Multi-channel core pulling mechanism

Abstract

The invention discloses a multi-channel core pulling mechanism which comprises a core pulling mechanism body and a moving platform, and the moving platform can enable the core pulling mechanism body to be in butt joint with the tail portions of different needle cores one by one by adjusting and controlling the positions and / or the distances between the core pulling mechanism body and the tail portions of the different needle cores. The core pulling mechanism pulls out the needle core after being in butt joint with the corresponding needle core. According to the invention, the needle core can be pulled out before particle implantation, so that a radioactive source implantation machine is prevented from being always rigidly connected with a puncture needle, and then radioactive particle implantation is carried out immediately; the normal operation is ensured on the premise of avoiding scratching a patient; the positions and / or the distances between the core pulling mechanism and the tail parts of the different needle cores are regulated and controlled through the motion platform, so that automatic butt joint of the core pulling mechanism and the tail parts of the different needle cores is realized, the core pulling mechanism can pull out the needle cores after being in butt joint with the tail parts of the different needle cores one by one, and multi-channel core pulling is realized.

Description

Technical Field

[0001] This invention relates to the field of puncture and core removal technology, and specifically to a multi-channel core removal mechanism. Background Technology

[0002] Radioactive particle implantation surgery involves inserting numerous radioactive particles directly into a tumor via puncture for localized radiotherapy. This procedure has a wide range of indications, including lung cancer, liver cancer, breast cancer, and prostate cancer. It features small incisions, minimal bleeding, and relatively few surgical complications, while effectively inhibiting tumor growth. However, current procedures are lengthy, and the surgeons are in close contact with the particles during implantation, resulting in significant radiation exposure. This greatly limits the application and widespread adoption of this type of surgery. Therefore, robotic particle implantation systems have emerged.

[0003] For example, Chinese patent CN110496301A proposes a targeted particle implantation robot suitable for clinical human lithotomy position, including a frame, and further including: a posture adjustment mechanism, a tactile feedback friction wheel type targeted particle implanter, and a sinusoidal elastic amplification torque compensation mechanism. Its specific usage steps are as follows: S1; drive; S2; mesh; S3; swing; S4; lateral movement; S5; compensation torque; S6; linear movement; S7; rotational movement; S8; detection; S9; information transmission. The sinusoidal elastic amplification torque compensation mechanism can realize the compensation of gravity torque under any position of the upper arm, reduce the fluctuation of the driving torque, and improve the stability of low-speed operation of the robot end effector. Combined with the posture adjustment mechanism, the external needle of the implanter can be adjusted at a fixed point to adjust the incident angle of the external needle. In addition, the tactile feedback friction wheel type targeted particle implanter installed at the end of the posture adjustment mechanism improves the force information perception capability during the targeted particle implantation process.

[0004] The robotic system has a particle implantation gun installed at the end of the robot, which can perform puncture and particle implantation with high precision. However, the particle implantation gun and the puncture needle are always rigidly connected during the operation, which can easily scratch the patient.

[0005] To address the aforementioned technical issues, one solution involves connecting a flexible tube between the particle implantation gun and the puncture needle, delivering the particles through this tube to avoid a rigid connection between the two. However, since the puncture needle contains a core, it cannot be removed prematurely to prevent blood from flowing into the needle and clotting, thus blocking the channel. Therefore, an automatic core removal mechanism is needed to remove the core before particle implantation, allowing for immediate radioactive particle implantation. Furthermore, since particle implantation surgery involves multiple needles, the core removal mechanism must also be capable of multi-channel core removal to further improve efficiency. Summary of the Invention

[0006] To address the aforementioned technical problems, defects, and unmet technical requirements, the present invention aims to provide a multi-channel needle removal mechanism. This invention includes a needle removal mechanism and a motion platform. The motion platform adjusts the position and / or spacing between the needle removal mechanism and different needle tails to achieve automatic docking. This allows the needle removal mechanism to dock with different needle tails one by one and then extract the needle, thus achieving multi-channel needle removal.

[0007] To achieve the above objectives, the present invention discloses a multi-channel core-removing mechanism, including a core-removing mechanism and a motion platform. The motion platform can adjust the position and / or spacing between the core-removing mechanism and different needle core tails, so that the core-removing mechanism can dock with different needle core tails one by one.

[0008] The core-removing mechanism engages with the corresponding core and then extracts it.

[0009] Preferably, the motion platform includes a connector, the needle core is wrapped with a delivery conduit, and multiple needle cores or delivery conduits are distributed on the connector in a linear array, curved array, matrix array, or ring array. The connector is 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 the puncture needle. The motion platform can control the relative movement between the connector and the core removal mechanism, so that the core removal mechanism can engage different needle cores and pull them out from the delivery conduit.

[0010] Preferably, the motion platform employs any one of the following three motion modes:

[0011] Movement mode A: The connecting parts are fixed, while the core-pulling mechanism performs one or a combination of translational and rotational motions;

[0012] Motion mode B: The connecting parts perform one or a combination of translational and rotational motions, and the core-pulling mechanism also performs one or a combination of translational and rotational motions;

[0013] Movement mode C: The connecting parts undergo one or a combination of translational and rotational motions, while the core-pulling mechanism remains stationary.

