Puncture needle insertion device and particle implantation apparatus

Abstract

The present application discloses a puncture needle device and a particle implanting device with the puncture needle device, which comprises a moving platform, a mounting seat, a resistance sensing module, a puncture needle, a lock body, a lock bolt and an elastic reset member, the moving platform is provided with a rotary driving mechanism and a dynamic torque sensor, the rotary driving mechanism is in transmission connection with one end of the dynamic torque sensor; the mounting seat is rotatably arranged on the moving platform and in transmission connection with the other end of the dynamic torque sensor, the mounting seat is movable in the front-back direction; the resistance sensing module is arranged on the moving platform, and the rear end of the mounting seat is abutted against the resistance sensing module. The arrangement of the lock body, the lock bolt and the elastic reset member enables the puncture needle and the mounting seat to be quickly installed and disassembled. The particle implanting device imitates the puncture operation of a doctor through the puncture needle device, the puncture needle is advanced and rotated in a twist manner, the puncture resistance is effectively reduced, and the puncture precision is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment, in particular to a puncture needle insertion device and a particle implantation device. BACKGROUND

[0002] Internal radiotherapy is praised as one of the three pillars of modern malignant tumor treatment together with surgical treatment and systemic chemotherapy, and is widely used in the radical treatment or palliative treatment of primary malignant tumors and metastatic tumors. The radioactive particle implantation treatment technology in internal radiotherapy is a technology of accurately implanting radioactive particles into tumor bodies, emitting continuous and short-distance radiation by micro radioactive sources, having the advantages of causing maximum damage to tumor tissues and causing no or only slight damage to normal tissues, and relatively causing less damage to normal cells and less trauma to patients than traditional external radiotherapy and chemotherapy, and having good local control, and thus plays an important role in the treatment of malignant tumors.

[0003] The traditional internal radiotherapy adopts manual puncture operation based on a puncture template, and has problems of poor flexibility and low precision. In the puncture process, the puncture needle has the largest resistance when puncturing the epidermis, and it is difficult to tightly rely on the hard insertion of the puncture needle. In addition, when the puncture resistance is large, the resistance will also cause the skin of the patient to be depressed and deformed, resulting in reduced puncture precision or incorrect puncture position and the situation of accidentally injuring the patient, and the radioactive particles will also cause radioactive harm to the radiotherapy doctors. SUMMARY

[0004] The present application aims to at least solve one of the problems in the prior art. To this end, the present application provides a puncture needle insertion device which can replace manual puncture and quickly and accurately complete puncture.

[0005] The present application also provides a particle implantation device having the puncture needle insertion device.

[0006] According to a first aspect of the present invention, a puncture needle insertion device includes a moving platform, a mounting base, a resistance sensing module, a puncture needle, a lock body, and a locking tongue and an elastic reset member both disposed on the lock body. The moving platform is provided with a rotary drive mechanism and a dynamic torque sensor, and the rotary drive mechanism is operatively connected to one end of the dynamic torque sensor. The mounting base is rotatably disposed on the moving platform and operatively connected to the other end of the dynamic torque sensor. The mounting base has a first mounting hole extending in a front-rear direction in its rotation axis region, and a first fixing hole is provided on the side wall of the mounting base. The mounting base is movable in a front-rear direction. The resistance sensing module is disposed on the moving platform, and the rear end of the mounting base abuts against the resistance sensing module. The rear end of the puncture needle passes through the first mounting hole, and a second fixing hole is provided on the side wall of the puncture needle. The lock body is sleeved on the mounting base, and the elastic reset member can drive the locking tongue to sequentially insert into the first fixing hole and the second fixing hole to fix the puncture needle and the mounting base together. The puncture needle, the mounting base, and the resistance sensing module are on the same axis.

[0007] It offers at least the following benefits: the design of the lock body, latch, and elastic reset component allows for quick installation and disassembly of the puncture needle and mounting base. The puncture needle is driven to reciprocate through the forward and backward movement of the moving platform and the rotary drive mechanism. The resistance sensing module measures the resistance experienced by the puncture needle in real time through feedback from the mounting base, while the dynamic torque sensor measures the torque applied to the puncture needle by the rotary drive mechanism. Doctors can understand the puncture progress based on changes in torque and resistance values. The particle implantation device, through its puncture needle insertion device, can mimic the doctor's puncture technique. The needle advances while simultaneously undergoing a reciprocating rotational twisting insertion method, effectively reducing puncture resistance during the puncture process and preventing the puncture needle from deviating due to excessive resistance, thereby improving puncture accuracy.

