Automatic particle implanter

Abstract

An automatic particle implanter includes a mounting base, a push pin, a first driving mechanism, a second driving mechanism, a feeding mechanism and a puncture needle guiding mechanism. The mounting base is provided with a first and a second track side by side, a push pin mounting seat is provided on the first track, and a puncture needle guiding mechanism mounting seat is provided on the second track. The push pin and the puncture needle guiding mechanism are arranged on the push pin mounting seat and the puncture needle guiding mechanism mounting seat, and the push pin and the puncture needle guiding mechanism are driven to move by the first and the second driving mechanisms; the puncture needle guiding mechanism includes a driving component and a clamping component, and the driving component drives the clamping component to clamp and release; the feeding mechanism is arranged at one end of the mounting base, and pushes out the particles in the feeding mechanism through the push pin; the mounting base is provided with an external mechanical interface, and the external mechanical interface is used to control the overall movement of the particle implanter. The present invention can automatically perform particle implantation by a machine, avoiding ionizing radiation and implantation deviation during surgery by doctors.

Description

Technical Field

[0001] The invention belongs to the field of medical instruments, and in particular relates to an automatic particle implanter. Background Art

[0002] At present, radioactive materials are widely used in scientific research, laboratories, production, medical applications and other aspects. Especially as medicines, they have been widely used in clinical applications at home and abroad. Radioactive particle implantation for the treatment of malignant tumors is a minimally invasive treatment method and a type of close-range radiotherapy. It has the advantages of simple operation and good treatment effect, and its clinical application has broad prospects.

[0003] Radioactive substances are implanted into the human body through a particle implanter, the front end of which is connected to a puncture needle and the rear end is connected to a push needle. During the operation, generally multiple puncture needles are first inserted into the patient's body according to the predetermined puncture depth and position, and then each puncture needle is operated. When operating each puncture needle, the particle implanter is first used to dock the corresponding puncture needle. After the docking is completed, the particles in the particle implanter are pushed into the puncture needle through the push needle, and then the particles are further implanted into the lesion location.

[0004] At present, doctors mostly use manual or semi-automatic particle implanters to perform radioactive particle implantation surgery. Radioactive particle implantation surgery is difficult and requires high professional quality of doctors. When doctors perform manual operations, position deviations may occur when implanting particles, affecting the surgical effect. In addition, during the operation, doctors cannot avoid being exposed to ionizing radiation from radioactive particles. Summary of the invention

[0005] In order to overcome the problem that manual and semi-automatic particle implanters in the prior art have high requirements on the professional quality of doctors, the present invention provides an automatic particle implanter that can replace the doctor in performing the particle implantation operation, solve the problem that the doctor may have implantation deviation during the operation, and if radioactive particle implantation is performed, the doctor will be exposed to ionizing radiation from the radioactive particles.

[0006] Based on the above purpose, the technical solution of the present invention is as follows:

[0007] An automatic particle implanter is provided, which comprises a mounting base, a push pin, a first driving mechanism, a second driving mechanism, a feeding mechanism and a puncture needle guiding mechanism, wherein the mounting base is provided with a first track and a second track side by side, the first track is provided with a push pin mounting seat, the second track is provided with a puncture needle guiding mechanism mounting seat, the push pin and the puncture needle guiding mechanism are respectively arranged on the push pin mounting seat and the puncture needle guiding mechanism mounting seat, the push pin and the puncture needle guiding mechanism are driven to move by the first and second driving mechanisms; the puncture needle guiding mechanism comprises a driving component and a clamping component, the driving component drives the clamping component to clamp and release; the feeding mechanism is arranged at one end of the mounting base, and pushes out the particles in the feeding mechanism through the push pin; an external mechanical interface is provided on the mounting base, and the external mechanical interface is used to connect an external driving component to control the overall movement of the particle implanter.

[0008] Among them, the second driving mechanism includes a second driving member and a second driving rod, the second driving rod is connected to the puncture needle guiding mechanism mounting seat, and the driving of the second driving member drives the movement of the puncture needle guiding mechanism; the driving assembly includes a third driving member, a guide member and a traction member, and the third driving member, the clamping assembly and the traction member are arranged on the guide member; the feeding mechanism is also provided with a guide member pressing block, and the guide member pressing block is used to limit the radial movement of the guide member.

[0009] In order to limit or release the puncture action direction of the puncture needle, a push rod is provided on the feeding mechanism, and the push rod is arranged on one side of the feeding mechanism. The push rod moves axially on the feeding mechanism, and a push rod seat is provided at one end of the push rod, and a limit block is provided at the other end of the push rod, and a puncture needle groove is provided on the limit block.

[0010] In order to achieve the purpose of controlling the push pin and the push rod with one driving mechanism, the first driving mechanism includes a first driving member, a first driving rod, a first clutch member and a second clutch member, the first clutch member and the second clutch member are arranged on the first driving rod, the first driving rod drives the movement of the first clutch member and the second clutch member, the first clutch member is provided with a first clutch rod, the second clutch member is provided with a second clutch rod, the first clutch rod is used to dock with the push pin mounting seat, and the second clutch rod is used to dock with the push rod seat, when the first clutch rod and the push pin mounting seat are in a docking state, the second clutch rod and the push rod seat are in a separated state, and the first driving member drives the push pin to move; when the second clutch rod and the push rod seat are in a docking state, the first clutch rod and the push pin mounting seat are in a separated state, and the first driving member drives the push rod to move.

[0011] When the particle implanter moves, the push pin and the push rod will move due to gravity, so a push pin retention groove is provided on the mounting base on the movement path of the push pin mounting seat, and a first clutch rod docking piece is provided on the push pin mounting seat, and the first clutch rod docking piece is used to dock with the first clutch rod. When the first clutch rod docking piece is separated from the first clutch rod, the first clutch rod docking piece cooperates with the push pin retention groove to complete the fixation of the push pin; when the first clutch rod docking piece is docked with the first clutch rod, the first clutch rod docking piece is separated from the push pin retention groove, and the first driving member drives the push pin to move.

