WO2024001444A1

WO2024001444A1 - Multi-channel radioactive source implantation system with core retraction mechanism

Info

Publication number: WO2024001444A1
Application number: PCT/CN2023/089094
Authority: WO
Inventors: 王学堂; 朱鼎臣; 付光明; 雷星星
Original assignee: 杭州大士科技有限公司
Priority date: 2022-07-01
Filing date: 2023-04-19
Publication date: 2024-01-04

Abstract

Disclosed herein is a multi-channel radioactive source implantation system with a core retraction mechanism, comprising a first connecting part, a first motion platform, a radioactive source implantation apparatus, and a core retraction mechanism. The radioactive source implantation apparatus comprises a push rod and a push rod output channel. The push rod output channel can be used for guiding the push rod to move front and back. The push rod pushes a radioactive source arranged in front of the push rod to output the radioactive source along the push rod output channel. The first connecting part and one end of the push rod output channel are mounted on both sides of the first motion platform, respectively. The core retraction mechanism and the end of the push rod output channel are arranged in parallel on the same side of the first motion platform. The first motion platform drives the spatially relative motion of the first connecting part and the end of the push rod output channel to relatively move in space to achieve multi-channel implantation, and drives the spatially relative motion of the first connecting part and the core retraction mechanism to achieve multi-channel core retraction.

Description

A multi-channel radioactive source implantation system with core pulling mechanism

Technical field

The invention relates to radioactive particle implantation technical equipment, and in particular to a multi-channel radioactive source implantation system with a core pulling mechanism.

Background technique

Radioactive seed implantation surgery is to implant many radioactive seeds directly into the tumor through puncture for local radiotherapy. This surgery has a wide range of indications, including lung cancer, liver cancer, breast cancer, prostate cancer, etc. , and it has small incision, less bleeding, and relatively few surgical complications, but it can effectively inhibit the growth of tumors.

The basic process of this surgery is to first take a preoperative CT, determine the puncture path and particle placement plan in the TPS system, and then insert many axially parallel puncture needles into the tumor according to the plan. This process can be completed with the help of a puncture guide template to ensure that the spacing and direction between individual needles are consistent with the preoperative plan. After confirming through CT that all puncture needles have reached the target location, the doctor then pulls out the needle core in each puncture needle to form a hollow implantation channel, and then pushes multiple particles along the implantation channel according to the preoperative plan. Go inside the tumor and complete the surgery.

However, this kind of surgery currently takes a long time, and the doctor needs to be in close contact with the particles during the implantation process and suffers great radiation damage, which greatly limits the application and promotion of this type of surgery. Therefore, particle implantation robot systems have emerged, such as the particle implantation surgical robot proposed by Chinese patent CN201910714054.7. This robot system is equipped with an automatic particle implantation device at the end of the robot, which can complete puncture and particle implantation with high precision. , however, the particle implantation device and the puncture needle are always rigidly connected during the operation, so the particle implantation is performed immediately after the puncture is completed, which changes the traditional manual surgery process and requires CT verification after each puncture. Performed immediately, this greatly increases the number of CT scans taken by the patient, exposing the patient to greater radiation. In addition, the puncture needle will be rigidly connected to the particle implantation device and cannot be quickly detached and clamped, making it easy to scratch the patient. One idea is to use multiple flexible tubes to connect multiple puncture needles to the particle implantation device respectively, and avoid scratching the patient through flexible deformation of the flexible tubes. However, in this case, how to remove the needle in the puncture needle before implantation? Pulling out the core is a technical problem, because the needle core must be implanted immediately after being pulled out, otherwise it will cause internal blockage due to blood pouring into the puncture needle and solidifying.

Contents of the invention

The purpose of the present invention is to solve the problem of the existing puncture needle and particle implantation device being rigidly connected and scratching the patient. A multi-channel radioactive source implantation system with a core pulling mechanism is proposed, which uses multiple flexible pipes to separately Multiple puncture needles are connected to the particle implantation device, and the position of the radioactive source is adjusted through a motion platform to achieve multi-channel implantation, and can realize automatic core removal operation of the needle core in the flexible delivery catheter.

The present invention is achieved through the following technical solutions: a multi-channel radioactive source implantation system with a core-pulling mechanism, including a first connection part, a first movement platform, a radioactive source implantation device and a core-pulling mechanism. The input device includes a push rod and a push rod output channel. The push rod output channel can be used to guide the push rod to move forward and backward. The push rod pushes the radioactive source arranged in front of the push rod and outputs it along the push rod output channel. The first connecting part and one end of the push rod output channel are respectively installed on both sides of the first movement platform. The core pulling mechanism and one end of the push rod output channel are arranged side by side on the same side of the first movement platform. The platform drives the first connecting part and one end of the push rod output channel to move relative to each other in space to realize multi-channel implantation; the first moving platform drives the first connecting part and the core pulling mechanism to move relative to each other in space to realize multi-channel pulling. core.

Preferably, the first connecting part is connected to a connecting piece, and the connecting piece is provided with a plurality of connecting holes. The connecting holes are provided with a quick connection structure for connecting to one end of the delivery conduit, and the other end of the delivery conduit is connected to There is a puncture needle or a quick connector for connecting with the puncture needle. The delivery catheter is equipped with a needle core. The tail of the needle core extends from the tail of the delivery catheter for a short section and extends from the other side of the connection hole. Extended, the core pulling mechanism is docked with the tail of the needle core in the delivery catheter, and the needle core can be pulled out from the delivery catheter, thereby forming a hollow implantation channel. The core pulling mechanism uses a friction core pulling assembly, so A part of the friction core pulling component is pressed against the needle core, and the needle core is pulled out by the friction force generated by the compression. The friction core pulling component is one or more of a friction wheel, a friction belt, and a reciprocating clamping component. a combination;

The first connection part is one or more combinations of an adhesive connection part, a welding connection part, a threaded connection part, a snap connection part, and a lock connection part.

Preferably, the first movement platform drives the connecting piece and one end of the push rod output channel to move relative to each other in space, so that one end of the push rod output channel is connected to the connection hole, thereby transferring the radioactive source from the transmission port connected to the connection hole. The catheter is outputted, and the first movement platform is one of the following ways:

A. The connecting piece moves, and one end of the push rod output channel is stationary; B. The connecting piece is stationary, and one end of the push rod output channel moves; C. The connecting piece moves, and one end of the push rod output channel moves;

The first movement platform is used to realize relative movement of at least two degrees of freedom between the connecting piece and one end of the push rod output channel, and the relative movement method is one of the following methods:

A. The connecting piece is fixed, and one end of the push rod output channel moves forward and backward in a straight line and moves in a plane; B. The connecting piece moves forward and backward in a straight line, and one end of the push rod output channel moves in a plane; C , the connecting piece moves in a plane, and one end of the push rod output channel moves forward and backward in a straight line; D. The connecting piece moves back and forth in a straight line and moves in a plane, and one end of the push rod output channel is fixed;

The motion in one plane is one of single-joint rotational motion, single-joint rotational motion combined with radial linear motion, double-joint rotational motion or XY-axis linear motion;

The first motion platform includes a forward and backward motion module, a rotary motion module and a radial motion module. The first motion platform realizes one end of the push rod output channel in space through rotational motion in one direction and linear motion in two directions. three degrees of freedom motion;

Alternatively, the first motion platform includes a forward and backward motion module, a left and right motion module and an up and down motion module. The first motion platform realizes three degrees of freedom of one end of the push rod output channel in space through linear motion in three directions. Movement; alternatively, the first movement platform is a multi-joint mechanical arm, which can drive one end of the push rod output channel to freely move and position in a three-dimensional space.

Preferably, the first motion platform is provided with a first forward and backward motion mechanism and a second forward and backward motion mechanism, which are respectively used for the forward and backward docking motion of the core pulling mechanism and one end of the push rod output channel. First, connect the core pulling mechanism to the connector. The tail of the needle core in a delivery catheter is docked, and the needle core is pulled out. After the core is pulled out, a new implantation channel is established, and the push rod output channel is docked with the delivery catheter driven by the first motion platform. connected, and then implanted through the newly established implantation channel.

Preferably, the needle core storage mechanism is further included. The needle core storage mechanism is used to store the needle core pulled out from the core pulling mechanism. The needle core storage mechanism is provided at the rear end of the core pulling mechanism. When the needle core is pulled out from the core pulling mechanism, When the rear end of the mechanism is output, the needle core storage mechanism dynamically stores the needle core accordingly; or the needle core storage mechanism is a part of the core pulling mechanism, which completes the storage of the needle core while pulling out the core; the needle core storage mechanism It is a wheel-type storage mechanism or sleeve. The wheel-type storage mechanism includes a storage wheel, and the needle core is wound on the inside or outside of the storage wheel as the storage wheel rotates.