[0008] According to some embodiments of the present invention, the mobile platform is provided with a fixed cover, and the resistance sensing module includes an adapter and a first bearing and a pressure sensor respectively disposed at the front and rear ends of the adapter. The first bearing is connected to the rear end of the mounting base, and the pressure sensor is connected to the mobile platform through the fixed cover.

[0009] According to some embodiments of the present invention, the mobile platform is provided with a first rotating component and a second rotating component connected by transmission, the other end of the dynamic torque sensor is connected to the first rotating component, and the second rotating component is sleeved on the mounting base and can rotate together with the mounting base.

[0010] According to some embodiments of the present application, the rotating driving mechanism is connected with one end of the dynamic torque sensor through a first elastic coupling, and the other end of the dynamic torque sensor is connected with the first rotating component through a second elastic coupling.

[0011] According to some embodiments of the present application, the first rotating component and the second rotating component are pulleys, and the first rotating component and the second rotating component are connected through a belt.

[0012] According to some embodiments of the present application, the first rotating component and the second rotating component are two intermeshing gears.

[0013] According to some embodiments of the present application, the second rotating component is provided with a second mounting hole, the second mounting hole is a spline hole, and an outer surface of the mounting seat is provided with a spline matched with the spline hole.

[0014] According to some embodiments of the present application, a third mounting hole is arranged on the lock body, the mounting seat is arranged in the third mounting hole, a sliding groove in communication with the third mounting hole is arranged on a side wall of the lock body, a lock catch is slidably arranged in the sliding groove, the lock catch is provided with a avoiding hole through which the mounting seat passes, and two ends of the elastic reset member are respectively connected with or abut against a groove bottom of the sliding groove and an outer wall of the lock catch.

[0015] According to some embodiments of the present application, a U-shaped groove is arranged on a front end surface of the mounting seat, and a pin shaft that can extend into the U-shaped groove is arranged on an outer wall of the puncture needle.

[0016] The particle implantation device according to the second aspect of the embodiments of the present application comprises the puncture needle insertion device according to the first aspect of the embodiments of the present application.

[0017] At least the following beneficial effects are achieved:

[0018] The particle implantation device has all the beneficial effects brought by the puncture needle insertion device according to the above embodiments, and will not be repeated here.

[0019] Additional aspects and advantages of the present application will be given in part in the following description, will become apparent from the following description, or will be learned by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0020] The present application will be further described below in combination with the drawings and embodiments, in which:

[0021] Figure 1 FIG. 1 is a structural schematic view of a puncture needle insertion device according to an embodiment of the present application;

[0022] Figure 2Structure diagram of a locking module in a puncture needle insertion device according to an embodiment of the present application;

[0023] Figure 3 Structure diagram of a puncture needle insertion device according to an embodiment of the present application;

[0024] Figure 4 Structure diagram of a puncture needle insertion device according to an embodiment of the present application; Figure 3 Structure diagram of a puncture needle insertion device according to an embodiment of the present application;

[0025] Figure 5 Structure diagram of a puncture needle insertion device according to an embodiment of the present application;

[0026] Figure 6 Structure diagram of a puncture needle insertion device according to an embodiment of the present application;

[0027] Figure 7 Structure diagram of a puncture needle insertion device according to an embodiment of the present application;

[0028] Figure 8 Structure diagram of a puncture needle insertion device according to an embodiment of the present application.

[0029] The drawings show: a moving platform 100, a fixed cover 110, a first rotating assembly 120, a second rotating assembly 130, a second mounting hole 131, a belt 140, a mounting block 150, an end cover 151, a rotating drive mechanism 200, a first elastic coupling 210, a dynamic torque sensor 300, a second elastic coupling 310, a mounting seat 400, a first mounting hole 410, a first fixing hole 420, a U-shaped groove 430, a resistance sensing module 500, an adapter 510, a first bearing 520, a pressure sensor 530, a puncture needle 600, a second fixing hole 610, a pin shaft 620, a needle head 630, a needle tail 640, a mounting stepped hole 641, a lock body 700, a lock tongue 710, an elastic reset member 720, a third mounting hole 730, a sliding groove 740, a lock catch 750, and a clearance hole 751. DETAILED DESCRIPTION

[0030] Embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present application and cannot be understood as a limitation of the present application.