[0012] The mounting base is provided with a push rod retaining groove on the movement path of the push rod seat, and the push rod seat is provided with a second clutch rod docking piece, and the second clutch rod docking piece is used to dock with the second clutch rod. When the second clutch rod docking piece is separated from the second clutch rod, the second clutch rod docking piece cooperates with the push rod retaining groove to complete the fixation of the push rod; when the second clutch rod docking piece is docked with the second clutch rod, the second clutch rod docking piece is separated from the push rod retaining groove, and the first driving member drives the push rod to move.

[0013] The present invention also provides an arrangement method for a horizontal particle magazine. Specifically, the feeding mechanism includes a feeding seat, a particle magazine, a commutator, a motion component, and a reversing rod. The particle magazine, the commutator, the motion component, and the reversing rod are arranged on the feeding seat. The particle magazine is arranged on one side of the feeding mechanism. The mounting base is provided with a particle magazine fixing seat on the same side of the particle magazine.

[0014] The push rod, particle magazine and particle magazine fixing seat are arranged on a side close to the second track, and the reversing rod includes a first end and a second end opposite thereto; a reversing rod mounting seat is provided on the first track, the first end of the reversing rod is arranged on the feeding seat, and the second end of the reversing rod is connected to the reversing rod mounting seat; a first elastic member is provided on the reversing rod, one end of the first elastic member abuts against the feeding mechanism, and the other end abuts against the first end of the reversing rod; when the push pin mounting seat moves in a direction away from the feeding mechanism, the push pin mounting seat abuts against the reversing rod mounting seat.

[0015] In order to further increase the rebound force brought by the first elastic member, a fixed end is provided on the first track, the reversing rod mounting seat is arranged between the fixed end and the push pin mounting seat, and a second elastic member is provided between the fixed end and the reversing rod mounting seat.

[0016] The present invention has the following beneficial effects:

[0017] The automatic particle implanter of the present invention can replace the doctor in performing the particle implantation operation, thereby solving the problem that the doctor may have implantation deviation during the operation and may be exposed to ionizing radiation from the radioactive particles when implanting radioactive particles. At the same time, the particle implanter of the present invention is only provided with three driving parts and two clutch parts, so that the electrical components occupy less space in the particle implanter, thereby reducing the volume of the particle implanter. Since there are fewer electrical components, most of the particle implanter can be disinfected.

[0018] The following is a detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, and those skilled in the art will be more aware of the above and other objects, advantages and features of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Hereinafter, some specific embodiments of the present invention will be described in detail in an exemplary but not limiting manner with reference to the accompanying drawings. The same reference numerals in the accompanying drawings indicate the same or similar components or parts. It should be understood by those skilled in the art that these drawings are not necessarily drawn to scale. In the accompanying drawings:

[0020] Figure 1 is a stereogram of the present invention;

[0021] Figure 2 It is a front view of the present invention;

[0022] Figure 3 is a top view of the present invention;

[0023] Figure 4 is a rear view of the present invention;

[0024] Figure 5 is a schematic diagram of the puncture needle guiding mechanism, wherein the traction member 613 is a cross-sectional view;

[0025] Figure 6 Schematic diagram of the clutch motor of the present invention Figure 1 , the figure shows the state of the clutch rods 231 and 241 when the clutch members 23 and 24 are not connected with the push pin mounting seat and the push rod seat;

[0026] Figure 7 Schematic diagram of the clutch motor of the present invention Figure 2 , the figure shows the state of the clutch rod 231 when the clutch member 23 is docked with the push pin mounting seat, and the state of the clutch rod 241 when the clutch member 24 is not docked with the push rod seat;

[0027] Figure 8 It is a schematic diagram of the present invention showing the mounting base, the push pin mounting seat, the push rod and the first driving mechanism, and a top view when the first and second clutch members are not docked with the push pin and the second clutch rod docking member;

[0028] Fig. 9 , 10is a schematic diagram of a first clutch rod docking member of the present invention;

[0029] Fig.11 is a schematic diagram of a second clutch rod docking member of the present invention;

[0030] Fig.12 It is a schematic diagram of the process principle of the particle implanter puncture needle;

[0031] Fig.13 It is a schematic diagram of the principle of the process of implanting particles by a particle implanter;

[0032] Figure 14-16 is a schematic diagram of the present invention showing a mounting base, a push pin mounting seat, a push rod and a first driving mechanism,

[0033] Fig.14 yes Figure 8 The main view;

[0034] Fig.15 is a top view showing that the first clutch member is docked with the first clutch rod docking member, and the second clutch member is separated from the second clutch rod docking member;

[0035] Fig.16 yes Fig.15 The main view;

[0036] Fig.17 It is a schematic diagram of the arrangement of a particle magazine in the prior art;

[0037] Fig.18 is a schematic diagram of the particle magazine arrangement of the present invention;

[0038] Fig.19 The present invention is a schematic diagram showing only the feeding mechanism, the push needle, and the puncture needle;

[0039] Fig. 20 yes Fig.19 Rear view of

[0040] Fig.21 yes Fig.19 A schematic diagram of the principle of the invention, which also shows a push pin mounting seat and a reversing rod mounting seat;

[0041] Fig. 22 is a schematic diagram of the principle of the second rack of the present invention;

[0042] Fig.23 is a front view of the present invention, in which the elastic members 112 and 521 are both in their original states;

[0043] Fig.24 yes Fig.23 A partial enlarged view of

[0044] Fig.25is a front view of the present invention, in which the elastic members 112 and 521 are both in a compressed state;

[0045] Fig.26 yes Fig.25 A partial enlarged view of

[0046] Fig. 27 , 28 It is a schematic diagram of the process of completing feeding;

[0047] Fig.29 , 30 yes Fig. 27 , 28 The corresponding process diagram of the rear view;

[0048] Fig.31 , 32 yes Fig. 27 , 28 Schematic diagram of the corresponding principle process. DETAILED DESCRIPTION

[0049] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific implementation disclosed below.

