出通道为刚性结构或柔性可弯折结构，通过分叉管结构或运动平台实现将粒子链输出到柔性推杆前方；
    当所述放射源供料部采用弹夹供料时，放射源供料部直接设置在推杆输出通道中，粒子或预制好的粒子链装于弹夹内的储弹槽或储弹孔里，通过装设于弹夹上的弹夹供料机构将粒子或预制好的粒子链放置于推杆的前端进行供料。
  6. 根据权利要求4所述的带有收纳功能的粒子或粒子链输送机构，其特征在于，所述粒子链供料部也设有粒子链收纳机构，所述粒子链收纳机构用于粒子链驱动机构在驱动粒子链前后运动时的对粒子链的动态收放，所述粒子链收纳机构外部设有屏蔽外壳，所述屏蔽外壳用于屏蔽粒子链对外界的辐射。
  7. 根据权利要求6所述的带有收纳功能的粒子或粒子链输送机构，其特征在于，所述柔性推杆收纳机构或粒子链收纳机构为轮式收纳机构，所述轮式收纳机构包括收纳轮，柔性推杆或粒子链卷绕收纳于收纳轮的外圆面或内圆面。
  8. 根据权利要求7所述的带有收纳功能的粒子或粒子链输送机构，其特征在于，所述收纳轮设有内凹部，并在侧面设有开口，开口处设有引导管，柔性推杆或粒子链从侧面开口处的引导管的引导下伸入收纳轮，并在自身弹性作用下卷绕在收纳轮的内凹部，收纳轮在不受外力情况下能绕自身轴线自由转动。
  9. 根据权利要求7所述的带有收纳功能的粒子或粒子链输送机构，其特征在于，所述轮式收纳机构采用卷线轮组件，所述卷线轮组件包括收纳轮与收纳轮驱动机构，柔性推杆或粒子链的一端与收纳轮的外表面固定，通过收纳轮驱动机构驱动收纳轮转动，使柔性推杆或粒子链卷绕在收纳轮外表面上或收纳轮外表面外侧；
    或者所述收纳轮设有内凹部，并在侧面设有开口，开口处设有引导管，柔性推杆或粒子链从侧面开口处的引导管的引导下伸入收纳轮，通过收纳轮驱动机构驱动收纳轮转动，使柔性推杆或粒子链卷绕在收纳轮的内凹部；
    所述收纳轮内设有旋转弹性元件，旋转弹性元件一端与收纳轮驱动机构的输出轴连接，另一端与收纳轮连接，旋转弹性元件可以产生一定的角度形变位移，当柔性推杆或粒子链的实际驱动位移量与收纳轮驱动机构对柔性推杆或粒子链的收纳位移量不能精确同步时，旋转弹性元件可以自适应形变以实现柔性推杆或粒子链的同步收放，所述旋转弹性元件为卷簧、扭簧、弹簧、弹性片、弹性块的一种或多种组合；
    所述收纳轮驱动机构为同步传动机构和/或独立动力元件，所述同步传动机构与柔性推杆驱动机构或粒子链驱动机构上的驱动轴连接，并以一定的传动比驱动收纳轮转动，所述同步传动机构为带传动机构、链传动机构、齿轮传动机构的一种或多种组合；所述独立动力元 件为独立设置的动力元件，如电机、气动马达、液压马达的一种或组合，所述独立动力元件与收纳轮传动连接，并通过对收纳轮的精确运动控制实现柔性推杆或粒子链的动态收放；
    所述收纳轮驱动机构还设有离合装置，从而“建立”、或“切断”、或“切换”收纳轮驱动机构的输出轴与同步传动机构和/或独立动力元件的传动连接；
    或者所述卷线轮组件直接通过旋转弹性元件的旋转扭力实现对柔性推杆或粒子链的收纳，此时所述卷线轮组件包括收纳主体、收纳轮与旋转弹性元件，通过所述旋转弹性元件的一端与收纳轮连接，另一端与收纳主体连接，通过旋转弹性元件的弹性释放实现对收纳轮的旋转驱动，从而将柔性推杆或粒子链卷绕起来。
  10. 根据权利要求6所述的带有收纳功能的粒子或粒子链输送机构，其特征在于，所述柔性推杆收纳机构或粒子链收纳机构采用套管，套管连接在柔性推杆驱动机构或粒子链驱动机构的后端，套管为直套管、螺旋套管或薄膜型套管中的任意一种，所述套管的材料为金属、塑料、橡胶、乳胶、硅胶或弹性体材料的一种或多种组合；所述套管中设有润滑剂，便于柔性推杆或粒子链顺利地伸入，或者可在套管内表面均匀涂有润滑油或润滑脂，或套管内表面采用润滑涂层实现润滑作用，润滑涂层材质为特氟龙。
PCT/CN2022/143706 2022-03-03 2022-12-30 带有收纳功能的粒子或粒子链输送机构 WO2023165250A1 (zh)

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