[0031] In the description of the present application, it should be understood that the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right and the like, is based on the orientation or positional relationship shown in the drawings, and is only for the purpose of facilitating the description of the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0032] In the description of the present application, more refers to more than two. If there is a description of first, second, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the sequence of indicated technical features.

[0033] In the description of the present application, unless otherwise explicitly limited, the words such as arrangement, installation, connection and the like should be broadly understood, and those skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical scheme.

[0034] Reference Figures 1 to 4 The present application discloses a puncture needle device, comprising a moving platform 100, a mounting seat 400, a resistance sensing module 500, a puncture needle 600, a lock body 700, and a lock tongue 710 and an elastic reset member 720 which are both arranged on the lock body 700. The moving platform 100 is provided with a rotary driving mechanism 200 and a dynamic torque sensor 300, the rotary driving mechanism 200 is in transmission connection with one end of the dynamic torque sensor 300, the mounting seat 400 is rotatably arranged on the moving platform 100 and in transmission connection with the other end of the dynamic torque sensor 300, the rotary driving mechanism 200 can drive the dynamic torque sensor 300 and the mounting seat 400 to rotate, and the dynamic torque sensor 300 detects the torque value fed back by the mounting seat 400.

[0035] Participation Figure 5 And Figure 6 The mounting seat 400 is provided with a first mounting hole 410 extending in the front-back direction in the region of the rotary axis, and the rear end of the puncture needle 600 is arranged in the first mounting hole 410. The side wall of the mounting seat 400 is provided with a first fixing hole 420. Figure 7 The side wall of the puncture needle 600 is provided with a second fixing hole 610, the lock body 700 is sleeved on the mounting seat 400, and the elastic reset member 720 can drive the lock tongue 710 to be inserted into the first fixing hole 420 and the second fixing hole 610 in sequence, so as to fixedly connect the puncture needle 600 and the mounting seat 400 together. The puncture needle 600 and the mounting seat 400 are fixedly connected together, and the mounting seat 400 can drive the puncture needle 600 to rotate synchronously.

[0036] When it is needed to fix the puncture needle 600 on the mounting seat 400, the rear end of the puncture needle 600 is inserted into the first mounting hole 410, so that the second fixing hole 610, the first fixing hole 420 and the lock tongue 710 are in relative positions, the lock tongue 710 is inserted into the first fixing hole 420 and the second fixing hole 610 in turn, and the puncture needle 600 and the mounting seat 400 are fixedly connected together. When it is needed to detach the puncture needle 600 from the mounting seat 400, the lock tongue 710 is withdrawn from the second fixing hole 610 and the first fixing hole 420 in turn, and the puncture needle 600 is easily pulled out of the first mounting hole 410. The arrangement of the lock body 700, the lock tongue 710 and the elastic reset member 720 enables the puncture needle 600 and the mounting seat 400 to be quickly mounted and detached, and meets the requirement that the puncture needle 600 needs to be frequently replaced as consumables. It is known that the lock body 700 is fixedly connected with the mounting seat 400 by a fastener, and the lock tongue 710 extends into the first fixing hole 420 at this time. The fastener is a screw.

[0037] The resistance sensing module 500 is arranged on the mobile platform 100, and the mounting seat 400 is movable in the front-rear direction on the mobile platform 100, and the rear end of the mounting seat 400 abuts against the resistance sensing module 500. When the puncture needle 600 is punctured, the puncture needle 600 is subjected to resistance, and since the mounting seat 400 is movable in the front-rear direction on the mobile platform 100, the resistance of the puncture needle 600 is transmitted to the resistance sensing module 500 through the mounting seat 400, and the resistance sensing module 500 can measure the resistance value of the puncture. The puncture needle 600, the mounting seat 400 and the resistance sensing module 500 are on the same axis, the resistance of the puncture needle 600 is transmitted in a straight line, and the resistance sensing module 500 can more accurately measure the resistance value of the puncture needle 600, and improve the accuracy of the resistance sensing module 500.