[0014] Preferably, in motion mode A, the motion platform includes a rotating arm, and the core-pulling mechanism is capable of moving radially on the rotating arm and docking with the tail of the needle core that is arc-shaped distributed on the connector;

[0015] Alternatively, the motion platform can be a three-axis moving platform, which can control the core-pulling mechanism to move in three axes in space and dock with the core to pull it out;

[0016] Alternatively, the connecting parts are fixed, and the motion platform controls the core-pulling mechanism to perform planar motion and feed motion. Planar motion is divided into five types: two linear motions, two rotations, rotation and linear motion, single rotation, single linear motion, and spiral motion.

[0017] Preferably, in motion mode B, the motion platform controls the connector to move on the plane, and the motion platform controls the core-pulling mechanism to feed linearly, so that the core-pulling mechanism docks with the tail of the needle core on the connector.

[0018] Alternatively, the motion platform controls the single-axis movement of the connector, and the motion platform also controls the planar movement of the core-pulling mechanism, so that the core-pulling mechanism aligns with the tail of the needle core on the connector.

[0019] Preferably, in motion mode C, the motion platform controls the connector to move along three axes in space, so that the core-pulling mechanism docks with and pulls out the needle core;

[0020] Alternatively, the motion platform controls the rotation and axial feed of the connecting parts, while the core-pulling mechanism is fixed, allowing the core-pulling mechanism to mate with the needle core and pull it out.

[0021] Preferably, the motion platform is provided with a linear motion mechanism, which is used to drive the core-pulling mechanism or connector to move back and forth, so that the core-pulling mechanism docks with the tail of the needle core.

[0022] Preferably, multiple needle cores are distributed on the connector in a linear array, curved array, matrix array, or ring array, and the connector is provided with multiple connecting holes for the needle cores to pass through, with the tail of the needle cores extending out from one side of the connecting hole;

[0023] Each connecting hole on the connector has a corresponding number on one side. The numbering format is letters and numbers, where the letters correspond to the group number of the connecting hole and the numbers correspond to the serial number of the connecting hole in the group.

[0024] The end of the needle core is a flexible section that can be flexibly deformed to achieve automatic centering. The needle core is a flexible needle core, which is an elastic flexible filament that can be bent under external force and can return to a straight state after the external force is removed. The material of the flexible needle core is one of nickel-titanium alloy, spring steel, elastomer material, and composite material. The length of the flexible needle core is greater than 500mm.

[0025] The front end of the needle core is located inside the puncture needle. The delivery catheter is directly connected to the puncture needle, or the delivery catheter and the puncture needle are connected via a quick-release connector. The rear end of the needle core extends a short section of the delivery catheter, with a length of 5-50mm. After the needle core removal mechanism engages with the needle core tail, it can clamp the needle core tail, thereby pulling the entire needle core out of the delivery catheter and the puncture needle. The needle core tail is provided with a stop step. The stop step and the inlet end face of the delivery catheter limit the precise positioning of the needle core, ensuring that the front end of the needle core reaches the front end of the puncture needle and does not continue to protrude forward.

[0026] Preferably, it also includes a radiation source implantation machine, which 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 back and forth. The push rod pushes the radiation source set in front of the push rod and outputs it out along the push rod output channel. One end of the push rod output channel and the core pulling mechanism are respectively installed on both sides of the motion platform, and one end of the push rod output channel and the core pulling mechanism are fed independently, and both are respectively connected to the connecting piece.

[0027] Preferably, the core-pulling mechanism is a friction core-pulling assembly, a portion of which is pressed against the needle core, and the needle core is pulled out by the friction force generated by the pressing. The friction core-pulling assembly is one or more combinations of friction wheel and friction belt.

[0028] Alternatively, the needle removal mechanism employs a clamping component and a reciprocating motion component. The clamping component controls the clamping and releasing of the needle core, while the reciprocating motion component controls the reciprocating movement of the clamping component. When the reciprocating motion component moves the clamping component to one side, the clamping component clamps the needle core to remove it. When the reciprocating motion component moves the clamping component to the other side, the clamping component releases the needle core.

[0029] The clamping component can be an active clamping component or a passive clamping component. The passive clamping component automatically clamps the needle core when moving to one side and automatically releases the needle core when moving to the other side. The active clamping component can actively control the clamping and releasing, and works in conjunction with the reciprocating motion component to achieve the backward needle core pulling movement.

[0030] The reciprocating motion component is driven by a motor, a pneumatic push rod, or a hydraulic push rod.

[0031] Alternatively, the core-pulling mechanism may employ a hook-claw assembly or a clamping claw assembly, wherein the hook-claw assembly hooks the tail of the needle core and then pulls it out, or the clamping claw assembly clamps the tail of the needle core and then pulls it out.

[0032] Alternatively, the core-pulling mechanism may employ a core-pulling wheel assembly, wherein the tail of the needle core is directly fixed to the core-winding wheel or the needle core is clamped by a passive clamping part, and then the core is pulled out by rotating the core-winding wheel.