[0050] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right", "up", "down", "front", "back" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0052] like Figure 1-4 , which is a schematic diagram of the automatic radioactive particle implanter of the present invention, includes a mounting base 1 , a first driving mechanism 2 , a second driving mechanism 3 , a push needle 4 , a feeding mechanism 5 and a puncture needle guiding mechanism 6 .

[0053] The mounting base 1 is provided with a first track 11 and a second track 12 side by side, the first track 11 is provided with a push needle mounting seat 7, the second track 12 is provided with a puncture needle guide mechanism mounting seat 8, the push needle 4 and the puncture needle guide mechanism 6 are respectively arranged on the push needle mounting seat 7 and the puncture needle guide mechanism mounting seat 8, and the push needle 4 and the puncture needle guide mechanism 6 are driven to move by the first and second driving mechanisms 2 and 3;

[0054] The puncture needle guiding mechanism 6 includes a driving assembly 61 and a clamping assembly 62. The driving assembly 61 drives the clamping assembly 62 to open and close, thereby limiting or releasing the puncture action position of the puncture needle.

[0055] A feeding mechanism 5 is disposed at one end of the mounting base 1, and is used to provide particles. The particles in the feeding mechanism 5 are pushed out by a push pin 4;

[0056] The mounting base 1 is also provided with an external mechanical interface 9, which is used to connect external driving components, such as a robotic arm, a linear motion module, and a multi-degree-of-freedom motion platform. Through the control of the external mechanical components, the particle implanter can move as a whole within a certain space.

[0057] The feeding mechanism 5 is provided with a push rod 10, which is arranged on one side of the feeding mechanism 5. The push rod 10 can move axially on the feeding mechanism 5. A push rod seat 101 is provided at one end of the push rod 10, and a stop block 102 is provided at the other end of the push rod 10. The stop block 102 is provided with a puncture needle groove 103. When the puncture needle 13 cooperates with the puncture needle groove 103, the needle seat of the puncture needle 13 is located between the feeding mechanism 5 and the stop block 102. The push rod 10 moves under the drive of the first driving mechanism 2, and the feeding mechanism 5 moves under the drive of the external driving component. The relative movement of the two can complete the axial fixation of the puncture needle.

[0058] Specifically, the puncture needle 13 and the puncture needle slot 103 cooperate as follows: Figure 1 As shown, the puncture needle 13 includes a needle seat and a needle body. The needle seat is detachably fixed on the feeding mechanism 5, the needle seat is between the feeding mechanism 5 and the limit block 102, the needle body is engaged in the puncture needle groove 103, and the puncture needle is axially parallel to the mounting base.

[0059] like Figure 1 , 4 As shown, the second driving mechanism 3 includes a driving member 31 and a driving rod 32. The driving rod 32 is connected to the puncture needle guide mechanism mounting seat 8. The driving member 31 drives the movement of the puncture needle guide mechanism mounting seat 8, and then drives the movement of the puncture needle guide mechanism 6.

[0060] like Figure 5As shown, the driving assembly 61 includes a driving member 611, a guide member 612 and a traction member 613. The driving member 611, the clamping assembly 62 and the traction member 613 are arranged on the guide member 612, wherein the traction member 613 is preferably arranged inside the guide member 612; Figure 1 As shown, in order to prevent the radial deviation of the guide member 612 due to excessive length, a guide member pressing block 57 is provided on the feeding mechanism 5, and the guide member pressing block 57 is used to limit the radial movement of the guide member 612.

[0061] In order to realize one driving mechanism controlling two components (push pin 4 and push rod 10), the first driving mechanism 2 includes a first driving member 21, a first driving rod 22, a first clutch member 23 and a second clutch member 24. The first clutch member 23 and the second clutch member 24 are arranged on the first driving rod 22, and the first driving rod 22 drives the movement of the first clutch member 23 and the second clutch member 24.

[0062] like Figure 6 , 7 As shown, the first clutch member 23 is provided with a first clutch rod 231 , and the second clutch member 24 is provided with a second clutch rod 241 . The first clutch rod 231 is used to dock with the push pin mounting seat 7 , and the second clutch rod 241 is used to dock with the push rod seat 101 .

[0063] When the first clutch rod 231 and the push pin mounting seat 7 are in a docking state, the second clutch rod 241 and the push rod seat 101 are in a separated state, and the first driving member 21 drives the push pin 4 to move; when the second clutch rod 241 and the push rod seat 101 are in a docking state, the first clutch rod 231 and the push pin mounting seat 7 are in a separated state, and the first driving member 21 drives the push rod 10 to move. Taking the docking state of the first clutch rod 231 and the push pin mounting seat 7 as an example, specifically, there are two situations. The first situation is the initial state, the first and second clutch rods 231 and 241 are not connected to the push pin mounting seat 7 and the push rod seat 101, and then the second driving mechanism 3 drives the movement of the first and second clutch members 23 and 24, and after moving to the docking position of the push pin mounting seat 7, the first clutch rod 231 docks with the push pin mounting seat 7; the second situation is that the second clutch rod 241 and the push rod seat 101 are in the docking state, and then the second clutch rod 241 is first separated from the push rod seat 101, and then the second driving mechanism 3 drives the first and second clutch members 23 and 24 to move, and after moving to the docking position of the push pin mounting seat 7, the first clutch member 23 docks with the push pin mounting seat 7 again. There are also two similar situations mentioned above for the action of the second clutch rod 241 and the push rod seat 101 being in the docking state, which will not be repeated here. The above arrangement completes the movement of the push pin 4 and the push rod 10 through a linear drive member, thereby reducing the spatial volume of the particle implanter.