[0038] The rotation driving mechanism 200 drives the dynamic torque sensor 300 and the mounting seat 400 to rotate, the mounting seat 400 drives the puncture needle 600 to rotate, the puncture needle 600 is provided with a particle channel in the axial direction, the mobile platform 100 of the puncture needle device is connected with a driving end of a particle implantation equipment, and after the puncture needle 600 punctures into a lesion or a tumor, the particle implantation equipment transports radioactive particles to the lesion or the tumor through the particle channel.

[0039] When the puncture needle device is in use, the puncture needle 600 can be reciprocally rotated by moving the moving platform 100 forward and backward and rotating the rotating driving mechanism 200, the resistance sensing module 500 can measure the resistance value of the puncture needle 600 in real time through the feedback of the mounting seat 400, and the dynamic torque sensor 300 can measure the torque value of the rotating driving mechanism 200 applied to the puncture needle 600. The puncture needle 600 can be advanced while being reciprocally rotated, so that the puncture resistance can be effectively reduced, the puncture needle 600 can be prevented from being deviated due to the large resistance, and the puncture accuracy can be improved. The resistance value and the torque value of the puncture needle 600 in the puncture process can be monitored in real time through the resistance sensing module 500 and the dynamic torque sensor 300, and the doctor can understand the puncture progress in real time according to the resistance value and the torque value. In addition, when the resistance value and the torque value of the puncture fluctuate greatly, the particle implantation device can automatically stop the puncture work of the puncture needle device, and the next operation can be performed after the doctor verifies and confirms the puncture condition.

[0040] It can be understood that the resistance sensing module 500 comprises an adapter 510 and first bearings 520 and a pressure sensor 530 arranged at the front and rear ends of the adapter 510, the adapter 510 serves to connect the first bearings 520 and the pressure sensor 530, the first bearings 520 are connected with the rear end of the mounting seat 400, so that the adapter 510 and the mounting seat 400 can be relatively rotated, the moving platform 100 is provided with a fixed cover 110, the pressure sensor 530 is fixed on the moving platform 100 through the fixed cover 110, and the rotation of the mounting seat 400 can be prevented from being affected by the pressure sensor 530 through the first bearings 520 and the adapter 510.

[0041] It can be understood that the adapter 510 is tubular, the pressure sensor 530 is annular, and the first bearings 520 and the pressure sensor 530 are respectively sleeved at the front and rear ends of the adapter 510. The rear end surface of the mounting seat 400 is provided with a first bearing mounting groove, the first bearing mounting groove is coaxial with the first mounting hole 410 and communicates with the first mounting hole 410, and the outer ring of the first bearing 520 is abutted against the inner groove wall of the first bearing mounting groove, that is, the first bearing 520 is mounted in the first bearing mounting groove.

[0042] It can be understood that the mobile platform 100 is provided with the transmission connection first rotating assembly 120 and the second rotating assembly 130, the other end of the dynamic torsion sensor 300 is connected with the first rotating assembly 120, the second rotating assembly 130 is sleeved on the mounting seat 400 and can rotate with the mounting seat 400. The rotating drive mechanism 200 drives the dynamic torsion sensor 300, the first rotating assembly 120, the second rotating assembly 130, the mounting seat 400 and the puncture needle 600 to rotate in turn. The first rotating assembly 120 and the second rotating assembly 130 are arranged to avoid the dynamic torsion sensor 300 being directly connected with the mounting seat 400, thereby leaving installation space for the resistance sensing module 500, so that the puncture needle 600, the mounting seat 400 and the resistance sensing module 500 are on the same axis.