[0033] Compared with the prior art, the present invention has the following advantages:

[0034] 1. This invention uses a motion platform to adjust the position and / or spacing between the core-pulling mechanism and different needle core tails, thereby achieving automatic docking between the two. This allows the core-pulling mechanism to dock with different needle core tails one by one and then pull out the needle core, achieving multi-channel core pulling. By using friction, reciprocating, or winding to drive the needle core, the needle core moves within the moving path of the core-pulling mechanism, thus achieving core pulling.

[0035] 2. After the core-pulling mechanism of the present invention pulls out the needle core in the delivery catheter, the radiation source implantation machine drives the push rod to move back and forth in a preset direction in the push rod output channel, thereby pushing the radiation source to the preset position and realizing the implantation of the radiation source.

[0036] 3. The needle core of the present invention is provided with a stop step at the tail end. Before implantation, the needle core is pulled out by the core removal mechanism, and the needle core is pulled out from the delivery catheter and the puncture needle, thereby forming a hollow implantation channel. After implantation is completed, the needle core is sent into the puncture needle along the delivery catheter to prevent blood from flowing into the puncture needle and blocking it, thus hindering subsequent surgical operations. The stop step or position detection device ensures that the front end of the needle core does not continue to protrude forward after reaching the front end of the puncture needle, thus avoiding injury to biological tissue.

[0037] 4. The core-pulling mechanism of the present invention integrates core-pulling and core-insertion functions. The core-pulling mechanism is equipped with a position measuring device. The displacement measuring device can measure the actual displacement of the needle core. When the displacement measuring device detects that the needle core has been inserted into the delivery guide and is in place, it controls the core-pulling mechanism to stop operating, thereby further improving the accuracy of core insertion.

[0038] 5. Each connecting hole on the connector of the present invention is provided with a corresponding number on one side. The numbering format is letters and numbers. The letters correspond to the group number of the connecting hole, and the numbers correspond to the serial number of the connecting hole in the group, so as to accurately remove or implant the core. Attached Figure Description

[0039] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0040] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0041] Figure 2 This is a schematic diagram of the planar structure of the present invention;

[0042] Figure 3 This is a cross-sectional view of the needle core and delivery catheter of the present invention;

[0043] Figure 4 for Figure 3 Enlarged schematic diagram of part A;

[0044] Figure 5 This is one of the three-dimensional structural schematic diagrams of the present invention;

[0045] Figure 6 This is a second three-dimensional structural schematic diagram of the present invention;

[0046] Figure 7 This is the third three-dimensional structural schematic diagram of the present invention;

[0047] Figure 8 This is a three-dimensional structural schematic diagram of the radiation source implantation device of the present invention;

[0048] Figure 9 This is a three-dimensional structural diagram of the present invention;

[0049] Figure 10 This is one of the three-dimensional structural schematic diagrams of the core-pulling mechanism of the present invention;

[0050] Figure 11 This is a schematic diagram of one side of the core-pulling mechanism of the present invention;

[0051] Figure 12 This is a schematic diagram of the other side of the core-pulling mechanism of the present invention;

[0052] Figure 13 This is a second three-dimensional structural schematic diagram of the core-pulling mechanism of the present invention;

[0053] Figure 14 This is a schematic diagram of the internal structure of the core-pulling mechanism of the present invention;

[0054] Figure 15 This is a side sectional view of the core-pulling mechanism of the present invention;

[0055] Figure 16 This is a schematic diagram of the claw opening structure of the core-pulling mechanism of the present invention;

[0056] Figure 17 This is a schematic diagram of the jaw clamping structure of the core-pulling mechanism of the present invention;

[0057] Figure 18 This is the third three-dimensional structural schematic diagram of the core-pulling mechanism of the present invention;

[0058] Figure 19 This is the fourth three-dimensional structural schematic diagram of the core-pulling mechanism of the present invention;

[0059] Figure 20This is a three-dimensional structural diagram of the storage device of the present invention;

[0060] Figure 21 This is a side sectional view of the storage device of the present invention;

[0061] Figure 22 This is a schematic diagram illustrating the structure of the present invention, showing the reduction of the distance between the storage device and the core-pulling mechanism.

[0062] Figure 23 This is a schematic diagram of the resetting structure of the storage device of the present invention.

[0063] As shown in the figure, the components include: core pulling mechanism 10, needle core 11, friction wheel 13, connector 24, connecting hole 25, delivery conduit 26, rotating arm 27, motion platform 39, push rod 43, push rod output channel 45, clamping assembly 61, core winding wheel 306, drive device 307, clamping needle assembly 309, core winding shaft 3013, core pulling wheel 1015, guide housing 1018, guide channel 1019, flexible extension rod 1020, and clamping part 1021. Detailed Implementation

[0064] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0065] Example 1:

[0066] like Figure 1-13 As shown, this embodiment provides a multi-channel core-removing mechanism, including a core-removing mechanism 10 and a motion platform 39. The motion platform 39 can adjust the position and / or spacing between the core-removing mechanism 10 and the tails of different needle cores 11, so that the core-removing mechanism 10 can dock with the tails of different needle cores 11 one by one.

[0067] After docking with the corresponding needle core 11, the core-pulling mechanism 10 pulls out the needle core 11.