[0064] like Figure 8-11As shown, in order to prevent the push pin 4 and the push rod 10 from moving due to the gravity of the movement of the particle implanter when the push pin and the push rod are not driven by the first driving member 21, the mounting base 1 is provided with a plurality of push pin retention grooves 41 ( Figure 8 The push pin mounting seat 7 is provided with a first clutch rod docking member 71, and the first clutch rod docking member 71 is used to dock with the first clutch rod 231. The mounting base 1 is provided with a plurality of push rod retention grooves 104 ( Figure 8 There are two push rod retention grooves in the middle), and a second clutch rod docking piece 105 is provided on the push rod seat 101, and the second clutch rod docking piece 105 is used for docking with the second clutch rod 241.

[0065] When the first clutch rod docking piece 105 is separated from the first clutch rod 231, the first clutch rod docking piece 105 cooperates with the push pin retention groove 41 to complete the fixation of the push pin; when the first clutch rod docking piece 105 is docked with the first clutch rod 231, the first clutch rod docking piece 105 is separated from the push pin retention groove 41, and the first driving piece 21 drives the push pin 4 to move.

[0066] When the second clutch rod docking piece 105 is separated from the second clutch rod 241, the second clutch rod docking piece 105 cooperates with the push rod retention groove 104 to complete the fixation of the push rod; when the second clutch rod docking piece 105 is docked with the second clutch rod 241, the second clutch rod docking piece 105 is separated from the push rod retention groove 104, and the first driving member 21 drives the push rod to move.

[0067] Specifically, Fig. 9 , 10 As shown, the first clutch rod docking member 71 includes an elastic member 711, an elastic member blocking seat 712, an elastic member fixing seat 713 and a first docking seat 714. The first docking seat 714 is sleeved in the elastic fixing seat 713. One end of the elastic member 711 abuts against the elastic blocking seat 712, and the other end abuts against the first docking seat 714. Fig.14 As shown, when the first docking seat 714 is subjected to force (i.e., when the first clutch rod 231 is docked with the first clutch rod docking member 71 of the push pin mounting seat 7), the elastic member 711 will be compressed due to the existence of the elastic member blocking seat 712. When the force is removed, the elastic member 711 rebounds and returns to the initial position. Fig.11 As shown, the second clutch rod docking member 105 also includes an elastic member 1051, an elastic member blocking seat 1052, an elastic member fixing seat 1053, and a second docking seat 1054. Its parts arrangement is consistent with that of the first clutch rod docking member of the push-pin docking member. It is only because of the different positions that the shape of the second clutch rod docking member is adaptively modified to better adapt to the parts arrangement, which will not be repeated here.

[0068] In order to explain the operation state of the particle implanter in more detail, the movement steps of the particle implanter are described in detail below. Among them, the automatic particle implanter includes a puncture stage and a particle implantation stage, and the push rod or push needle will be retained during the puncture and implantation process.

[0069] The automatic seed implanter has two operating modes during the puncture phase of the seed implantation procedure. For ease of description, the front and back positions of the seed implanter are defined as follows: Figure 2 As shown, the end close to the second driving member 3 is the rear position of the particle implanter, and the end close to the feeding mechanism 5 is the front position of the particle implanter.

[0070] The puncture process in the first operating mode is as follows:

[0071] Step S11: driven by the second driving mechanism 3, the puncture needle guiding mechanism 6 moves toward the direction close to the second driving mechanism 3 to the rear limit position.

[0072] The above actions ensure that the particle implanter body is in a shorter state, avoiding the risk of collision during movement.

[0073] Step S12: Through the control of the control system, the particle implanter reaches the planned posture through the control of the external driving component.

[0074] Step S13: the second driving mechanism 3 drives the puncture needle guiding mechanism 6 to move in a direction away from the second driving mechanism 3 to a front limit position.

[0075] At this time, because the particle implanter has reached the designated planned posture, when the puncture needle guiding mechanism 6 moves to the front limit position, the front end of the puncture needle guiding mechanism 6 just touches the patient's skin.

[0076] Step S14: The clamping assembly 62 drives the clamping assembly 62 to close through the driving assembly 61 to complete the limitation of the puncture action direction of the puncture needle.

[0077] Among them, step S14 can be completed before steps S11-13, and after completing S11-S14, the positioning of the puncture needle is completed.

[0078] Step S15: With the assistance of the clamping assembly, the doctor pushes the puncture needle into the human body at a specified depth along the predetermined puncture point and direction, completing the positioning and puncture of the first puncture needle.

[0079] Step S16: The clamping assembly 62 drives the clamping assembly 62 to open through the driving assembly 61 to release the limitation of the movement position of the puncture needle, and the external driving component drives the particle implanter to withdraw from the puncture needle from one side, completing the positioning and puncture of the puncture needle.

[0080] Step S17: The particle implanter is driven by an external driving component to move to the next puncture point, and steps S14 to S16 are repeated until all puncture needles are positioned and punctured.

[0081] When executing step S17, the second driving mechanism 3 no longer needs to drive the puncture needle guiding mechanism 6 to the rear limit position, and only reaches the next positioned puncture point through the control of the external driving component, because the distance between each puncture point is short and the risk of collision during small distance movement is low.

[0082] The puncture process of the second operation mode is as follows:

[0083] Step S21: driven by the second driving mechanism 3, the puncture needle guiding mechanism 6 moves toward the direction close to the second driving mechanism 3 to the rear limit position.