[0043] It can be understood that the mobile platform 100 is plate-shaped, the front end of the mobile platform 100 is provided with the mounting block 150, the first mounting through hole and the second mounting through hole are formed in the mounting block 150, the axes of the first mounting through hole and the second mounting through hole are parallel to each other and extend along the front-rear direction, the first rotating assembly 120 is arranged in the first mounting through hole through the second bearing, the rear end of the first rotating assembly 120 is a shaft section, the dynamic torsion sensor 300 and the rotating drive mechanism 200 are located at the rear of the mounting block 150, the shell of the dynamic torsion sensor 300 and the shell of the rotating drive mechanism 200 are arranged on the upper surface of the mobile platform 100 through the first mounting plate and the second mounting plate respectively, and the shaft section is in transmission connection with the other end of the dynamic torsion sensor 300. The second rotating assembly 130 is arranged in the second mounting through hole through the third bearing, the rear end of the mounting seat 400 is connected with the inner ring of the third bearing, and the pressure sensor 530 is connected with the rear end surface of the mounting block 150 through the fixed cover 110. The front end of the mounting seat 400 extends to the front of the mounting block 150, the lock body 700 is sleeved on the front end of the mounting seat 400, and the lock body 700 does not interfere with the mounting block 150. The mounting block 150 is arranged to make the first rotating assembly 120, the second rotating assembly 130, the mounting seat 400 and the puncture needle 600 all higher than the upper surface of the mobile platform 100; the second bearing and the third bearing are arranged to make the first rotating assembly 120 and the second rotating assembly 130 have smaller resistance when rotating on the mounting block 150.

[0044] It can be understood that the first rotating assembly 120 and the second rotating assembly 130 are both pulleys, and the first rotating assembly 120 and the second rotating assembly 130 are connected through the belt 140. The front end surface of the mounting block 150 is provided with a belt mounting groove in communication with the first mounting through hole and the second mounting through hole, and the belt 140 is located in the belt mounting groove, the first mounting through hole and the second mounting through hole, so as to avoid the belt 140 protruding from the front end surface of the mounting block 150. The front end surface of the mounting block 150 is provided with an end cover 151 covering the first mounting through hole and the second mounting through hole, and the end cover 151 is provided with a first through hole for the front end of the mounting seat 400 to pass through. The end cover 151 can avoid the second bearing, the third bearing, the first rotating assembly 120 and the second rotating assembly 130 from being exposed. The outer circular surface of the first rotating assembly 120 and the second rotating assembly 130 is provided with a belt groove. The number of the second bearing and the third bearing can be two or more according to actual conditions.

[0045] In another embodiment, the first rotating assembly 120 and the second rotating assembly 130 are two gears meshing with each other, and at this time, the front section of the first mounting through hole and the front section of the second mounting through hole are in communication, and the gears are located in the front section of the first mounting through hole and the front section of the second mounting through hole, so as to avoid the first mounting through hole and the second mounting through hole protruding from the front end surface of the mounting block 150.

[0046] It can be understood that the rotating drive mechanism 200 is connected with one end of the dynamic torque sensor 300 through the first elastic coupling 210, and the other end of the dynamic torque sensor 300 is connected with the first rotating assembly 120 through the second elastic coupling 310. In order to eliminate the eccentricity problem caused by the machining error of each component, the two ends of the dynamic torque sensor 300 are respectively connected with the rotating drive mechanism 200 and the first rotating assembly 120 through the first elastic coupling 210 and the second elastic coupling 310, so that the torque value measured by the dynamic torque sensor 300 is closer to the actual torque value of the puncture needle 600, and the accuracy of the dynamic torque sensor 300 is improved.

[0047] It can be understood that the second rotating assembly 130 is provided with a second mounting hole 131, the second mounting hole 131 is a spline hole, the mounting seat 400 is a spline shaft, the outer surface of the mounting seat 400 is provided with a spline matched with the spline hole, and the mounting seat 400 is inserted into the second mounting hole 131. The cooperation of the spline hole and the spline can make the mounting seat 400 slide in the front and back directions on the second rotating assembly 130, and the mounting seat 400 and the second rotating assembly 130 can keep synchronous rotation.

[0048] It can be understood that the front end surface of the mounting seat 400 is provided with a U-shaped groove 430, and the outer wall of the puncture needle 600 is provided with a pin shaft 620 which can extend into the U-shaped groove 430. When the puncture needle 600 cooperates with the mounting seat 400, the pin shaft 620 extends into the U-shaped groove 430. When the mounting seat 400 reciprocating rotates, the two side groove walls of the U-shaped groove 430 act on the pin shaft 620, that is, the mounting seat 400 transmits power to the puncture needle 600 through the pin shaft 620 to drive the puncture needle 600 to rotate synchronously with the mounting seat 400.