[0068] The basic working principle of this invention is as follows:

[0069] The position and / or spacing between the core-removing mechanism 10 and the tails of different needle cores 11 are adjusted by the motion platform 39 to achieve automatic docking between the two. This allows the core-removing mechanism 10 to dock with the tails of different needle cores 11 one by one and then pull out the needle core 11, thus achieving multi-channel core removal. The needle core 11 is driven by friction, reciprocating, winding or other methods, so that the needle core 11 moves within the moving path of the core-removing mechanism to achieve core removal.

[0070] Example 2

[0071] This embodiment provides a multi-channel core-pulling mechanism, which, based on the technical solution and working principle of Embodiment 1 above, also includes the following technical features:

[0072] The motion platform 39 includes a connector 24. The needle core 11 is wrapped with a delivery conduit 26. Multiple needle cores 11 or delivery conduits 26 are distributed on the connector 24 in a linear array, a curved array, a matrix array, or a ring array. The connector 24 is provided with a quick connection structure for connecting to one end of the delivery conduit 26. The other end of the delivery conduit 26 is connected to the puncture needle. The motion platform 39 can control the relative movement between the connector 24 and the core removal mechanism 10, so that the core removal mechanism 10 mates with different needle cores 11 and pulls them out from the delivery conduit 26.

[0073] Example 3

[0074] like Figure 1-7 As shown, this embodiment provides a multi-channel core-pulling mechanism, based on the technical solution and working principle of Embodiment 2 above; it also includes the following technical features:

[0075] The motion platform 39 can employ any one of the following three motion modes:

[0076] In motion mode A, the connecting piece 24 is fixed, while the core-pulling mechanism 10 performs one or a combination of translational and rotational motions.

[0077] Movement mode B: Connector 24 performs one or a combination of translational and rotational movements, and core pulling mechanism 10 also performs one or a combination of translational and rotational movements;

[0078] Movement mode C, the connecting piece 24 performs one or a combination of translational and rotational movements, while the core-pulling mechanism 10 remains stationary.

[0079] Example 4

[0080] This embodiment provides a multi-channel core-pulling mechanism, based on the technical solution and working principle of Embodiment 3 above; it also includes the following technical features:

[0081] In motion mode A, the motion platform 39 includes a rotating arm 27, and the core-pulling mechanism 10 is able to move radially on the rotating arm 27 and dock with the tail of the needle core 11 which is distributed in an arc on the connector 24.

[0082] Example 5

[0083] This embodiment provides a multi-channel core-pulling mechanism, based on the technical solution and working principle of Embodiment 3 above; it also includes the following technical features:

[0084] In motion mode A, motion platform 39 adopts a three-axis moving platform. Motion platform 39 can control the core-pulling mechanism 10 to move in three axes in space and dock with the needle core 11 to pull it out.

[0085] Example 6

[0086] This embodiment provides a multi-channel core-pulling mechanism, based on the technical solution and working principle of Embodiment 3 above; it also includes the following technical features:

[0087] In motion mode A, the connector 24 is fixed, and the motion platform 39 controls the core-pulling mechanism 10 to perform planar motion and feed motion. The planar motion is divided into five types: two linear motions, two rotations, rotation and linear motion, single rotation, single linear motion, and spiral motion.

[0088] Example 7

[0089] This embodiment provides a multi-channel core-pulling mechanism, based on the technical solution and working principle of Embodiment 3 above; it also includes the following technical features:

[0090] In motion mode B, the motion platform 39 controls the connector 24 to move on the plane, and the motion platform 39 controls the core-pulling mechanism 10 to feed linearly, so that the core-pulling mechanism 10 docks with the tail of the needle core 11 on the connector 24.

[0091] Example 8

[0092] This embodiment provides a multi-channel core-pulling mechanism, based on the technical solution and working principle of Embodiment 3 above; it also includes the following technical features:

[0093] In motion mode B, motion platform 39 controls the single-axis movement of connector 24 and controls the planar movement of core-pulling mechanism 10, so that core-pulling mechanism 10 docks with the tail of needle core 11 on connector 24.

[0094] Example 9

[0095] This embodiment provides a multi-channel core-pulling mechanism, based on the technical solution and working principle of Embodiment 3 above; it also includes the following technical features:

[0096] In motion mode C, the motion platform 39 controls the connector 24 to move along three axes in space, so that the core-pulling mechanism 10 docks with the needle core 11 and pulls it out.

[0097] Example 10

[0098] This embodiment provides a multi-channel core-pulling mechanism, based on the technical solution and working principle of Embodiment 3 above; it also includes the following technical features:

[0099] In motion mode C, the motion platform 39 controls the rotation and axial feed of the connector 24, and the core-pulling mechanism 10 is fixed so that the core-pulling mechanism 10 is connected to the needle core 11 and pulled out.

[0100] Example 11

[0101] This embodiment provides a multi-channel core-pulling mechanism, based on the technical solution and working principle of Embodiment 1 above; it also includes the following technical features:

[0102] The motion platform 39 is equipped with a linear motion mechanism, which is used to drive the core-pulling mechanism 10 or the connector 24 to move back and forth, so that the core-pulling mechanism 10 docks with the tail of the needle core 11.