[0084] Step S22: the first driving mechanism 2 drives the push rod 10 to move toward the rear end of the particle implanter to complete the axial fixation of the puncture needle.

[0085] Alternatively, the first driving mechanism 2 drives the push rod 10 to move toward the rear end of the particle implanter. The particle implanter is driven by the external driving component 9 in a direction opposite to the movement direction driven by the first driving mechanism 2. The push rod 10 and the particle implanter move relative to each other to complete the axial fixation of the puncture needle.

[0086] Prior to this, the puncture needle 13 has been matched with the puncture needle groove 103 , and the needle seat of the puncture needle 13 is located between the feeding mechanism 5 and the limiting block 102 .

[0087] Step S23: The clamping assembly 62 drives the clamping assembly 62 to close through the driving assembly 61 to complete the limitation of the puncture action direction.

[0088] Step S24: Through the control of the control system, the particle implanter reaches the planned posture through the control of the external driving component.

[0089] Step S25: the second driving mechanism 3 drives the puncture needle guiding mechanism 6 to move in a direction away from the second driving mechanism 3 to the front limit position, thereby completing the positioning of a puncture point.

[0090] At this time, because the particle implanter has reached the designated planned posture, when the puncture needle guiding mechanism 6 moves to the front limit position, the front end of the puncture needle guiding mechanism 6 just touches the patient's skin, and the puncture needle is clamped to limit the puncture direction.

[0091] Step S26: The external driving component pushes the puncture needle into the human body to a specified depth along the predetermined puncture point and direction.

[0092] Because the particle implanter has completed the limitation of the puncture action direction (radial fixation) and axial fixation of the puncture needle, the puncture needle can be pushed into the human body. Fig.12 As shown, A represents the skin surface of the human body and B represents the human body tissue.

[0093] Fig.12 What is shown is a schematic diagram of the process of inserting the puncture needle into human tissue. The controller controls the external driving component to drive the particle implanter as a whole to move a distance in the direction close to the human tissue at a speed of V1. At the same time, the puncture needle guiding mechanism 6 moves a distance in the direction away from the human tissue at a speed of V2 relative to the particle implanter as a whole, wherein |V1|=|V2|, so that the puncture needle 13 moves a certain distance into the body. During the movement into the body, it is ensured that the front end of the puncture needle guiding mechanism 6 always presses against the patient's skin.

[0094] Step S27: the driving component 61 controls the clamping component 62 to release the limitation on the puncture action position of the puncture needle, and the external driving component drives the particle implanter to withdraw from the puncture needle from one side, completing the positioning and puncture of the puncture needle.

[0095] Step S28: The particle implanter is driven by an external driving component to move to the next puncture point, and steps S21 to S27 are repeated until all puncture needles are positioned and punctured.

[0096] After the particle implanter completes the patient's positioning and puncture, it enters the particle implantation stage.

[0097] The process of the automatic particle implanter particle implantation stage is as follows:

[0098] Step S31: The particle implanter is docked with the puncture needle.

[0099] Before the puncture needle docking action, the push rod 10 and the puncture needle guiding mechanism 6 are both in the rear limit position, and the specific process is as follows:

[0100] S311: The external driving component drives the particle implanter to reach a docking position corresponding to the puncture needle 13, wherein the docking position is calculated by the control system, and the docking position is parallel to the axial direction of the puncture needle and is located on one side of the puncture needle.

[0101] S312: The first driving mechanism 2 drives the push rod 10 to move to the front limit position, and the clamping assembly 62 drives the clamping assembly 62 to open through the driving assembly 61.

[0102] S313: The external driving component drives the particle implanter to move, so that the puncture needle 13 cooperates with the puncture needle slot 103, and the needle seat of the puncture needle 13 is located between the feeding mechanism 5 and the limit block 102.

[0103] S314: Driven by the first driving mechanism 2, the push rod 10 moves along the axial direction of the puncture needle to the rear limit position of the push rod 10 at a speed of V11, and the feeding mechanism 5 is driven by the external driving component to move in the opposite direction of the push rod at a speed of V12. The relative movement of the two can complete the axial fixation of the puncture needle. V11 and V12 cooperate with each other to prevent the puncture needle from being displaced during the process of being axially fixed on the particle implanter.

[0104] S315: The second driving mechanism 3 drives the puncture needle guiding mechanism 6 to move in a direction away from the second driving mechanism 3, so that the front end of the puncture needle guiding mechanism 6 is against the skin, wherein the movement distance of the puncture needle guiding mechanism 6 is calculated by the control system.

[0105] Step S32: implant one particle, and the push pin is initially located at the rear limit position.

[0106] like Fig.13 The specific implantation process is as follows:

[0107] S321: As shown in I, the control system controls the push needle 4 to push the particles from the particle feeding mechanism into the puncture needle 13 forward, and continues to push the particles to the needle tip of the puncture needle 13.

[0108] S322: The external control system controls the external driving component to drive the particle implanter to move as a whole, driving the puncture needle 13 to move at a speed V1' in the direction of withdrawing from the human tissue B. At the same time, the push needle 4 and the puncture needle guiding mechanism 6 move at a speed V2' in the direction of approaching the human tissue until the particles are completely pushed into the human tissue.

[0109] During processes II and III, |V1'|=|V2'|, so that while the puncture needle 13 moves a certain distance outside the body, the front end of the puncture needle guiding mechanism 6 always presses against the patient's skin, and the push needle 4 always presses against the particles.

[0110] S323: The push pin 4 moves to the rear limit position under the drive of the first driving mechanism.

[0111] The push pin 4 moves to the rear limit position in order to complete the loading of the particle magazine and prepare for the implantation of the next particle. For the specific loading principle, see the description of the movement of the particle magazine in this article.