Preferably, the wheel-type storage mechanism adopts a reel assembly. The reel assembly includes a storage wheel and a storage wheel driving mechanism. The storage wheel drive mechanism drives the storage wheel to rotate, so that the needle core is wound on the outer surface of the storage wheel. On or outside the outer surface of the storage wheel;

Alternatively, the wheel-type storage mechanism adopts a concave storage wheel. The concave storage wheel has an internal concave structure and is provided with an opening on the side. The needle core extends into the concave storage wheel from the side opening. The storage wheel can be freely rotated or actively rotated behind the core pull-out mechanism, and the needle core is automatically wound around the concave-type storage wheel under the combined action of the needle core's own elasticity, the core pull-out mechanism and the concave storage wheel. Inside the recessed area of the storage wheel.

Preferably, the casing is any one of a straight casing, a spiral casing, and a film-type casing, and the material of the casing is one of metal, plastic, rubber, latex, silicone, or elastomer material. Various combinations; the casing is provided with lubricant to facilitate the smooth insertion of the needle core, or the inner surface of the casing can be evenly coated with grease or the inner surface of the casing can be lubricated with a lubricating coating. The material of the lubricating coating is Teflon; the inlet end of the casing is provided with an elastic telescopic section, which can be shortened under the action of extrusion force, and will automatically extend and reset after the extrusion force is released.

Preferably, it also includes a core insertion mechanism, which can send the needle core into the puncture needle along the delivery catheter;

Or the core pulling mechanism is a core inserting mechanism. The core pulling mechanism adopts a friction core pulling assembly. A part of the friction core pulling assembly is pressed against the needle core. The friction core pulling assembly can be driven forward and reverse, and is driven by The friction force generated by the compression realizes the extraction and insertion of the needle core; the core pulling mechanism is equipped with a position measuring device, and the displacement measuring device can measure the actual displacement of the needle core, thereby accurately controlling the needle core to not completely move from the friction The core pulling assembly is pulled out to facilitate the extraction and insertion of the needle core. The displacement measuring device includes a measuring wheel pressed against the needle core and an angle sensor used to measure the rotation angle of the measuring wheel. When the needle core moves forward and backward, it will drive The measuring wheel rotates, thereby converting the actual displacement of the needle core based on the measured value of the angle sensor.

Preferably, the tail of the needle core is provided with a stop step, and the insertion core mechanism achieves precise positioning of the needle core through the limiting effect of the stop step of the needle core and the inlet end face of the delivery catheter, so that the front end of the needle core Reach the front end of the puncture needle without continuing to expose it forward;

The insertion core mechanism is provided with a position measurement device. The displacement measurement device can measure the actual displacement of the needle core. When the displacement measurement device detects that the needle core is inserted into the delivery catheter and is in place, the insertion core mechanism is controlled to stop. .

Preferably, the radioactive source implantation device includes a main body, a push rod driving mechanism and a radioactive source feeding part. The push rod driving mechanism is provided on the main body. The push rod output channel is connected to the push rod driving mechanism. The push rod driving mechanism drives the push rod to move forward and backward along the push rod output channel. The radioactive source feeding part is used to set the radioactive source at the front end of the push rod. The push rod can push the radioactive source until it is implanted at the target position; The radioactive source supply part is a cutting mechanism. At this time, the push rod itself is a particle chain or a particle chain sleeve, or the front half of the push rod is a particle chain or a particle chain sleeve that can be cut off by the cutting mechanism. The rear part of the push rod is a particle chain or a particle chain sleeve that can be cut off by the cutting mechanism. The half part is the push rod wire. The particle chain or particle chain casing of the target length is cut off from the front end of the push rod through the cutting mechanism, thereby realizing the supply of the particle chain or particle chain casing; when the particle chain or particle chain casing is cut off, the particle chain is cut off. When casing, the radioactive source supply part also includes a particle embedding mechanism, which can enable particles and/or spacer rods to be embedded into the particle chain casing from one end or side of the particle chain casing, thereby forming a Complete particle chain; the cutting mechanism is set at any place in the push rod output channel;

Alternatively, the radioactive source feeding part adopts a magazine to feed the material, the radioactive source feeding part is directly arranged in the push rod output channel, and the particles or prefabricated particle chain or particle chain casing are installed in the ammunition storage tank in the magazine. Or in the bomb storage hole, the particles or prefabricated particle chain or particle chain sleeve are placed at the front end of the push rod through the magazine feeding mechanism installed on the magazine; when the magazine is provided with When it is a particle chain casing, the radioactive source supply part also includes a particle embedding mechanism. The particle embedding mechanism can embed particles or/and spacer rods into the particle chain casing from one end or side of the particle chain casing, thereby Form a complete particle chain;

Alternatively, the radioactive source supply part adopts a particle chain to supply material. The radioactive source supply part includes a particle chain driving mechanism, a particle chain output channel, and a cutting mechanism, and continuously outputs the particle chain or particle chain sleeve through the particle chain driving mechanism. The particle chain or particle chain casing of the target length is cut off by the cutting mechanism to realize the supply of the particle chain or particle chain casing. When the particle chain driving mechanism outputs the particle chain casing, the radiation The source supply part also includes a particle embedding mechanism, which can enable particles and/or spacer rods to be embedded into the particle chain casing from one end or side of the particle chain casing, thereby forming a complete particle chain; The particle chain driving mechanism is connected to the particle chain output channel. The particle chain output channel is a rigid structure or a flexible bendable structure. The severed particle chain is set in front of the push rod through docking with a bifurcated tube or a moving platform.

beneficial effects

Therefore, the present invention has the following beneficial effects: The present invention uses the first movement platform to realize relative movement between the connector and the push rod output channel, thereby realizing rapid movement between multiple puncture channels, radioactive source implantation devices and core extraction mechanisms. Switch to achieve multi-channel core removal and implantation.

In the present invention, the needle core extends from the delivery catheter into the puncture needle, so that the space in the puncture needle is filled with the needle core before and after implantation to avoid blood influx into the puncture needle and solidification causing blockage. The needle core is pulled out from the delivery catheter and puncture needle to form a hollow implantation channel. After the implantation is completed, the needle core is sent into the puncture needle along the delivery catheter and passes through the stopper. The step or position detection device prevents the front end of the needle core from being exposed forward after reaching the front end of the puncture needle, thereby avoiding injury to biological tissue.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the radioactive source implantation system of the present invention;

Figure 2 is a schematic diagram of the installation structure of the core pulling mechanism in the present invention;

Figure 3 is a schematic structural diagram of the first connection part in the present invention;

Figure 4 is one of the structural schematic diagrams of the radioactive source implantation device in the present invention;

Figure 5 is the second structural schematic diagram of the radioactive source implantation device in the present invention;

Figure 6 is a schematic diagram of the overall structure of the friction wheel or friction belt core pulling assembly in Embodiment 2 of the present invention;

Figure 7 is a schematic diagram of the internal structure of the friction wheel or friction belt core pulling assembly in Embodiment 2 of the present invention;

Figure 8 is a schematic structural diagram of the rear side of the friction wheel or friction belt core pulling assembly in Embodiment 2 of the present invention;

Figure 9 is a schematic diagram of the core pulling mechanism (installation sleeve) of Embodiment 2 of the present invention;

Figure 10 is a cross-sectional view of the core pulling mechanism and the casing position in Figure 9;

Figure 11 is one of the schematic diagrams of the working principle of the core pulling mechanism in Embodiment 2 of the present invention;

Figure 12 is a second schematic diagram of the working principle of the core pulling mechanism in Embodiment 2 of the present invention;

Figure 13 is a schematic three-dimensional structural diagram of Embodiment 3 of the present invention;

Figure 14 is a schematic structural diagram of the core pulling mechanism and the needle core storage mechanism in the third embodiment of the present invention;

Figure 15 is a schematic diagram of the state when the needle core is stored in Embodiment 3 of the present invention;

Figure 16 is a partial cross-sectional view of the core pulling mechanism and needle core storage mechanism in Embodiment 3 of the present invention;

Figure 17 is a schematic structural diagram of Embodiment 4 of the present invention;

Figure 18 is the second structural schematic diagram of Embodiment 5 of the present invention;

Figure 19 is the second structural schematic diagram of Embodiment 5 of the present invention;

Figure 20 is a schematic structural diagram excluding the first movement platform and the first core pulling mechanism according to Embodiment 5 of the present invention;

Figure 21 is a front view of Figure 20;

Figure 22 is a partial enlarged view of Figure 21;

Figure 23 is a schematic structural diagram of the connection between the delivery catheter and the puncture needle in Embodiment 5 of the present invention;

Figure 24 is a schematic structural diagram of Embodiment 6 of the present invention;

Figure 25 is an internal cross-sectional view of the particle chain cartridge according to Embodiment 6 of the present invention;

Figure 26 is a schematic structural diagram of Embodiment 7 of the present invention;

Figure 27 is a top view of Embodiment 7 of the present invention;

Figure 28 is a schematic diagram of the cutting mechanism, particle chain driving mechanism and flexible push rod driving mechanism in Embodiment 7 of the present invention;

Figure 29 is a schematic structural diagram of the cutting mechanism in Embodiment 7 of the present invention;

Figure 30 is a schematic structural diagram of the particle chain when it is pushed out according to Embodiment 7 of the present invention. .