[0103] Example 12

[0104] This embodiment provides a multi-channel core-pulling mechanism, based on the technical solution and working principle of Embodiment 2 above; it also includes the following technical features:

[0105] Multiple needle cores 11 are arranged in a linear array, a curved array, a matrix array, or a ring array on the connector 24. The connector 24 is provided with multiple connecting holes 25 for the needle cores 11 to pass through, and the tail of the needle core 11 extends out from one side of the connecting hole 25.

[0106] Each connecting hole 25 on the connector 24 has a corresponding number on one side. The numbering format is letters and numbers, where the letters correspond to the group number of the connecting hole and the numbers correspond to the serial number of the connecting hole in the group.

[0107] Example 13

[0108] This embodiment provides a multi-channel core-pulling mechanism, based on the technical solution and working principle of Embodiment Twelve above; it also includes the following technical features:

[0109] The end of the needle core 11 is a flexible segment that can be flexibly deformed to achieve automatic centering. The needle core 11 is a flexible needle core, which is an elastic flexible filament that can be bent under external force and can return to a straight state after the external force is removed. The material of the flexible needle core is one of nickel-titanium alloy, spring steel, elastomer material, and composite material. The length of the flexible needle core is greater than 500mm.

[0110] Example 14

[0111] like Figure 3-4 As shown, this embodiment provides a multi-channel core-pulling mechanism, based on the technical solutions and working principles of Embodiments XII or XIII above; it also includes the following technical features:

[0112] The front end of the needle core 11 is located inside the puncture needle, and the needle core 11 is wrapped with a delivery conduit 26. The delivery conduit 26 is directly connected to the puncture needle or connected to the puncture needle through a quick-release connector. The rear end of the needle core 11 extends out of the delivery conduit 26 by a short section of the core tail, the length of which is 5-50mm. After the core removal mechanism 10 docks with the core tail, it can clamp the core tail of the needle core 11, thereby pulling the entire needle core 11 out of the delivery conduit 26 and the puncture needle. The core tail is provided with a stop step. The stop step and the inlet end face of the delivery conduit 26 limit the precise positioning of the needle core, so that the front end of the needle core reaches the front end of the puncture needle and does not continue to protrude forward.

[0113] Example 15

[0114] like Figure 8-9 As shown, this embodiment provides a multi-channel core-pulling mechanism, based on the technical solution and working principle of Embodiment 1 above; it also includes the following technical features:

[0115] It also includes a radiation source implantation machine, which includes a push rod 43 and a push rod output channel 45. The push rod output channel 45 can be used to guide the push rod 43 to move back and forth. The push rod 43 pushes the radiation source set in front of the push rod and outputs it out along the push rod output channel 45. One end of the push rod output channel 45 and the core pulling mechanism 10 are respectively installed on both sides of the motion platform 39, and one end of the push rod output channel and the core pulling mechanism 10 are fed independently, and both are respectively connected to the connector 24.

[0116] The basic working principle of this invention is as follows:

[0117] After the core-pulling mechanism 10 of the present invention pulls out the needle core 11 in the delivery catheter 26, the radiation source implantation machine drives the push rod 43 to move back and forth in a preset direction in the push rod output channel 45, thereby pushing the particle to the preset position and realizing particle implantation.

[0118] Example 16

[0119] like Figures 10 to 12 As shown, this embodiment provides a multi-channel core-pulling mechanism, based on the technical solution and working principle of Embodiment Sixteen above; it also includes the following technical features:

[0120] The core-pulling mechanism employs a friction core-pulling assembly. A portion of the friction core-pulling assembly is pressed against the needle core 11, and the needle core 11 is pulled out by the friction force generated by the pressing. The friction core-pulling assembly is one or more combinations of a friction wheel 13 and a friction belt.

[0121] A friction wheel system is used, with a transmission mechanism between multiple friction wheels 13 or multiple friction belts to ensure synchronous rotation of the multiple friction wheels 13 or multiple friction belts, thereby achieving smooth driving of the needle core. The transmission mechanism adopts one or more combinations of belt drive, gear drive, chain drive, and friction wheel drive. A moving passage 14 is provided between the friction wheels 13 or friction belts. The friction wheels 13 or friction belts contact the needle core in the delivery conduit, driving the needle core to move within the moving passage 14; thereby extracting the entire needle core from the delivery conduit.

[0122] The position measuring component includes one or more measuring wheels 16, which are disposed on one side of the moving path 14. The measuring wheels 16 are used to measure the amount of movement of the needle core within the moving path 14. 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 16, it will drive the measuring wheel 16 to rotate. The position measuring component also includes a limit switch, which is a conductive limit switch. It utilizes the characteristic that the needle core itself is a conductor to determine the position of the needle core based on the continuity of conduction. The limit switch includes elastic contacts or spring needles.

[0123] Alternatively, the limit switch may be a mechanical switch, a photoelectric switch, or a Hall effect switch.