[0049] The number of the U-shaped grooves 430 and the pin shafts 620 is two. The two U-shaped grooves 430 are on one straight line, and the two pin shafts 620 are on another straight line. The pin shafts 620 are perpendicular to the puncture needle 600. The relative positions of the U-shaped grooves 430 and the first fixed hole 420 and the relative positions of the pin shafts 620 and the second fixed hole 610 are the same, so that when the puncture needle 600 is inserted into the first mounting hole 410 of the mounting seat 400, the pin shaft 620 enters the U-shaped groove 430 under the guidance of the slot of the U-shaped groove 430. At this time, the first fixed hole 420 and the second fixed hole 610 are coaxial.

[0050] Participate Figure 8 The puncture needle 600 includes a needle head part 630 and a needle tail part 640. The diameter of the needle head part 630 is smaller than that of the needle tail part 640. The needle tail part 640 is provided with a mounting stepped hole 641 which penetrates through the front and rear ends of the needle tail part 640. The hole diameter of the mounting stepped hole 641 is large in front and small at the rear. The rear segment of the needle head part 630 is inserted into the front segment of the mounting stepped hole 641, and the rear end surface of the needle head part 630 abuts against the step surface between the front segment of the mounting stepped hole 641 and the rear segment of the mounting stepped hole 641. The inner cavity of the needle head part 630 and the rear end of the mounting stepped hole 641 form a particle channel. The pin shaft 620 and the second fixed hole 610 are arranged in the needle tail part 640, and the second fixed hole 610 is a blind hole to avoid the occurrence of gaps in the side wall of the particle channel, thereby avoiding the leakage of radioactive particles in the particle channel.

[0051] The rear segment of the mounting stepped hole 641 is in communication with the lumen of the adapter 510. The fixed cover 110 is provided with a catheter and a second through hole. The particle channel, the lumen of the adapter 510, the second through hole and the lumen of the catheter are in communication in sequence. The pipeline for conveying radioactive particles can pass through the lumen of the catheter, the second through hole and the lumen of the adapter 510 in sequence and enter the rear segment of the mounting stepped hole 641.

[0052] It can be understood that the lock body 700 is provided with a third mounting hole 730, and the sidewall of the lock body 700 is provided with a sliding groove 740 in communication with the third mounting hole 730, and the sliding groove 740 is slidably provided with a lock catch 750, and the lock catch 750 is provided with a avoiding hole 751 through which the mounting seat 400 passes, and the mounting seat 400 can pass through the avoiding hole 751 and the third mounting hole 730 at the same time.

[0053] The two ends of the elastic reset member 720 are connected or abut with the groove bottom of the sliding groove 740 and the outer wall of the lock catch 750 respectively, and the lock tongue 710 is arranged on the inner wall of the avoiding hole 751 close to the elastic reset member 720. The lock body 700, the lock tongue 710, the elastic reset member 720 and the lock catch 750 form a lock catch module.

[0054] The lock catch 750 is manually driven to move into the sliding groove 740, the elastic reset member 720 is compressed, the avoiding hole 751 and the third mounting hole 730 can pass through the mounting seat 400 at the same time, that is, the lock body 700 can be easily sleeved on the mounting seat 400; when the first fixing hole 420 and the second fixing hole 610 are coaxially communicated, the lock catch 750 is loosened, the elastic reset member 720 restores the elongation state, the lock catch 750 moves out of the sliding groove 740, and the lock tongue 710 is sequentially inserted into the first fixing hole 420 and the second fixing hole 610, so that the lock body 700, the mounting seat 400 and the puncture needle 600 are fixed together. Through the lock catch module, the mounting seat 400 and the puncture needle 600 can be easily and quickly connected and separated.

[0055] The lock catch 750 is in the form of a circular ring, the sliding groove 740 is arranged on the outer circular surface of the lock catch 750, the groove bottom of the sliding groove 740 is arranged on the inner hole wall of the third mounting hole 730, and when the lock catch 750 is arranged in the sliding groove 740, one end of the lock catch 750 is always exposed to the lock body 700, so as to facilitate the hand pressing of the lock catch 750. In the embodiment, the rotary driving mechanism 200 is an electric motor. The first bearing 520 can be a thrust bearing, and other bearings can be deep groove ball bearings.