Specific and best implementation methods

In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "inner", The orientation or positional relationship indicated by "outside" is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation. Constructed and operated in specific orientations and therefore not to be construed as limitations of the invention.

Embodiment 1

As shown in Figures 1 and 2: a multi-channel radioactive source implantation system with a core pulling mechanism, including a first connection part 124, a first movement platform 12, a radioactive source implantation device 14 and a core pulling mechanism 10. The source implantation device 14 includes a push rod 1301 and a push rod output channel 13. The push rod output channel 13 can be used to guide the push rod 1301 to move forward and backward. The push rod 1301 pushes the radioactive source arranged in front of the push rod 1301 along the push rod. The output channel 13 outputs the output. The first connection part 124 and one end of the push rod output channel 13 are respectively installed on both sides of the first movement platform 12. The core pulling mechanism 10 and one end of the push rod output channel 13 are arranged side by side on the first movement platform. On the same side of 12, the first movement platform 12 drives the first connection part 124 and one end of the push rod output channel 13 to move relative in space to realize multi-channel implantation; the first movement platform 12 drives the first connection part 124 and the core extraction The mechanism 10 moves relatively in space to realize multi-channel core pulling.

Preferably, the push rod output channel 13 is a bendable flexible structure, the push rod 1301 is a bendable flexible push rod, and the flexible push rod is an elastic filamentous structure that can be bent under the action of external force and cancel the external force. The material of the flexible push rod is one or more combinations of nickel-titanium alloy, spring steel, elastomer materials, and composite materials; the length of the flexible push rod is greater than 300mm, and the delivery conduit 15 is a flexible delivery conduit. Needle cores 6-7 are elastic filamentous results that can be bent under the action of external force and can return to a straight state after the external force is removed. The materials of the flexible needle core are nickel-titanium alloys, spring steel, elastomer materials, and composite materials. One or more combinations of; the length of the flexible needle core is greater than 300mm.

Preferably, the first connecting part 124 is connected to the connecting piece 11. The connecting piece 11 is provided with a plurality of connecting holes 111. The connecting holes 111 are provided with a quick connection structure for connecting to one end of the delivery conduit 15. The quick connecting structure is: One or more combinations of a threaded connection, a snap connection, and a lock connection. The other end of the delivery catheter 15 is connected to the puncture needle 16 or is provided with a quick connector for connecting to the puncture needle 16. The quick connector The puncture needle 16 is fixedly connected with one or more combinations of threads, locks, and adhesives. The delivery catheter 15 is provided with a needle core 6-7, and the needle core 6-7 extends along the delivery catheter 15, and The space in the puncture needle 16 connected to the front end of the delivery catheter 15 is filled to prevent the blood from pouring into the puncture needle 16 and solidifying to form a blockage. The tail of the needle core 6-7 extends a short section from the tail of the delivery catheter 15 and connects from the connection hole 111 Extending from the other side, the core pulling mechanism 10 can dock with the tail of the needle core 6-7 in the delivery catheter 15, and pull out the needle core 6-7, and pull the needle core 6-7 out of the delivery catheter 15. out, thereby forming a hollow implantation channel;

The first connection part 124 is one or more combinations of an adhesive connection part, a welding connection part, a threaded connection part, a snap connection part, and a lock connection part.

Preferably, the core pulling mechanism 10 adopts a friction core pulling assembly. A part of the friction core pulling assembly is pressed against the needle core 6-7. The friction force generated by the compression pulls out the needle core 6-7. The friction core pulling assembly It is one or more combinations of friction wheels, friction belts, and reciprocating clamping components; the friction wheel assembly or the friction belt assembly is provided with one or more sets of friction wheels or friction belts, and the needle cores 6-7 are connected to the friction wheels or friction belts. One side is close, and the needle core 6-7 is driven to be pulled out by the rotational motion of the friction wheel or the cyclic motion of the friction belt; the reciprocating clamping assembly includes a reciprocating assembly and a clamping assembly, and the clamping assembly is arranged on the reciprocating assembly and can Driven by the reciprocating component, it reciprocates along a certain trajectory. The clamping component can clamp the needle core 6-7 and pull out the needle core when driven by the reciprocating component in the direction of core extraction. When the assembly is driven in the opposite direction, pins 6-7 are released and reset.

Preferably, the first movement platform 12 drives the connecting piece 11 and one end of the push rod output channel 13 to move relative to each other in space, so that one end of the push rod output channel 13 is connected with the connection hole 111, thereby transferring the radiation source from the connection hole to the connection hole. The delivery conduit 15 connected with 111 is outputted, and the first movement platform 12 is in one of the following ways:

A. The connecting piece 11 moves, and one end of the push rod output channel 13 is stationary; B. The connecting piece 11 is stationary, and one end of the push rod output channel 13 moves; C. The connecting piece 11 moves, and one end of the push rod output channel 13 moves;

The first movement platform 12 is used to realize relative movement of at least two degrees of freedom between the connecting piece 11 and one end of the push rod output channel 13. The relative movement mode is one of the following ways:

A. The connecting piece 11 is fixed, and one end of the push rod output channel 13 moves forward and backward in a linear motion and in a plane; B. The connecting piece 11 moves forward and backward in a linear motion, and one end of the push rod output channel 13 moves in a plane. movement; C. The connecting piece 11 moves in a plane, and one end of the push rod output channel 13 moves forward and backward; D. The connecting piece 11 moves forward and backward in a linear motion and moves in a plane, and one end of the push rod output channel 13 immobile; immobile;

Movement in a plane is a type of single-joint rotational motion, single-joint rotational motion combined with radial linear motion, double-joint rotational motion, or XY-axis linear motion;

The first motion platform 12 includes a forward and backward motion module, a rotary motion module and a radial motion module. The first motion platform 12 realizes three motions of one end of the push rod output channel in the space through rotation motion in one direction and linear motion in two directions. freedom of movement;

Alternatively, the first motion platform 12 includes a forward and backward motion module, a left and right motion module and an up and down motion module. The first motion platform 12 realizes the motion of one end of the push rod output channel 13 in three degrees of freedom in space through linear motion in three directions. ; Alternatively, the first motion platform 12 is a multi-joint mechanical arm, which can drive one end of the push rod output channel 13 to freely move and position in a three-dimensional space.

As shown in Figures 1 to 3, this embodiment uses the first movement platform 12 to include a forward and backward movement module, a rotational movement module and a radial movement module. The first movement platform 12 uses rotational movement in one direction and linear movement in two directions. The movement of one end of the push rod output channel 13 in three degrees of freedom in space is realized. Specifically: one end of the push rod output channel 13 close to the connector is also connected to a particle implantation joint. The first movement platform 12 includes a forward and backward movement module 121, a rotational movement module 122 and a radial movement module 123. The forward and backward movement module 121 is used for particle implantation. The forward and backward movement of the implant joint; the rotational movement module 122 is used to realize the rotation of the particle implant joint in a plane; the radial movement module 123 is used to realize the rotation of the particle implant joint in the rotation plane with the rotation center as the center of the circle along the diameter or Movement in the direction of the radius, because there are many specific driving methods for the forward and backward motion module 121, the rotary motion module 122 and the radial motion module 123, such as direct motor drive, rack and pinion drive, synchronous belt drive or drive through screw rod and nut. etc., so they are not introduced in detail in this article.

Preferably, the first movement platform 12 is provided with a first forward and backward movement mechanism and a second forward and backward movement mechanism, respectively used for the forward and backward docking movement of the core pulling mechanism 10 and one end of the push rod output channel 13. First, the core pulling mechanism 10 Connect with the tail of the needle core 6-7 in a delivery catheter 15 on the connector 11, and extract the needle core 6-7. After the core removal is completed, a new implantation channel is established. On the first movement platform 12 The push rod output channel 13 is connected to the delivery catheter 15 under the drive, and then the implantation is performed through the newly established implantation channel.

Preferably, the needle core storage mechanism is also included. The needle core storage mechanism is used to store the needle core 6-7 pulled out from the core pulling mechanism 10. The needle core storage mechanism is provided at the rear end of the core pulling mechanism 10. When the needle core 6-7 When 7 is output from the rear end of the core pulling mechanism 10, the needle core storage mechanism dynamically stores the needle core accordingly; alternatively, the needle core storage mechanism is a part of the core pulling mechanism 10 and completes the storage of the needle cores 6-7 while pulling out the core. ; The needle core storage mechanism is a wheel-type storage mechanism or a sleeve. The wheel-type storage mechanism includes a storage wheel, and the needle cores 6-7 are wound on the inside or outside of the storage wheel as the storage wheel rotates.