[0124] One end of the first friction wheel 13-1 is connected to the first gear 17-1. The second friction wheel 13-2 is located below the first friction wheel 13-1. One end of the second friction wheel 13-2 is connected to the second gear 17-2. The first gear 17-1 meshes with the second gear 17-2. The other end of the second friction wheel 13-2 is connected to the first pulley 19-1. One end of the third friction wheel 13-3 is connected to the third gear 17-3. The fourth friction wheel 13-4 is located below the third friction wheel 13-3. One end of the fourth friction wheel 13-4 is connected to the fourth gear 17-4. The third gear 17-3 meshes with the fourth gear 17-4. The other end of the fourth friction wheel 13-4 is connected to the second pulley 19-2. The first pulley 19-1 and the second pulley 19-2 are connected by the first belt 20-1. The second measuring wheel 16-2 is located below the first measuring wheel 16-1. One end of the second measuring wheel 16-2 is connected to the encoder 21.

[0125] The outer casing 18 is also provided with a first motor 22, and the output end of the first motor 22 is connected to the second pulley 19-2 through a second belt 20-2.

[0126] Example 17

[0127] like Figures 13 to 17 As shown, this embodiment provides a multi-channel core-pulling mechanism, based on the technical solution and working principle of Embodiment Sixteen above; it also includes the following technical features:

[0128] The needle core removal mechanism 10 employs a clamping component 61 and a reciprocating motion component. The clamping component 61 controls the clamping and releasing of the needle core 11, and the reciprocating motion component controls the reciprocating movement of the clamping component. When the reciprocating motion component drives the clamping component to move outward, the clamping component clamps the needle core 11 to achieve outward pulling. When the reciprocating motion component drives the clamping component to move inward, the clamping component releases the needle core 11.

[0129] The clamping component is an active clamping component or a passive clamping component. The passive clamping component automatically clamps the needle core 11 when moving outward and automatically releases the needle core 11 when moving inward. The active clamping component can actively control the clamping and releasing, and cooperates with the reciprocating motion component to realize the backward core pulling motion.

[0130] The reciprocating motion component is driven by a motor, a pneumatic actuator, or a hydraulic actuator.

[0131] The clamping component 61 is a claw, and the needle core 11 passes through the middle of several claws. The claws close together to achieve clamping. Alternatively, a rotating component is used, and the needle core 11 passes through a through hole, through groove, or between two pillars on the rotating component. The rotating component rotates to achieve rotational clamping.

[0132] The fixed frame 109 is slidably connected to the slide rail 1091. The fixed frame 109 is connected to the reciprocating motion mechanism 110, which drives the fixed frame 109 to reciprocate along a preset track. The fixed frame 109 has a clamping part 61 inside and a sliding shell 114 outside. The clamping part 61 slides in the sliding groove 1141 of the sliding shell 114. The fixed frame 109 is provided with a guide pin 112. The guide pin 112 can move with the fixed frame 109 and push the clamping part 61 to close and clamp, and pull the needle core 11 backward. The fixed frame 109 is also provided with a top block 113. The top block 113 can push the clamping part 61 forward, so that the clamping part 61 opens to release the needle core 11 and reset.

[0133] A clamping part 100-6 and a top opening part 100-12 are provided on the cage 100-4. The front end of each claw 100-5 is located between the corresponding clamping part 100-6 and the top opening part 100-12. The rear end of each claw 100-5 is connected to the corresponding sliding guide element 100-7 through a slider 100-8. The cage 100-4 moves back and forth reciprocally with the reciprocating motion mechanism 110.

[0134] As the retainer 100-4 moves backward along with the reciprocating motion mechanism 110, the pressing part 100-6 provided on the retainer 100-4 can press at least one claw 100-5 to retract inward and press the needle core 11, and then gradually pull out the needle core 11.

[0135] Alternatively, during the reciprocating motion mechanism 110's forward movement and reset process of the retainer 100-4, the top opening 100-12 provided on the retainer 100-4 can push against at least one claw 100-5 to unfold outward and release the already pulled-out needle core 11.

[0136] Example 18

[0137] like Figure 18 As shown, this embodiment provides a multi-channel core-pulling mechanism, based on the technical solution and working principle of Embodiment Sixteen above; it also includes the following technical features:

[0138] The core-pulling mechanism employs a hook-claw assembly or a clamping claw assembly. The hook-claw assembly hooks the tail of the needle core 11 and then pulls it out, while the clamping claw assembly clamps the tail of the needle core 11 and then pulls it out.

[0139] In this embodiment of the invention, the needle core extraction mechanism 10 clamps / hooks the tail of the needle core 11 by driving the grippers / hooks, and continuously pulls the needle core 11 backward through the winding motion of the grippers / hooks, or a combination of backward movement and winding motion, until the entire needle core is pulled out from the delivery catheter 26 and the puncture needle. The needle core extraction mechanism in this embodiment includes a needle core extraction wheel 1015, a locking part 1021, a flexible extension rod 1020, and a guide housing 1018. The flexible extension rod 1020 is mounted on the needle core extraction wheel 1015. On the outer surface of the 15th, the snap-fit ​​part 1021 is installed at the end of the flexible extension rod 1020, and the core-pulling wheel 1015 is installed inside the guide housing 1018. The flexible extension rod 1020 extends out from the guide channel 1019 of the guide housing 1018. After the snap-fit ​​part 1021 at its end snaps with the tail of the needle core 11, the core-pulling wheel 1015 reverses and winds the flexible extension rod 1020 together with the needle core 11 onto the outer surface of the core-pulling wheel 1015 until the entire needle core 11 is pulled out from the puncture needle and the delivery catheter 26.