[0056] The present application discloses a particle implanting device comprising the puncture needle device of the above-mentioned embodiment.

[0057] The particle implanting device has all the beneficial effects brought by the puncture needle device of the above-mentioned embodiment, which will not be repeated here.

[0058] The technical features of the above embodiments can be combined arbitrarily, and in order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, but as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present application.

[0059] Of course, the present application is not limited to the above-described embodiments, and those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of the present application, and these equivalent modifications or substitutions are included in the scope defined by the claims of the present application.

Claims

1. A puncture needle insertion device, characterized in that, include: A mobile platform, wherein the mobile platform is equipped with a rotary drive mechanism and a dynamic torque sensor, and one end of the rotary drive mechanism is connected to the dynamic torque sensor via a transmission connection; The mounting base is rotatably mounted on the mobile platform and is connected to the other end of the dynamic torque sensor. The mounting base has a first mounting hole extending in the front-back direction in its rotation axis region, and a first fixing hole is provided on the side wall of the mounting base. The mounting base can move in the front-back direction. A resistance sensing module is provided on the mobile platform, and the rear end of the mounting base abuts against the resistance sensing module. A puncture needle, the rear end of which passes through the first mounting hole, and a second fixing hole is provided on the side wall of the puncture needle; The lock body includes a latch and a resilient reset member, both mounted on the lock body. The lock body is fitted onto the mounting base. The resilient reset member drives the latch to sequentially insert into the first fixing hole and the second fixing hole to fix the puncture needle and the mounting base together. The puncture needle, the mounting base, and the resistance sensing module are on the same axis. The front end face of the mounting base is provided with a U-shaped groove. The outer wall of the puncture needle is provided with a pin that can extend into the U-shaped groove. The relative position of the U-shaped groove and the first fixing hole and the relative position of the pin and the second fixing hole are the same, so that when the puncture needle is inserted into the first mounting hole of the mounting base, the pin enters the U-shaped groove under the guidance of the groove opening. At this time, the first fixing hole and the second fixing hole are coaxial.

2. The puncture needle insertion device according to claim 1, characterized in that: The mobile platform is provided with a fixed cover. The resistance sensing module includes an adapter and a first bearing and a pressure sensor respectively located at the front and rear ends of the adapter. The first bearing is connected to the rear end of the mounting base, and the pressure sensor is connected to the mobile platform through the fixed cover.

3. The puncture needle insertion device according to claim 1 or 2, characterized in that: The mobile platform is provided with a first rotating component and a second rotating component connected by transmission. The other end of the dynamic torque sensor is connected to the first rotating component. The second rotating component is sleeved on the mounting base and can rotate together with the mounting base.

4. The puncture needle insertion device according to claim 3, characterized in that: The rotary drive mechanism is connected to one end of the dynamic torque sensor via a first flexible coupling, and the other end of the dynamic torque sensor is connected to the first rotary assembly via a second flexible coupling.

5. The puncture needle insertion device according to claim 3, characterized in that: Both the first rotating component and the second rotating component are pulleys, and the first rotating component and the second rotating component are connected by a belt.

6. The puncture needle insertion device according to claim 3, characterized in that: The first rotating component and the second rotating component are two meshing gears.

7. The puncture needle insertion device according to claim 3, characterized in that: The second rotating component is provided with a second mounting hole, which is a spline hole, and the outer surface of the mounting base is provided with a spline that mates with the spline hole.

8. The puncture needle insertion device according to claim 1, characterized in that: The lock body is provided with a third mounting hole, the mounting base passes through the third mounting hole, the side wall of the lock body is provided with a sliding groove communicating with the third mounting hole, the sliding groove is slidably provided with a latch, the latch is provided with a clearance hole for the mounting base to pass through, the two ends of the elastic reset member are respectively connected to or abut against the bottom of the sliding groove and the outer wall of the latch, and the latch tongue is provided on the inner wall of the clearance hole near the elastic reset member.

9. A particle implantation device, characterized in that: Includes the puncture needle insertion device according to any one of claims 1 to 8.

Images