[0112] The purpose of steps S321 to S322 is to allow the push needle 4 to release the particles from the puncture needle and leave them at the designated position. Fig.13 The I-III implantation process can ensure that the particles are not affected by the resistance of the tissue during the process from the puncture needle to the tissue, thereby improving the implantation accuracy of the particles.

[0113] Step S33: According to the set particle position and particle spacing, the controller controls the external driving component to drive the particle implanter to move backward for a certain distance to leave the particle spacing.

[0114] Step S34: Repeat steps S32 to S33 until the implantation of the specified number of particles by the puncture needle is completed.

[0115] Step S35: When the particle implantation of one puncture needle is completed, the controller controls the external driving component to drive the particle implanter as a whole to move backward, and the puncture needle guiding mechanism moves forward relative to the particle implanter as a whole to pull the puncture needle out of the body.

[0116] Alternatively, the control system controls the driving component 61 to control the clamping component 62 to release the limitation on the puncture action direction of the puncture needle, and the external driving component drives the particle implanter to withdraw from the puncture needle from one side.

[0117] Step S37: The particle implanter will dock with other puncture needles again to implant particles, and repeat steps S31-S35 until the implantation of particles in all puncture needles is completed.

[0118] During the seed implantation surgery, the automatic seed implanter will push the needle and the push rod to retain the needle. The specific movement steps of the push needle and the push rod are as follows:

[0119] The following steps take the first clutch rod docking with the push pin mounting seat as an example, wherein the first and second clutch rods are in a state of not being connected with the push pin mounting seat and the push rod mounting seat, such as Figure 8 , 14 -16.

[0120] S41: Figure 8 , 14 As shown, the first docking seat 714 cooperates with its push pin retention groove 41 , and the second docking seat 1054 cooperates with the push rod retention groove 104 .

[0121] S42: Fig.15 , 16 As shown, the clutch rod 231 is docked with the first docking seat 714 , and one end of the elastic member 711 is subjected to force, so that the elastic member 711 is compressed, and the driving member 21 drives the movement of the first docking seat 714 and then drives the movement of the push-pin mounting seat 7 .

[0122] S43: The first clutch rod 231 and the push-pin mounting seat 7 complete related actions (such as a particle implantation operation).

[0123] S44: After completing the relevant actions, the position of any push pin retention groove 41 is reached, and the push pin mounting seat 7 is separated from the first docking seat 714 of the first clutch rod docking member 71. At this time, the force of the first clutch rod 231 on the elastic member 711 is cancelled, and the elastic member 711 rebounds to the first position, completing the fixed retention of the push pin.

[0124] Similarly, the push rod retention groove 104, the second clutch rod docking member 105 and the second clutch rod 241 cooperate in the same manner as the push pin retention groove 41, the first clutch rod docking member 71 and the first clutch rod 231, and will not be described in detail here. In this article, there are three initial states when docking, one is that the first clutch rod docking member 71 and the first clutch rod 231 are in a docking state, and the second clutch rod docking member 105 and the second clutch rod 241 are in a separated state; the second is that the first clutch rod docking member 71 and the first clutch rod 231 are in a separated state, and the second clutch rod docking member 105 and the second clutch rod 241 are in a docking state; the third is that the first clutch rod docking member 71 and the first clutch rod 231 are in a separated state, and the second clutch rod docking member 105 and the second clutch rod 241 are also in a separated state.

[0125] like Fig.17 As shown, it is a principle diagram of the arrangement of particle magazines in the prior art, the particle magazine 54 is arranged vertically with the puncture needle 13, so the push needle 4 can directly enter the particle channel 542 of the particle magazine, and then push the particles out, and then the push needle retreats to the original position, completing the loading of the particle magazine, and then the next particle is pushed out. The present invention can also adopt this method to arrange the particle magazine.

[0126] In order to further reduce the volume of the particle implanter, the particle magazine 54 is arranged on the same horizontal plane as the puncture needle 13. Fig.18 As shown, the particle magazine 54 and the puncture needle 13 are arranged horizontally, and the push needle 4 pushes the particles in the particle magazine through the commutator 51. The specific implementation method is as follows:

[0127] like Figure 19-21 As shown, the feeding mechanism 5 includes a commutator 51, a reversing rod 52 and a motion component 53, a particle magazine 54 and a feeding seat 56. The commutator 51, the reversing rod 52 and the motion component 53, and the particle magazine 54 are arranged on the feeding seat 56. The feeding seat is provided with a track 512, and a sliding pin 511 is arranged on the track 512. The commutator 51 is connected to the motion component 53 through the sliding pin 511. The motion component 53 drives the movement of the commutator 51 by driving the sliding pin 511; the reversing rod 52 is connected to the motion component 53, and the reversing rod 52 drives the movement of the motion component 53, as shown in FIG. Figure 3 As shown, the particle magazine 54 is arranged on one side of the feeding mechanism 5 , and the mounting base 1 is provided with a particle magazine fixing seat 55 on the same side of the particle magazine 54 .

[0128] like Figure 19-21 As shown, the motion assembly 53 includes a first rack 531, a second rack 532 and a gear 533. The first rack 531 has a number of teeth for meshing with the gear 533. The first rack 531 is provided with a particle ejector 534 for ejecting particles from the particle magazine 54. The second rack 532 has teeth meshing with the gear 533 and a sliding groove 5321. The sliding groove 5321 is used to cooperate with the sliding pin 511 on the commutator 51, so that the commutator 51 moves in the track 512 of the feeder seat 56. The track 512 is the track route where the sliding pin 511 actually deviates; as shown in FIG. Fig. 22 As shown, the sliding groove 5321 can be divided into two continuous sections, one section is a static section with a length of s1, and the sliding pin 511 of the commutator is in a static state when sliding in this section, and the other section is a dynamic section with a length of s2, and the sliding pin 511 of the commutator will be offset after entering this section, thereby driving the commutator 51 to rotate. In order to make the gear 533 mesh with the first and second racks 531 and 532, the gear 533 and the first rack 531 and the second rack 532 have the same module and pressure angle to meet the meshing conditions.