[0140] Example 19

[0141] like Figure 19 As shown, this embodiment provides a multi-channel core-pulling mechanism, based on the technical solution and working principle of Embodiment Sixteen above; it also includes the following technical features:

[0142] The core-pulling mechanism adopts a core-pulling wheel winding assembly. The tail of the needle core 11 is directly fixed to the core winding wheel or the needle core 11 is clamped by a passive clamping part, and then the core is pulled out by rotating the core winding wheel.

[0143] In this embodiment of the invention, the core-pulling wheel assembly includes a core-winding wheel 306, a driving device 307, a pin-clamping assembly 309, and a core-winding shaft 3013. The driving device 307 is used to drive the core-winding shaft 3013 to rotate. The pin-clamping assembly 309 can clamp or clip the front end of the core 11 onto the core-winding shaft 3013 so that the core 11 can rotate and be wound around the core-winding shaft 3013 for winding.

[0144] Example 20

[0145] like Figure 20-23 As shown, the rear end of the core-pulling mechanism 10 is also provided with a storage device 6-1. The storage device 6-1 is limited within the storage device connecting seat 6-2, and the storage device connecting seat 6-2 is fixed to the motor connecting plate. The front end of the storage device 6-1 is provided with a rear fixing ring 6-3, and the rear of the core-pulling mechanism is provided with a front fixing ring. A spring 6-5 is fixedly connected between the rear fixing ring 6-3 and the front fixing ring 6-4. A flexible film 6-6 or a second sleeve is provided between the rear fixing ring 6-3 and the front fixing ring 6-4 and inside the spring 6-5. The second sleeve can be inserted into the storage device, or the storage device can be inserted into the second sleeve.

[0146] The front fixing ring 6-4 is located behind the core-pulling mechanism 10. The core-pulling mechanism 10 pulls out the needle core 11 from the needle plate and collects the needle core 11 through the storage device 6-1. During the core-pulling process, the core-pulling mechanism 10 moves backward and the whole core-pulling mechanism 10 will move backward, which will push the front fixing ring 6-4 backward. When the needle core 11 is collected and ready for the second collection, the core-pulling mechanism 10 will move forward again, and the front fixing ring 6-4 will return to its original position. Since most of the collected needle core 11 is retained inside the storage device, it will be separated from the core-pulling channel of the core-pulling mechanism under the action of friction with the inner wall of the storage device, clearing the core-pulling channel of the core-pulling mechanism and leaving space for the next core-pulling collection to avoid blockage.

[0147] Of course, the above description is only a specific embodiment of the present invention and is not intended to limit the scope of the present invention. All equivalent changes or modifications made to the structure, features and principles described in the claims of the present invention should be included in the scope of the claims of the present invention.

[0148] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A multi-channel core-pulling mechanism, characterized in that, Includes a core-removing mechanism (10) and a motion platform (39). The motion platform (39) can adjust the position and / or spacing between the core-removing mechanism (10) and the tails of different needle cores (11), so that the core-removing mechanism (10) can dock with the tails of different needle cores (11) one by one. After docking with the corresponding needle core (11), the core-pulling mechanism (10) pulls out the needle core (11).

2. The multi-channel core-pulling mechanism according to claim 1, characterized in that, The motion platform (39) includes a connector (24). The needle core (11) is wrapped with a delivery conduit (26). Multiple needle cores (11) or delivery conduits (26) are distributed on the connector (24) in a linear array, a curved array, a matrix array, or a ring array. The connector (24) is provided with a quick connection structure for connecting to one end of the delivery conduit. The other end of the delivery conduit is connected to the puncture needle. The motion platform (39) can control the relative movement between the connector (24) and the core removal mechanism (10) so that the core removal mechanism (10) can engage different needle cores (11) and pull them out from the delivery conduit.

3. A multi-channel core-pulling mechanism according to claim 2, characterized in that, The motion platform (39) adopts any one of the following three motion modes: Movement mode A: The connecting part (24) is fixed, while the core pulling mechanism (10) performs one or a combination of translational and rotational movements; Movement mode B: The connecting piece (24) performs one or a combination of translational and rotational motions, and the core pulling mechanism (10) also performs one or a combination of translational and rotational motions; Movement mode C, the connecting part (24) performs one or a combination of translational and rotational movements, while the core pulling mechanism (10) remains stationary.

4. A multi-channel core-pulling mechanism according to claim 3, characterized in that, In motion mode A, the motion platform (39) includes a rotating arm (27), and the core-pulling mechanism (10) is able to move radially on the rotating arm (27) and dock with the tail of the needle core (11) which is arc-shaped distributed on the connector (24); Alternatively, the motion platform (39) adopts a three-axis moving platform, which can control the core-pulling mechanism (10) to move in three axes in space and dock with the needle core (11) to pull it out; Alternatively, the connector (24) is fixed, and the motion platform (39) controls the core-pulling mechanism (10) to perform planar motion and feed motion. The planar motion is divided into five types: two linear motions, two rotations, rotation and linear motion, single rotation, single linear motion, and spiral motion.

