Multi-particle implantation end effector for continuous puncture

Abstract

The invention discloses a multi-particle implantation end effector for continuous puncture, and belongs to the field of medical instruments. The actuator is composed of a driving mechanism, a puncture needle loosening and clamping mechanism, a particle front guide support, a multi-hole-site rotary particle clip mechanism, a flexible needle front guide support, a flexible needle conveying mechanism, a flexible needle storage mechanism, a multi-hole-site rotary particle clip driving mechanism and the like, automatic loosening and clamping of a puncture needle can be achieved through the end actuator, and the puncture needle is convenient to replace; the inner needle can be driven to puncture together, puncture precision is improved, and bending of the puncture needle is reduced; the multi-hole-site rotary particle cartridge holder mechanism can provide more implanted particles, so that the multiple replacement of the particle cartridge holder is avoided, and the time is effectively saved; the pushing of the particles is completed by the flexible needle, and the particles are wound in the flexible needle storage mechanism, so that the space can be effectively saved; the movement of the flexible needle is completed by the flexible needle conveying mechanism, and a gear is matched with an auxiliary wheel, so that the movement precision of the flexible needle can be ensured; the end effector is simple in structure, reliable in performance and more suitable for clinical application.

Description

technical field [0001] The invention relates to a multi-particle implantation end effector for continuous puncture, belonging to the field of medical instruments. Background technique [0002] Currently, cancer has become the second leading cause of death worldwide. The main treatment methods are surgery, brachytherapy and external radiation therapy. Among them, brachytherapy has the characteristics of less trauma, quick recovery, strong targeting, and no side effects, and has been widely accepted. The currently designed particle implantation end effector cannot be punctured together with the inner needle, which will cause the puncture needle to bend and deform during the puncture process, which will affect the final puncture accuracy and thus the treatment effect. Second, it cannot achieve continuous puncture. Multiple puncture needles lead to the deformation of tissues and organs and affect the treatment effect. Third, only one clip can be placed at a time. It needs to b...

AI Technical Summary

Problems solved by technology

The particle implantation end effector currently designed cannot be punctured together with the inner needle, which leads to bending and deformation of the puncture needle during the puncture process, which affects the final puncture accuracy and thus affects the treatment effect. Second, continuous puncture cannot be achieved Multiple puncture needles lead to deformation of tissues and organs, which affects the treatment effect. Third, only one magazine can be placed at a time. It needs to be replaced many times during the operation, which wastes operation time. Therefore, it is urgently needed now to effectively reduce operation time and reduce doctor’s labor. An end effector that can be used for continuous puncture and multi-particle implantation with high strength, improved puncture accuracy and therapeutic effect

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