Preferably, the wheel-type storage mechanism adopts a reel assembly. The reel assembly includes a storage wheel and a storage wheel driving mechanism. The storage wheel driving mechanism drives the storage wheel to rotate, so that the needle core is wound on the outer surface of the storage wheel or the storage wheel. outside surface;

Alternatively, the wheel storage mechanism adopts a concave storage wheel. The concave storage wheel has an internal concave structure and is provided with an opening on the side. The needle core extends into the concave storage wheel from the side opening. The concave storage wheel can It is freely rotating or actively rotatable and is arranged behind the core pulling mechanism, and the needle core is automatically wound inside the concave storage wheel under the combined action of the needle core's own elasticity, the core pulling mechanism and the concave storage wheel. within the recessed area;

Preferably, the casing is any one of a straight casing, a spiral casing, and a film-type casing, and the material of the casing is one or more combinations of metal, plastic, rubber, latex, silicone, or elastomer materials; There is a lubricant in the casing to facilitate the smooth insertion of the needle core, or the inner surface of the casing can be evenly coated with grease or a lubricating coating can be used on the inner surface of the casing to achieve lubrication, and the lubricating coating material is Teflon; The inlet end of the casing is provided with an elastic telescopic section, which can be shortened under the action of squeezing force, and can automatically extend and reset after the squeezing force is released.

Preferably, it also includes a core insertion mechanism, which can send the needle core 6-7 into the puncture needle 16 along the delivery catheter 15, thereby filling the space in the puncture needle 16 and preventing blood from influxing into the puncture needle 16 and coagulating. causing blockage; or the core pulling mechanism is the core inserting mechanism. The core pulling mechanism adopts a friction core pulling assembly. By pressing a part of the friction core pulling assembly with the needle core 6-7, the friction core pulling assembly can be driven forward and reverse, and through The friction force generated by the compression realizes the extraction and insertion of the needle core 6-7; the core pulling mechanism is equipped with a position measuring device, and the displacement measuring device can measure the actual displacement of the needle core, thereby accurately controlling the needle core not to be completely pulled out by friction. The displacement measuring device includes a measuring wheel pressed against the needle core and an angle sensor used to measure the rotation angle of the measuring wheel. When the needle core moves forward and backward, the measurement will be driven. The wheel rotates to convert the actual displacement of the needle core based on the measurement value of the angle sensor.

Preferably, the tail of the needle core 6-7 is provided with a stop step, and the insert mechanism achieves precise positioning of the needle core 6-7 through the limiting effect of the stop step of the needle core 6-7 and the inlet end face of the delivery catheter 15. , so that the front end of the needle core 6-7 reaches the front end of the puncture needle 16 without continuing to be exposed forward;

The insertion core mechanism is provided with a position measuring device. The displacement measurement device can measure the actual displacement of the needle core 6-7. When the displacement measurement device detects that the needle core 6-7 is inserted into the delivery catheter 15 and is in place, the insertion core mechanism is controlled to stop. The position measurement device has a similar structure to the position detection device in the core pulling mechanism, so it will not be introduced in detail in this article.

The core inserting mechanism can be the same mechanism as the core pulling mechanism. As long as the forward and reverse operation is controlled, core inserting or core pulling can be realized. Of course, the core inserting mechanism can be set independently from the core pulling mechanism, and the core inserting or core pulling mechanism can be controlled independently. The specific structure can be similar to the core pulling mechanism, for example, one or more combinations of friction wheels, friction belts, and reciprocating clamping components are used; the friction wheel assembly or friction belt assembly is provided with one or more sets of friction wheels or friction belts, and the needle The core is in close contact with one side of the friction wheel or friction belt, and the insertion of the needle core is driven by the rotation of the friction wheel or the cyclic motion of the friction belt; the reciprocating clamping component includes a reciprocating component and a clamping component, and the clamping component is arranged in the reciprocating motion The assembly can reciprocate along a certain trajectory driven by the reciprocating assembly. The clamping assembly can clamp the needle core and insert the needle core when driven by the reciprocating assembly in the direction of the ferrule. Reset by releasing the needle core when driving in the opposite direction. Alternatively, the ferrule mechanism may also adopt other structures, which are not specifically introduced in this article.

Preferably, as shown in Figures 4 and 5: the radioactive source implantation device 14 includes a main body 1401, a push rod driving mechanism and a radioactive source feeding part 1402. The push rod driving mechanism is provided on the main body 1401, and the push rod output channel 13 is connected to the main body 1401. The push rod driving mechanism is connected. The push rod driving mechanism drives the push rod 1301 to move forward and backward along the push rod output channel 13. The radioactive source feeding part 1402 is used to set the radioactive source at the front end of the push rod 1301. The push rod 1301 can push the radioactive source all the way. Implanted into the target location;

The push rod driving mechanism adopts a friction drive component. A part of the friction drive component is pressed against the push rod 1301, and the push rod 1301 is driven by the friction force generated by the compression. The friction drive component is a friction wheel, a friction belt, and a reciprocating clamp. One or more combinations of components; the specific method of using friction wheels is: including an active friction wheel 1403, a pressing friction wheel 1404 and a rewinding wheel 1405. The active friction wheel 1403 and the pressing friction wheel 1404 cooperate to clamp the push rod. 1301 and drives it to move forward and backward, and the push rod 1301 is stored in the rewinding wheel 1405.

Preferably, the radioactive source is a particle or a particle chain. The particle chain is a strip containing radioactive material. The particle chain includes particles and a spacer rod. Two adjacent particles directly offset each other or are separated by a spacer rod. The spacer rod is made of the human body. Made of degradable materials; alternatively, the particle chain includes particles and a particle chain sleeve, a plurality of the particles are arranged close to each other or at intervals in the particle chain sleeve, and the particle chain sleeve is a closed tubular or side-slotted The open tubular shape of the particle chain casing is an overall continuous long tube, or a short tube that only connects two adjacent particles; the interior of the particle chain casing is a through structure or there is a structure inside the particle chain casing for axial positioning of the particles. partitions; the particles and the spacer rods are connected by adhesive or directly offset, or a particle chain sleeve is set outside the particles and the spacer rod, and the particle chain sleeve fixes the relative position of the particles or/and the spacer rod; the particle chain sleeve The tube is made of human body degradable materials; the human body degradable materials are one or more combinations of collagen, high molecular polymers, gelatin, alginate, and polyester degradable materials.

Preferably, the radioactive source supply part is a cutting mechanism. In this case, the push rod itself is a particle chain or a particle chain sleeve, or the front half of the push rod is a particle chain or a particle chain sleeve that can be cut off by the cutting mechanism. The second half is the push rod wire. The particle chain or particle chain casing of the target length is cut off from the front end of the push rod through the cutting mechanism, thereby realizing the supply of the particle chain or particle chain casing; when the particles are cut off When chain casing, the radioactive source supply part also includes a particle embedding mechanism. The particle embedding mechanism can embed particles or/and spacer rods into the particle chain casing from one end or side of the particle chain casing, thereby forming a complete particle chain. chain; the cutting mechanism is set anywhere in the push rod output channel;

Alternatively, the radioactive source supply part uses a magazine to feed the material. The radioactive source feed part is directly arranged in the push rod output channel, and the particles or prefabricated particle chains or particle chain sleeves are installed in the ammunition storage tank or storage tank in the magazine. In the bullet hole, the particles or prefabricated particle chain or particle chain sleeve are placed at the front end of the push rod through the magazine feeding mechanism installed on the magazine; when the particle chain sleeve is installed in the magazine When tube is connected, the radioactive source supply part also includes a particle embedding mechanism. The particle embedding mechanism can embed particles or/and spacer rods into the particle chain casing from one end or side of the particle chain casing, thereby forming a complete particle chain;

Alternatively, the radioactive source supply part adopts particle chain supply. The radioactive source supply part includes a particle chain driving mechanism, a particle chain output channel, and a cutting mechanism, and continuously outputs the particle chain or particle chain casing through the particle chain driving mechanism and cuts it off. The mechanism cuts the particle chain or particle chain casing of the target length to realize the supply of the particle chain or particle chain casing. When the particle chain driving mechanism outputs the particle chain casing, the radioactive source feeding part also includes particle embedding Mechanism, the particle embedding mechanism can embed particles or/and spacer rods into the particle chain casing from one end or side of the particle chain casing, thereby forming a complete particle chain; the particle chain driving mechanism is connected to the particle chain output channel, and the particles The chain output channel is a rigid structure or a flexible bendable structure, and the severed particle chain is set in front of the push rod through bifurcated tubes or motion platform docking.