[0129] The movement of the motion assembly 53 is driven by the reversing rod 52, so the reversing rod 52 needs to be driven by a driving member. In order to reduce the number of parts and achieve the purpose of reducing the volume of the particle implanter, the present invention realizes the movement of the reversing rod 52 and the push pin 4 through the driving mechanism 2.

[0130] like Figure 3 As shown, the push rod 10, the particle magazine 54 and the particle magazine fixing seat 55 are arranged on the side close to the second track 12, the reversing rod 52 is arranged on the mounting base 1, and is arranged on the same side of the mounting base 1 as the push pin 4; the reversing rod 52 is provided with an elastic member 521, one end of the elastic member 521 abuts on the feeding mechanism 5, and the other end abuts on one end of the reversing rod 52.

[0131] like Figure 23-26 A reversing rod mounting seat 522 is provided on the first track 11. When the push pin mounting seat 7 moves in a direction away from the feeding mechanism 5, the push pin mounting seat 7 will abut against the reversing rod mounting seat 522, driving the reversing rod 52 to move in a direction away from the feeding mechanism 5. At this time, the elastic member 521 on the reversing rod is compressed; when the push pin 4 moves in a direction close to the feeding mechanism 5, the push pin mounting seat 7 is separated from the reversing rod mounting seat 522, and the elastic member 521 rebounds, driving the reversing rod 52 to move in a direction close to the feeding mechanism 5.

[0132] In order to further increase the rebound force, a fixed end 111 is provided on the first track 11 , a reversing rod mounting seat 522 is arranged between the fixed end 111 and the push pin mounting seat 7 , and an elastic member 112 is provided between the fixed end 111 and the reversing rod mounting seat 522 .

[0133] When the push pin 4 moves in a direction away from the feeding mechanism 5 , the elastic member 112 will be compressed; when the push pin 4 moves in a direction close to the feeding mechanism 5 , the elastic member 521 rebounds together with the elastic member 112 , completing the movement of the reversing rod 52 in a direction close to the feeding mechanism 5 .

[0134] Fig.31 , 32 The A to H states correspond to Fig. 27 , 28 , Fig.29 , 30 The A~H states correspond to Fig. 27 , 28 , Fig.31 , 32 Compared to Figures 27-30 , Fig.31 , 32 The push pin mounting seat and the commutator rod mounting seat are also shown. In order to facilitate the understanding of the movement of the commutator, Fig.31 , 32 The figure shows the principle diagram of the process in which the motion component of the present invention drives the commutator to move.

[0135] State A: The particle pusher 534 pushes a particle into the particle channel 513 of the commutator 51. At this time, the push needle mounting seat 7 abuts against the reversing rod mounting seat 522. Due to the presence of the elastic member 521, when the push needle mounting seat 7 moves toward the direction close to the puncture needle 13, the reversing rod 52 drives the second rack 532 to move toward the direction close to the puncture needle 13. This is action a.

[0136] State B: During this movement, the second rack 532 meshes with the gear 533 and rotates. The movement of the second rack is action b. The rotating gear 533 drives the first rack 531 to move upward, generating action c. In the front section of action a, since the sliding pin 511 of the commutator 51 is in the static section of the sliding groove 5321 of the second rack 532, the commutator 51 does not rotate at this time, which facilitates the particle top member 534 to exit the commutator 51. After the particle top member 534 exits the commutator 51, action a continues. At this time, the sliding pin 511 of the commutator 51 enters the dynamic section of the sliding groove 5321 of the second rack 532, and the commutator 51 begins to rotate. This is action d. After the particle top member 534 exits the particle magazine 54, new particles are pushed into the particle channel 542 of the particle magazine under the action of the particle driving component 541, preparing for the next particle loading.

[0137] State C: The second rack 532 performs action a under the action of the reversing rod 52 until the sliding pin 511 reaches the end of the dynamic section of the sliding slot 5321, and the second rack 532, the first rack 531 and the commutator 51 all stop moving. It can be seen that the particle channel 512 of the commutator 51 in C is in a horizontal state, completing the rotation of the particle from vertical to horizontal.

[0138] State D: As the elastic member 521 rebounds, the push needle mounting seat 4 moves toward the puncture needle, and the reversing rod mounting seat 522 no longer moves toward the puncture needle. The push needle 4 on the push needle mounting seat 7 continues to perform action a under the drive of the driving member 21. The push needle 4 moving toward the puncture needle enters the commutator 51, and pushes the particles from the particle channel 513 of the commutator 51 into the puncture needle. Fig. 27 , 29 As shown in FIG. 31 , the push needle 4 pushes the particles in the puncture needle 13. When the particles are completely pushed out of the puncture needle, action a is terminated.

[0139] State E and F: When a particle is pushed out, the push needle 4 moves away from the puncture needle and performs action e, such as Fig.28 , 30 As shown in Figure 32, the process from E to H can be roughly understood as the reverse process of the action from A to D.

[0140] G state: after the push needle 4 retreats to the corresponding position, the second rack 532 moves in the direction away from the puncture needle, which is movement f. The movement of the second rack 532 simultaneously drives the gear 533 and the first rack 531, generating movement g. At the same time, because the sliding pin 511 is still in the dynamic section of the sliding groove 5321 of the second rack 532, the commutator 51 will also generate rotational movement h at this time. As the movement f continues, the commutator 51 rotates 90° from the horizontal state to the vertical state, and then the sliding pin 511 enters the static section of the sliding groove 5321, the movement of the commutator 51 stops, and action h ends.