5. A multi-channel core-pulling mechanism according to claim 3, characterized in that, In motion mode B, the motion platform (39) controls the connector (24) to move on the plane, and the motion platform (39) controls the core pulling mechanism (10) to feed linearly, so that the core pulling mechanism (10) docks with the tail of the needle core (11) on the connector (24); Alternatively, the motion platform (39) controls the single-axis movement of the connector (24), and the motion platform (39) controls the planar movement of the core-pulling mechanism (10), so that the core-pulling mechanism (10) docks with the tail of the needle core (11) on the connector (24).

6. A multi-channel core-pulling mechanism according to claim 3, characterized in that, In motion mode C, the motion platform (39) controls the connector (24) to move in three axes in space, so that the core-pulling mechanism (10) docks with the needle core (11) and pulls it out; Alternatively, the motion platform (39) controls the rotation and axial feed of the connector (24), and the core-pulling mechanism (10) is fixed so that the core-pulling mechanism (10) is connected to the needle core (11) and pulled out.

7. A multi-channel core-pulling mechanism according to claim 1, characterized in that, The motion platform (39) is provided with a linear motion mechanism, which is used to drive the core-pulling mechanism (10) or the connector (24) to move back and forth, so that the core-pulling mechanism (10) docks with the tail of the needle core (11).

8. A multi-channel core-pulling mechanism according to claim 2, characterized in that, Multiple needle cores (11) are arranged in a straight line array, a curved array, a matrix array or a ring array on the connector (24). The connector (24) is provided with multiple connecting holes (25) for the needle cores (11) to pass through. The tail of the needle core (11) extends out from one side of the connecting hole (25). Each connecting hole (25) on the connector (24) has a corresponding number on one side. The number format is letters plus numbers. The letters correspond to the group number of the connecting hole, and the numbers correspond to the serial number of the connecting hole in the group. The end of the needle core (11) is a flexible section that can be flexibly deformed to achieve automatic centering. The needle core (11) is a flexible needle core. The flexible needle core is a flexible filament with elasticity. It can be bent under external force and can return to a straight state after the external force is removed. The material of the flexible needle core is one of nickel-titanium alloy, spring steel, elastomer material, and composite material. The length of the flexible needle core is greater than 500mm. The front end of the needle core (11) is set inside the puncture needle. The delivery conduit (26) is directly connected to the puncture needle or the delivery conduit (26) is connected to the puncture needle through a quick-release connector. The rear end of the needle core (11) extends out of the delivery conduit (26) by a short section of the core tail. The length of the core tail is 5-50mm. After the core removal mechanism (10) is connected to the core tail, it can clamp the core tail of the needle core (11) and thus pull the entire needle core (11) out of the delivery conduit (26) and the puncture needle. The core tail is provided with a stop step. The stop step and the inlet end face of the delivery conduit (26) limit the precise positioning of the needle core, so that the front end of the needle core reaches the front end of the puncture needle and does not continue to protrude forward.

9. A multi-channel core-pulling mechanism according to claim 1, characterized in that, It also includes a radiation source implantation machine, which includes a push rod (43) and a push rod output channel (45). The push rod output channel (45) can be used to guide the push rod (43) to move back and forth. The push rod (43) pushes the radiation source set in front of the push rod and outputs it out along the push rod output channel (45). One end of the push rod output channel (45) and the core pulling mechanism (10) are respectively installed on both sides of the motion platform (39), and one end of the push rod output channel and the core pulling mechanism (10) are fed independently, and the two are respectively connected to the connector (24).

10. A multi-channel core-pulling mechanism according to claim 1, characterized in that, The core-pulling mechanism adopts a friction core-pulling assembly. A part of the friction core-pulling assembly is pressed against the needle core, and the needle core is pulled out by the friction force generated by the pressing. The friction core-pulling assembly is one or more combinations of friction wheel (13) and friction belt. Alternatively, the core-pulling mechanism may employ a clamping component (61) and a reciprocating motion component. The clamping component (61) controls the clamping and releasing of the needle core (11), and the reciprocating motion component controls the clamping component to move back and forth. When the reciprocating motion component moves the clamping component to one side, the clamping component clamps the needle core (11) to achieve extraction. When the reciprocating motion component moves the clamping component to the other side, the clamping component releases the needle core (11). The clamping component is an active clamping component or a passive clamping component. The passive clamping component automatically clamps the needle core (11) when moving to one side and automatically releases the needle core (11) when moving to the other side. The active clamping component can actively control the clamping and releasing, and cooperates with the reciprocating motion component to realize the core pulling motion. The reciprocating motion component is driven by a motor, a pneumatic push rod, or a hydraulic push rod. Alternatively, the core-pulling mechanism may employ a hook assembly or a clamping assembly, wherein the hook assembly hooks the tail of the needle core (11) and pulls it out, or the clamping assembly clamps the tail of the needle core (11) and pulls it out. Alternatively, the core-pulling mechanism may employ a core-pulling wheel assembly, wherein the tail of the needle core (11) is directly fixed to the core-winding wheel or the needle core (11) is clamped by a passive clamping part, and then the core is pulled out by rotating the core-winding wheel.

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