Embodiment 2

As shown in Figures 2, 6, 7, and 8, the core pulling mechanism 10 and the connector 11 are installed on both sides of the first movement platform 12, and one end of a plurality of delivery catheters 15 with needle cores 6-7 is installed on On the connecting piece 11, the tails of the needle cores 6-7 are exposed from the other end of the connecting piece 11. The relative movement of the core pulling mechanism 10 and the connecting piece 11 in space is realized through the first movement platform 12. Adjusting the core pulling mechanism 10 is different from that of the connecting piece 11. The position and/or spacing between the tails of the delivery catheters 15, the core pulling mechanism 10 automatically docks with the needle cores 6-7, so that the core pulling mechanism 10 can dock with the tails of different delivery catheters 15 one by one and transfer the delivery catheter 15 The needle cores 6-7 inside are extracted to realize multi-channel core pulling; the needle core storage mechanism is a casing, and the front and rear movement modules of the first movement platform 12 can change the relative distance between the core pulling mechanism 10 and the casing. The front and rear movement modules Feeding forward, the core pulling mechanism 10 is docked with the needle core 6-7. The core pulling mechanism 10 pulls out the needle core 6-7 and sends it into the casing. During the process of pulling out the needle core 6-7, the forward and backward motion module moves forward. Feed backward until the needle core 6-7 is completely pulled out, and then the forward and backward movement module feeds forward again. Since most of the needle core 6-7 stays in the casing at this time, the friction between the needle core and the casing is affected. When the needle core 6-7 is pulled out, the front end of the extracted needle core 6-7 will be separated from the tail end outlet of the core pulling mechanism 10, thereby preventing the newly extracted needle core 6-7 from blocking the core pulling mechanism 10, and facilitating the realization of multiple needle cores in sequence. of pulling out.

The core-pulling mechanism adopts a friction wheel or a friction belt core-pulling assembly. The friction wheel or friction belt core-pulling assembly includes multiple friction wheels 101 or multiple friction belts. There are moving passages 102 between the friction wheels 101 or between the friction belts. 101 or the friction belt contacts the needle core in the delivery catheter, driving the needle core to move in the moving passage 102; thereby extracting the entire needle core from the delivery catheter.

As shown in Figures 6-8, the position measurement assembly includes one or more measuring wheels 103. The measuring wheels 103 are arranged on one side of the moving passage 102. The measuring wheels 103 are used to measure the movement amount of the needle core when moving in the moving passage 102. The needle core is in contact with the outer circular surface of the measuring wheel. When the needle core passes through the side of the measuring wheel 103, it will drive the measuring wheel 103 to rotate; the position measurement component also includes a travel switch, which is a conductive travel switch and uses the needle core itself. It is the characteristic of the conductor. It determines the position of the needle core based on the conductive continuity, including the elastic contact or elastic needle. Or the travel switch is a mechanical switch, photoelectric switch, or Hall switch.

A transmission mechanism is provided between the plurality of friction wheels 101 or between the plurality of friction belts to ensure that the plurality of friction wheels 101 or the plurality of friction belts rotate synchronously to achieve smooth driving of the needle core. The transmission mechanism adopts belt drive and gear. One or more combinations of transmission, chain transmission, and friction wheel transmission.

One end of the first friction wheel 101-1 is connected to the first gear 104-1, the second friction wheel 101-2 is provided below the first friction wheel 101-1, and one end of the second friction wheel 101-2 is connected to the second gear 104-1. Gear 104-2, the first gear 104-1 meshes with the second gear 104-2, the other end of the second friction wheel 101-2 is connected with the first pulley 105-1, and one end of the third friction wheel 101-3 is connected with The third gear 104-3 and the fourth friction wheel 101-4 are arranged below the third friction wheel 101-3. One end of the fourth friction wheel 101-4 is connected with the fourth gear 104-4 and the third gear 104-3. It meshes with the fourth gear 104-4. The other end of the fourth friction wheel 101-4 is connected to the second pulley 105-2. The first pulley 105-1 and the second pulley 105-2 are connected by the first belt 106-1. connection, a second measurement wheel 103-2 is provided below the first measurement wheel 103-1, and an encoder 107 is connected to one end of the second measurement wheel 103-2. A first motor 109 is also provided on the side of the housing 108. The output end of the first motor 109 and the second pulley 105-2 are connected through a second belt 106-2.

The friction core pulling mechanism also includes a reciprocating motion mechanism, a toggle mechanism, or an active storage mechanism. The needle core is separated from the core pulling channel of the core pulling mechanism through the reciprocating motion mechanism, toggle mechanism, or active storage mechanism, and the core pulling mechanism is separated from the core pulling mechanism. The core channel is cleared to avoid clogging problems when storing multiple cores. The reciprocating mechanism changes the distance between the needle core storage mechanism and the core pulling mechanism. A spring tube component is provided at the entrance of the needle core storage mechanism, which can guide the needle core to smoothly enter the needle core storage mechanism. When the distance between the storage mechanism and the core pulling mechanism is shortened, the spring tube component can be compressed;

The movement form of the reciprocating motion mechanism is: A. The core pulling mechanism is driven to move forward and backward, and the needle core storage mechanism remains fixed; B. The core pulling mechanism remains fixed, and the needle core storage mechanism is driven to move forward and backward; the reciprocating motion mechanism is a screw nut mechanism , one or a combination of rack and pinion mechanism, belt transmission mechanism, pneumatic push rod, and hydraulic push rod.

As shown in Figure 9-12, the reciprocating mechanism changes the distance between the needle core storage mechanism and the core pulling mechanism. The needle core storage mechanism 6-1 is limited in the storage mechanism connection seat 6-2, and the storage mechanism connection seat 6- 2 is fixed on the motor connecting plate; the front end of the needle core storage mechanism 6-1 is equipped with a rear fixed ring 6-3, the rear of the core pulling mechanism is equipped with a front fixed ring 6-4, the rear fixed ring 6-3 and the front A spring 6-5 is fixedly connected between the fixed rings 6-4, and a flexible film 6-6 or a second flexible film 6-6 is installed between the rear fixed ring 6-3 and the front fixed ring 6-4 and located inside the spring 6-5. The second sleeve can be inserted into the needle core storage mechanism, or the needle core storage mechanism can be inserted into the second sleeve.

The front fixed ring 6-4 is located behind the core pulling mechanism 10. The core pulling mechanism 10 pulls out the needle core 6-7 from the needle plate and stores the needle core 6-7 through the storage device 6-1. The core pulling mechanism 10. During the core pulling process of moving backward, the entire core pulling mechanism 10 will be displaced in the rearward direction, pushing the front fixing ring 6-4 to move backward. When the collection of needle cores 6-7 is completed and ready for the second collection, the core pulling mechanism 10 will be displaced forward again, and at the same time, the front fixing ring 6-4 returns to its original position. Since most of the collected needle cores remain inside the storage device, they will be pulled out from the core pulling mechanism under the friction between them and the inner wall of the storage device. Detach from the core pulling channel, clear the core pulling channel of the core pulling mechanism, and leave space for the next core pulling collection to avoid clogging.

Embodiment 3

The friction-type core pulling mechanism also includes a reciprocating motion mechanism, a toggle mechanism, or an active storage mechanism. The needle core is separated from the core pulling channel of the core pulling mechanism through the reciprocating motion mechanism, toggle mechanism, or active storage mechanism, and the core pulling mechanism is The core pulling channel is cleared to avoid clogging when storing multiple cores.

As shown in Figure 13-16, the friction core pulling mechanism is an active storage mechanism. A second core pulling mechanism 40217401 is provided on the swing arm. A rotating shaft 40217408 is provided on the rear side of the second core pulling mechanism 40217401. The rotating shaft 40217408 Timing pulley B 40217404 will be installed. A synchronous pulley A 40217402 will be provided on the friction shaft 40217411 of the second core pulling mechanism 40217401. The synchronous pulley A 40217402 and the synchronous pulley B 40217404 are connected through a synchronous belt 40217403. The rotating shaft 40217408 is installed on the fixed plate A 40217412 and the fixed plate B 40217413 through the bearing 40217409. A storage wheel 40217405 is provided at the end of the rotating shaft 40217408, and an elastic cover 40217406 is provided on the surface of the storage wheel 40217405. The elastic cover 40217406 is a flexible component. A fixing nut 40217414 is provided on the rear side of the storage wheel 40217405 to lock the storage wheel 40217405. A guide tube 40217407 will be provided on the rear side of the second core pulling mechanism 40217401. The other end of the guide tube 40217407 extends into the inner groove of the storage wheel 40217405 through the gap between the elastic cover plate and the storage wheel.

Working principle of this embodiment; when the second core pulling mechanism 40217401 is working, the friction shaft 40217411 rotates, and the fixed synchronous pulley A 40217402 rotates and drives the synchronous pulley B 40217404 to rotate through the synchronous belt 40217403, so that the storage wheel 40217405 rotates synchronously.

When the second core pulling mechanism 40217401 pulls out the needle core 40217410, the needle core 40217410 is transported to the storage wheel 40217405 through the guide tube 40217407. Since the synchronous pulley A 40217402 and the synchronous pulley B 40217404 have a certain rotational speed ratio, the second core 40217410 can be made The needle core 40217410 pulled out by the second core pulling mechanism 40217401 is synchronously wound into the inside of the storage wheel 402174. After the needle core 40217410 is drawn in and leaves the friction wheel of the second core pulling mechanism 40217401, the second core pulling mechanism 40217401 will continue to work. The synchronous pulley transmits the rotational motion to rotate the storage wheel 40217405 to completely store the needle core 40217410 into the storage wheel 40217405, thereby completely pulling out the needle core from the core pulling channel in the core pulling mechanism to prepare for the extraction of the next needle core. Make space to avoid multi-core blockage. After completing the storage of needle core 40217410 multiple times, you can remove the fixing nut 40217414 and take out the storage wheel 40217405 separately for recycling.