[0141] H state: the movement g of the first rack 531 is still continuing, and the first rack 531 drives the particle top member 534 to push the particles in the particle magazine 54 into the commutator 51 again, completing a particle loading. Fig.28 , 30 As shown in 32, at this time, the state of H is consistent with A, completing a cycle.

[0142] At this point, those skilled in the art should recognize that, although multiple exemplary embodiments of the present invention have been shown and described in detail herein, many other variations or modifications that conform to the principles of the present invention can still be directly determined or derived based on the content disclosed in the present invention without departing from the spirit and scope of the present invention. Therefore, the scope of the present invention should be understood and recognized as covering all these other variations or modifications.

Claims

1. An automatic particle implanter, characterized in that: The particle implanter comprises a mounting base, a push pin, a first driving mechanism, a second driving mechanism, a feeding mechanism and a puncture needle guiding mechanism, wherein the mounting base is provided with a first track and a second track side by side, a push pin mounting seat is provided on the first track, and a puncture needle guiding mechanism mounting seat is provided on the second track, the push pin and the puncture needle guiding mechanism are respectively arranged on the push pin mounting seat and the puncture needle guiding mechanism mounting seat, and the push pin and the puncture needle guiding mechanism are driven to move by the first and second driving mechanisms; the puncture needle guiding mechanism comprises a driving assembly and a clamping assembly, and the driving assembly drives the clamping assembly to clamp and release; the feeding mechanism is arranged at one end of the mounting base, and pushes out the particles in the feeding mechanism through the push pin; an external mechanical interface is provided on the mounting base, and the external mechanical interface is used to connect an external driving member to control the overall movement of the particle implanter; the first driving mechanism comprises a first driving member, a first driving rod, a first clutch and a second clutch, and the first clutch and the second clutch are arranged on the first driving rod, and the first driving rod drives the movement of the first clutch and the second clutch; The second driving mechanism includes a second driving member and a second driving rod. The second driving rod is connected to the puncture needle guiding mechanism mounting seat. The driving of the second driving member drives the movement of the puncture needle guiding mechanism.

2. The automatic particle implanter according to claim 1, characterized in that: The driving assembly includes a third driving member, a guide member and a traction member, and the third driving member, the clamping assembly and the traction member are arranged on the guide member; the feeding mechanism is provided with a guide member pressing block, and the guide member pressing block is used to limit the radial movement of the guide member.

3. An automatic particle implanter according to claim 1, characterized in that: The feeding mechanism is provided with a push rod, which is arranged on one side of the feeding mechanism and moves axially on the feeding mechanism. A push rod seat is provided at one end of the push rod, and a limit block is provided at the other end of the push rod. A puncture needle groove is provided on the limit block.

4. An automatic particle implanter according to claim 3, characterized in that: The first clutch member is provided with a first clutch rod, and the second clutch member is provided with a second clutch rod. The first clutch rod is used to dock with the push pin mounting seat, and the second clutch rod is used to dock with the push rod seat. When the first clutch rod and the push pin mounting seat are in a docking state, the second clutch rod and the push rod seat are in a separated state, and the first driving member drives the push pin to move; when the second clutch rod and the push rod seat are in a docking state, the first clutch rod and the push pin mounting seat are in a separated state, and the first driving member drives the push rod to move.

5. An automatic particle implanter according to claim 4, characterized in that: The mounting base is provided with a push pin retaining groove on the movement path of the push pin mounting seat, and the push pin mounting seat is provided with a first clutch rod docking piece, and the first clutch rod docking piece is used to dock with the first clutch rod. When the first clutch rod docking piece is separated from the first clutch rod, the first clutch rod docking piece cooperates with the push pin retaining groove to complete the fixation of the push pin; when the first clutch rod docking piece is docked with the first clutch rod, the first clutch rod docking piece is separated from the push pin retaining groove, and the first driving member drives the push pin to move.

6. An automatic particle implanter according to claim 4, characterized in that: The mounting base is provided with a push rod retaining groove on the movement path of the push rod seat, and the push rod seat is provided with a second clutch rod docking piece, and the second clutch rod docking piece is used to dock with the second clutch rod. When the second clutch rod docking piece is separated from the second clutch rod, the second clutch rod docking piece cooperates with the push rod retaining groove to complete the fixation of the push rod; when the second clutch rod docking piece is docked with the second clutch rod, the second clutch rod docking piece is separated from the push rod retaining groove, and the first driving member drives the push rod to move.

7. An automatic particle implanter according to claim 3, characterized in that: The feeding mechanism includes a feeding seat, a particle magazine, a commutator, a motion component, and a reversing rod. The particle magazine, the commutator, the motion component, and the reversing rod are arranged on the feeding seat. The particle magazine is arranged on one side of the feeding mechanism. The mounting base is provided with a particle magazine fixing seat on the same side of the particle magazine.

8. An automatic particle implanter according to claim 7, characterized in that: The push rod, particle magazine and particle magazine fixing seat are arranged on a side close to the second track, and the reversing rod includes a first end and a second end opposite thereto; a reversing rod mounting seat is provided on the first track, the first end of the reversing rod is arranged on the feeding seat, and the second end of the reversing rod is connected to the reversing rod mounting seat; a first elastic member is provided on the reversing rod, one end of the first elastic member abuts against the feeding mechanism, and the other end abuts against the first end of the reversing rod; when the push pin mounting seat moves in a direction away from the feeding mechanism, the push pin mounting seat abuts against the reversing rod mounting seat.

9. An automatic particle implanter according to claim 8, characterized in that: A fixed end is arranged on the first track, the reversing rod mounting seat is arranged between the fixed end and the push pin mounting seat, and a second elastic member is arranged between the fixed end and the reversing rod mounting seat.

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