Embodiment 4

As shown in Figure 17, this embodiment uses the first movement platform to realize the movement of one end of the push rod output channel and/or the connector in three degrees of freedom in space through linear motion in three directions; the first movement platform 12 is composed of It consists of three parts: front and rear movement module, left and right movement module and up and down movement module, realizing three degrees of freedom of movement. Specifically: a particle gun three-axis robot, including an up and down movement module 1, a left and right movement module 2, a front and rear movement module 3, a particle guidance module 4, a particle implant gun 5, a surgical robot flange 6, and an up and down movement module 1. It is used to realize the up and down movement of the particle gun; the left and right movement module 2 is used to realize the left and right movement of the particle gun; the forward and backward movement module 3 is used for the forward and backward movement of the push rod output channel of the particle gun 5 and the core pulling mechanism (not shown in the figure); The particle guide module 4 is used to guide and fix the particle transport pipeline; the particle gun 5 is used to transport particles; the surgical robot flange 6 is used to connect with the surgical robot. Due to the up and down movement module 1, the left and right movement module 2 and the forward and backward movement module 3 There are many specific driving methods, such as direct motor drive, rack and pinion drive, synchronous belt drive or screw and nut drive, etc., so they will not be introduced in detail in this article.

Embodiment 5

The radioactive source supply part is a cutting mechanism. At this time, the push rod itself is a particle chain or particle chain sleeve, or the front half of the push rod is a particle chain or particle chain sleeve that can be cut off by the cutting mechanism, and the second half of the push rod is For the push rod wire, the particle chain or particle chain casing of the target length is cut off from the front end of the push rod through the cutting mechanism, thereby realizing the supply of the particle chain or particle chain casing; when the particle chain casing is cut off, When the radioactive source supply part also includes a particle embedding mechanism, the particle embedding mechanism can embed particles or/and spacer rods into the particle chain casing from one end or side of the particle chain casing, thereby forming a complete particle chain; cut off The mechanism is set anywhere in the push rod output channel.

As shown in Figure 18-23, this embodiment can automatically switch the implantation channel. The radioactive source supply part uses a cutting mechanism to feed the material. At this time, the push rod itself is a particle chain or a particle chain casing, and then the particles are cut out through the cutting mechanism. The chain or particle chain casing is cut off to realize the feeding. When the particle chain casing is cut off, the radioactive source supply part also includes a particle embedding mechanism. The particle embedding mechanism can make the particles or/and spacer rods escape from the particle chain casing. One end or side of the particle chain is embedded in the particle chain casing to form a complete particle chain; the first movement platform is the first swing arm mechanism.

Including the first core pulling mechanism 18122101, the first swing arm mechanism 18122102, the pushing mechanism 18122103, the first docking plate 18122104, the first docking hole 18122105, the storage box 18122106, the conveying mechanism 18122107, the cutting knife 18122108, the link mechanism 18122109, and the motor A18122110 , docking movement seat 18122121, docking rod 18122122, particle chain 18122127, spacer rod 18122126, delivery catheter 15, puncture needle 16.

Its working principle is: a conveying mechanism 18122107 will be set on the pushing mechanism 18122103 of the first swivel arm mechanism 18122102, and a storage box 18122106 will be set at the end of the conveying mechanism 18122107. The storage box is used to store the particle chain 18122127, and will be set at the front end of the conveying mechanism. The docking rod 18122122 is fixed on the docking movement seat 18122121. There will be a slot on the rear side of the docking rod 18122122. The motor A 18122110 will be installed on the docking movement seat 18122121. The motor A 18122110 is fixed with the link mechanism 18122109. The rod mechanism 18122109 will be connected with the cutting knife 18122108, and the cutting knife 18122108 is arranged at the slot of the docking rod 18122122.

During the puncture operation, the first rotary arm mechanism 18122102 will first dock the first core pulling mechanism 18122101 with the first docking hole 18122105, thereby controlling the first core pulling mechanism 18122101 to pull out the needle core inside the delivery catheter, and then the first rotary arm mechanism 18122102 works to make the docking rod 18122122 match the first docking hole 18122105, and the push-out mechanism 18122103 pushes out the docking rod 18122122 so that it can dock with the first docking hole 18122105. The conveying mechanism 18122107 pushes out the particle chain 18122127 inside the storage box 18122106. The particle chain 18122127 is mainly composed of particles and spacer rods 18122126. After pushing out the particle chain 18122127 of the target length, the motor A 18122110 rotates and drives the linkage mechanism 18122109 to work, and the cutting knife 18122108 Rotate and cut off the spacer rod 18122126 position of the particle chain 18122127 inside the docking rod 18122122. Then the motor A 18122110 works to restore the cutting knife 18122108 to the starting position. The conveying mechanism 18122107 pushes out the particle chain 18122127 and pushes the particle chain 18122127 that has been cut off at the front end through the conveyor. The catheter and the puncture needle 16 connected to it are transported to the inside of the organism, and at the same time, the needle pulling operation is performed through an external needle pulling mechanism. While the needle is being pulled out, the delivery mechanism 18122107 will simultaneously push out the particle chain 18122127. After the needle pulling is completed, it will be cut off. The particle chain 18122127 will stay at the human lesion and complete the implantation work.

Embodiment 6

As shown in Figure 24-25, the radioactive source feeding part uses a magazine to feed the material. The radioactive source feeding part is directly set in the push rod output channel. The particles or prefabricated particle chain or particle chain casing are installed in the magazine. In the magazine storage slot or hole, the particles or prefabricated particle chain or particle chain sleeve are placed on the front end of the push rod through the magazine feeding mechanism installed on the magazine; when the magazine is in When a particle chain casing is provided, the radioactive source supply part also includes a particle embedding mechanism. The particle embedding mechanism can embed particles or/and spacer rods into the particle chain casing from one end or side of the particle chain casing, thereby forming a A complete particle chain.

It also includes a first movement platform (such as the swing arm mechanism in the first embodiment) and a connecting piece. One end of the plurality of delivery conduits is installed on the connecting piece; one end of the push rod output channel is installed on the first movement platform, and the first The motion platform is used to realize the relative movement in space between one end of the push rod output channel or one end of the mixing output channel and the connecting piece, so that the push rod output channel or the mixing output channel is connected with any delivery conduit on the connecting piece to form particles or particles. The delivery channel of the chain enables multi-channel implantation.

The first motion platform is one of the following methods: A. The connecting piece moves, and one end of the push rod output channel is stationary; B. The connecting piece is stationary, and one end of the push rod output channel moves; C. The connecting piece moves, and the push rod output channel one end of the movement.

In this embodiment, the first motion platform is also called the second swing arm mechanism 2262202, the push rod output channel is the docking rod 2262210, the connecting piece is stationary, and one end of the push rod output channel moves.

A magazine holder 2262201 is provided on one side of the second swing arm mechanism 2262202, and a particle chain magazine 2262207 is provided in the magazine holder 2262201. A limit switch A 2262206 and a limit switch B 2262209 will be provided at both ends of the magazine seat 2262201. A plurality of first particle chains 2262208 will be provided in the particle chain magazine 2262207. The first particle chains 2262208 are composed of a plurality of radioactive particles and spacer rods arranged in sequence.

Before implantation, particle cartridges or particle chain cartridges 2262207 of different specifications will be selected according to the patient's needs. The second swivel arm mechanism 2262202 first controls the movement of the docking rod at the front end of the particle chain cartridge 2262207 to the second site that needs to be implanted. At the position of the docking hole 2262203, the other side of the second docking hole 2262203 will be connected to the puncture needle tube 2262204, and then the second swing arm mechanism 2262202 pushes out the docking rod 2262210 to cooperate with the second docking hole 2262203. The particle push rod 2262205 pushes out the particles or the first particle chain 2262208 in the particle magazine or particle chain magazine 2262207. The travel switch A 2262206 and travel switch B 2262209 inside the magazine holder 2262201 will detect the current position of the particle push rod 2262205 and check Whether it pushes out the particles or the first particle chain 2262208, the particles or the first particle chain 2262208 is pushed out and reaches the human body lesion through the puncture needle 2262204.

Embodiment 7

As shown in Figure 26-30, the radioactive source supply section adopts particle chain feeding. The radioactive source supply section includes a particle chain driving mechanism, a particle chain output channel, and a cutting mechanism, and continuously outputs particle chains or particles through the particle chain driving mechanism. chain casing and cuts the particle chain or particle chain casing of the target length through the cutting mechanism to realize the supply of the particle chain or particle chain casing. When the particle chain driving mechanism outputs the particle chain casing, the radioactive source supplies The material part also includes a particle embedding mechanism. The particle embedding mechanism can embed particles or/and spacer rods into the particle chain casing from one end or side of the particle chain casing, thereby forming a complete particle chain; the particle chain driving mechanism and the particles The chain output channel is connected. The particle chain output channel is a rigid structure or a flexible bendable structure. The cut particle chain is set in front of the push rod through bifurcated tubes or motion platform docking.

The push rod output channel and the particle chain output channel are merged into a single channel through the bifurcation tube. The first branch of the bifurcation tube is connected to the push rod output channel, and the second branch of the bifurcation tube is connected to the particle chain output channel. The main pipeline is connected to the mixing output channel, and the mixing output channel is connected to the delivery conduit. The mixing output channel is a rigid structure or a flexible and bendable structure.

When the particle or particle chain implantation device needs to be implanted, the particle chain of the target length that has been cut is transported to the main pipe of the bifurcation tube through the particle chain driving mechanism, and the particle chain driving mechanism withdraws the uncut particle chain from the bifurcation. The main pipe of the pipe, and then the push rod moves forward under the drive of the push rod driving mechanism and enters the main pipe of the bifurcated pipe, and moves forward together with the particle chain of the target length, and moves the particle chain along the conveying duct and is connected to the conveying pipe The puncture needle at the front end of the catheter is pushed all the way into the biological tissue to complete the implantation of the particle chain in one go.

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 is provided with multiple particle chain driving mechanisms that drive particle chains of different types or spacing rod lengths. Different particle chain driving mechanisms The particle chain output channel is connected to different branches of the bifurcated tube, thereby converging different types of particle chains cut at target lengths into the main pipeline, so that different types of particle chains can be set according to surgical needs and implanted into the living body through a push rod. within the organization.

The cutting mechanism is set at any place in the particle chain output channel, bifurcation tube, and mixing output channel.

The main pipe of the bifurcated pipe is equipped with a one-way check mechanism to prevent the reverse backflow of the particle chain. The one-way check mechanism is a damping block or an elastic check piece.

The cutting mechanism adopts one or more combinations of a guillotine-type cutting mechanism, a scissor-type cutting mechanism, and a circumferential cutting mechanism. The guillotine-type cutting mechanism uses a single-sided blade movement to complete cutting, and the scissor-type cutting mechanism uses two-sided blades facing each other at the same time. The movement completes cutting, and the circumferential cutting mechanism uses at least three blades to move toward the center point simultaneously to achieve cutting.

It also includes cutting off the power source, which is connected to the cutting mechanism through the cutting transmission mechanism, or the cutting power source is directly connected to the cutting mechanism, thereby transmitting the power to the cutting mechanism to complete the cutting action. The cutting transmission mechanism is a link mechanism, a wire One or more combinations of a lever nut mechanism, a gear mechanism, a belt transmission mechanism, and a cam mechanism. The cutting power source is one or more combinations of a motor, a pneumatic push rod, a pneumatic motor, a hydraulic push rod, and a hydraulic motor.

The third rotating arm mechanism 2026216 of this embodiment works to insert the docking nozzle 2026215 into the hole on the needle plate to complete docking with the implant channel 2026213. The second particle chain 202621 passes through the particle chain driving mechanism 202623, the travel switch C 2026212, and the travel switch The cooperation between D 202627, the travel switch E2026210 and the cutting mechanism 202622 is sent into the docking mouth 2026215 after being cut off, and the second flexible push rod 202624 moves forward through the flexible push rod driving mechanism 2026211 against the cut second particle chain 202621. Enter the human body forward to complete the particle implantation in one go.

The position of the cutting mechanism 202622 in this embodiment can also be placed at the docking nozzle (that is, after the pipes are converged), so that the second particle chain can be driven to the docking nozzle first, then cut off, and then withdrawn from the docking nozzle, and then Then change to the second flexible push rod to push the second particle chain.

The bifurcation tube can be replaced by a docking motion platform. First, dock the output channel of the particles or particle chain with the mixing output channel or delivery conduit, push the particles or particle chain into the mixing output channel or delivery conduit, and then output the push rod. The channel is connected with the mixing output channel or the delivery catheter, and pushes the particles or particle chains forward until they are implanted into the biological tissue.

Particle chain implantation process:

1: The third rotary arm mechanism 2026216 works (through the cooperation of a rotating component and two linear motion components) to insert the docking mouth 2026215 into the corresponding connection hole of the implant channel 2026213 of this implantation to complete the docking with the implant channel 2026213.

2: The second particle chain 202621 (a chain-like implant composed of particles and spacer rods) is sent into the sub-pipeline of the transportation pipeline 202625 through the particle chain driving mechanism 202623.

Three: After being transported to the specified length (Figure 28), it is cut off by the cutting mechanism 202622 (the travel switch C 2026212 marks the zero position, the travel switch D 202627 determines whether the second particle chain is used up, the cutting knife 202622-2 and the electric push rod 202622- 3 connection, when the electric push rod 202622-3 moves forward, it will drive the cutting knife 202622-2 forward together to complete the cutting. The cutting knife 202622-2 is provided with a guide post 202622-4 along the cutting direction to ensure that the cutting knife will not deviate from the cutting direction. See Figure 29 for directions).

Four: The particle chain driving mechanism 202623 continues to drive the second particle chain 202621 forward (since the cutting process will squeeze and deform the second particle chain 202621, in order to ensure that the second particle chain 202621 can continue to move forward after cutting, at the fracture There is a guide port 202622-5 for guidance, see Figure 29). After the cut second particle chain 202621 enters the front end of the docking nozzle, the second particle chain 202621 is recovered backward into the particle chain winding wheel 202628 (the front end of the docking nozzle is provided with There is damping 2026215-1 to prevent the position of the cut second particle chain from shifting when recycling the second particle chain, see Figure 30).

Five: The second flexible push rod 202624 moves forward through the flexible push rod driving mechanism 2026211 (detected and recorded by the travel switch E2026210) and merges into the main pipe from the branch pipe of the conveying pipe 202625 (the main pipe and the docking mouth are relatively fixed). The severed second particle chain 202621 enters the human body forward together to complete the particle implantation at one time, and then the second flexible push rod 202624 is recovered into the flexible push rod winding wheel 202629.

6: The third radial arm mechanism works again and inserts the docking nozzle into the corresponding connection hole of the next implantation channel to be implanted. Repeat the above implantation action until the implantation is completed. In order to save time, step 1 can be done in step 2 to step 4. The process is completed synchronously.

The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments without departing from the spirit or basics of the present invention. In the case of specific features, the present invention can be implemented in other specific forms. Therefore, the embodiments should be regarded as illustrative and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is therefore intended that all claims falling within the claims All changes within the meaning and scope of equivalent elements are included in the present invention. Any reference signs in the claims shall not be construed as limiting the claim in question.

In addition, it should be understood that although this specification is described in terms of implementations, not each implementation only contains an independent technical solution. This description of the specification is only for the sake of clarity, and those skilled in the art should take the specification as a whole. , the technical solutions in each embodiment can also be appropriately combined to form other implementations that can be understood by those skilled in the art.

Claims

A multi-channel radioactive source implantation system with a core-pulling mechanism, characterized in that it includes a first connection part, a first movement platform, a radioactive source implantation device and a core-pulling mechanism. The radioactive source implantation device includes a push rod and a core-pulling mechanism. The push rod output channel can be used to guide the push rod to move forward and backward. The push rod pushes the radioactive source arranged in front of the push rod and outputs it along the push rod output channel. The first connection part is connected to the push rod. One end of the rod output channel is installed on both sides of the first movement platform respectively. The core pulling mechanism and one end of the push rod output channel are arranged side by side on the same side of the first movement platform. The first movement platform drives the first connection part It moves relative to one end of the push rod output channel in space to realize multi-channel implantation; the first movement platform drives the first connecting part and the core pulling mechanism to move relative in space to realize multi-channel core pulling.
The multi-channel radioactive source implantation system with a core pulling mechanism according to claim 1, wherein the first connecting part is connected with a connecting piece, and the connecting piece is provided with a plurality of connecting holes. There is a quick connection structure for connecting to one end of the delivery catheter, and the other end of the delivery catheter is connected to a puncture needle or is provided with a quick connector for connecting to the puncture needle. The delivery catheter is equipped with a needle core, and the needle The tail of the core extends a short section from the tail of the delivery catheter and extends from the other side of the connecting hole. The core pulling mechanism is docked with the tail of the needle core in the delivery catheter to pull the needle core out of the delivery catheter. , thus forming a hollow implantation channel. The core pulling mechanism uses a friction core pulling assembly. A part of the friction core pulling assembly is pressed against the needle core. The friction force generated by the compression pulls out the needle core. The friction core pulling component is one or more combinations of friction wheels, friction belts, and reciprocating clamping components;

The first connection part is one or more combinations of an adhesive connection part, a welding connection part, a threaded connection part, a snap connection part, and a lock connection part.
The multi-channel radioactive source implantation system with a core pulling mechanism according to claim 2, wherein the first movement platform driving connector and one end of the push rod output channel move relative to each other in space, so that the push rod outputs One end of the channel is connected to the connecting hole, thereby outputting the radioactive source from the delivery conduit connected to the connecting hole. The first movement platform is one of the following methods: A. The connecting piece moves, and the push rod output channel One end is stationary; B. The connecting piece is stationary, and one end of the push rod output channel moves; C. The connecting piece moves, and one end of the push rod output channel moves;

The first movement platform is used to realize relative movement of at least two degrees of freedom between the connecting piece and one end of the push rod output channel, and the relative movement method is one of the following methods:

A. The connecting piece is fixed, and one end of the push rod output channel performs forward and backward linear motion and in-plane motion;

B. The connecting piece moves forward and backward in a straight line, and one end of the push rod output channel moves in a plane;

C. The connecting piece moves in a plane, and one end of the push rod output channel moves forward and backward in a straight line;

D. The connecting piece performs forward and backward linear motion and movement in a plane, and one end of the push rod output channel is fixed;

The motion in one plane is one of single-joint rotational motion, single-joint rotational motion combined with radial linear motion, double-joint rotational motion or XY-axis linear motion;

The first motion platform includes a forward and backward motion module, a rotary motion module and a radial motion module. The first motion platform realizes one end of the push rod output channel in space through rotational motion in one direction and linear motion in two directions. three degrees of freedom of motion;

Alternatively, the first motion platform includes a forward and backward motion module, a left and right motion module and an up and down motion module. The first motion platform realizes three degrees of freedom of one end of the push rod output channel in space through linear motion in three directions. Movement; alternatively, the first movement platform is a multi-joint mechanical arm, which can drive one end of the push rod output channel to freely move and position in a three-dimensional space.
The multi-channel radioactive source implantation system with a core pulling mechanism according to claim 2, wherein the first movement platform is provided with a first forward and backward movement mechanism and a second forward and backward movement mechanism, respectively used for the core pulling mechanism. With the forward and backward docking movement of one end of the push rod output channel, first the core pulling mechanism is docked with the tail of the needle core in a delivery conduit on the connector, and the needle core is pulled out. After the core pulling is completed, a new implant is established. The push rod output channel is connected to the delivery catheter under the driving of the first motion platform, and then implantation is performed through the newly established implantation channel.
The multi-channel radioactive source implantation system with a core pulling mechanism according to claim 2, further comprising a needle core storage mechanism, the needle core storage mechanism is used to store the needle core pulled out from the core pulling mechanism, The needle core storage mechanism is arranged at the rear end of the core pulling mechanism. When the needle core is output from the rear end of the core pulling mechanism, the needle core storage mechanism dynamically stores the needle core accordingly; alternatively, the needle core storage mechanism is the core pulling mechanism. part of the mechanism, which completes the storage of the needle core while pulling out the core; the needle core storage mechanism is a wheel-type storage mechanism or a sleeve, and the wheel-type storage mechanism includes a storage wheel, and the needle core is rolled as the rotation of the storage wheel Wrap around the inside or outside of the storage wheel.
The multi-channel radioactive source implantation system with core pulling mechanism according to claim 5, characterized in that the wheeled storage mechanism adopts a reel assembly, and the reel assembly includes a storage wheel and a storage wheel driving mechanism. , the storage wheel drive mechanism drives the storage wheel to rotate, so that the needle core is wound on the outer surface of the storage wheel or outside the outer surface of the storage wheel; or, the wheel storage mechanism adopts a concave storage wheel, and the concave storage wheel is The inner concave structure is provided with an opening on the side. The needle core extends into the concave storage wheel from the side opening. The concave storage wheel is freely rotatable or actively rotatable and is arranged behind the core pulling mechanism. The needle core's own elasticity, the core pulling mechanism and the concave storage wheel work together to make the needle core automatically wind up in the internal recessed area of the concave storage wheel.
The multi-channel radioactive source implantation system with a core pulling mechanism according to claim 5, wherein the casing is any one of a straight casing, a spiral casing, and a film type casing, and the casing is The material of the tube is one or more combinations of metal, plastic, rubber, latex, silicone or elastomer materials; a lubricant is provided in the casing to facilitate the smooth insertion of the needle core, or it can be evenly distributed on the inner surface of the casing The inner surface of the casing is coated with grease or a lubricating coating is used to achieve lubrication. The lubricating coating is made of Teflon; the inlet end of the casing is provided with an elastic expansion section, and the elastic expansion section can be used under the action of extrusion force. It shortens downwards and automatically extends and resets after the extrusion force is released.
The multi-channel radioactive source implantation system with a core pulling mechanism according to claim 2, further comprising a core insertion mechanism capable of sending the needle core into the puncture needle along the delivery catheter;

Or the core pulling mechanism is a core inserting mechanism. The core pulling mechanism adopts a friction core pulling assembly. A part of the friction core pulling assembly is pressed against the needle core. The friction core pulling assembly can be driven forward and reverse, and is driven by The friction force generated by the compression realizes the extraction and insertion of the needle core; the core pulling mechanism is equipped with a position measuring device, and the displacement measuring device can measure the actual displacement of the needle core, thereby accurately controlling the needle core to not completely move from the friction The core pulling assembly is pulled out to facilitate the extraction and insertion of the needle core. The displacement measuring device includes a measuring wheel pressed against the needle core and an angle sensor used to measure the rotation angle of the measuring wheel. When the needle core moves forward and backward, it will drive The measuring wheel rotates, thereby converting the actual displacement of the needle core based on the measured value of the angle sensor.
The multi-channel radioactive source implantation system with a core pulling mechanism according to claim 8, characterized in that a stop step is provided at the tail of the needle core, and the core inserting mechanism communicates with the conveyor through the stop step of the needle core. The limiting function of the inlet end face of the catheter realizes the precise positioning of the needle core, so that the front end of the needle core reaches the front end of the puncture needle without continuing to be exposed forward; the insertion core mechanism is provided with a position measuring device, and the displacement measurement device The device can measure the actual displacement of the needle core. When the displacement measuring device detects that the needle core is inserted into the delivery catheter and is in place, it controls the insertion mechanism to stop action.
The multi-channel radioactive source implantation system with core pulling mechanism according to claim 1, wherein the radioactive source implantation device includes a main body, a push rod driving mechanism and a radioactive source feeding part, and the push rod drives The mechanism is arranged on the main body, the push rod output channel is connected to the push rod driving mechanism, the push rod driving mechanism drives the push rod to move forward and backward along the push rod output channel, and the radioactive source feeding part is used to feed the material at the front end of the push rod Set up a radioactive source, and the push rod can push the radioactive source until it is implanted at the target position; the radioactive source feeding part is a cutting mechanism, and at this time the push rod itself is a particle chain or a particle chain sleeve, or the push rod's The front half is the particle chain or particle chain casing that can be cut off by the cutting mechanism, and the second half of the push rod is the push rod wire. The particle chain or particle chain casing of the target length is cut off from the front end of the push rod through the cutting mechanism. Thereby realizing the supply of particle chain or particle chain casing; when the particle chain casing is cut off, the radioactive source supply part also includes a particle embedding mechanism, and the particle embedding mechanism can make the particles or/and spacers The rod is embedded into the particle chain casing from one end or side of the particle chain casing, thereby forming a complete particle chain; the cutting mechanism is arranged at any place in the push rod output channel;

Alternatively, the radioactive source feeding part adopts a magazine to feed the material, the radioactive source feeding part is directly arranged in the push rod output channel, and the particles or prefabricated particle chain or particle chain casing are installed in the ammunition storage tank in the magazine. Or in the bomb storage hole, the particles or prefabricated particle chain or particle chain sleeve are placed at the front end of the push rod through the magazine feeding mechanism installed on the magazine; when the magazine is provided with When it is a particle chain casing, the radioactive source supply part also includes a particle embedding mechanism. The particle embedding mechanism can embed particles or/and spacer rods into the particle chain casing from one end or side of the particle chain casing, thereby Form a complete particle chain;

Alternatively, the radioactive source supply part adopts a particle chain to supply material. The radioactive source supply part includes a particle chain driving mechanism, a particle chain output channel, and a cutting mechanism, and continuously outputs the particle chain or particle chain sleeve through the particle chain driving mechanism. The particle chain or particle chain casing of the target length is cut off by the cutting mechanism to realize the supply of the particle chain or particle chain casing. When the particle chain driving mechanism outputs the particle chain casing, the radiation The source supply part also includes a particle embedding mechanism, which can enable particles and/or spacer rods to be embedded into the particle chain casing from one end or side of the particle chain casing, thereby forming a complete particle chain; The particle chain driving mechanism is connected to the particle chain output channel. The particle chain output channel is a rigid structure or a flexible bendable structure. The severed particle chain is set in front of the push rod through docking with a bifurcated tube or a moving platform.