Brachytherapy-assisted implant device, control method and readable storage medium

Abstract

The present invention provides a brachytherapy-assisted implantation device, a control method and a readable storage medium; the implantation device includes an image tracking module, an image feedback module, a control module and an implantation driving module, the image tracking module is used to obtain image information of the implantation needle; the image feedback module is used to obtain position information of the tip of the implantation needle relative to the target tissue based on the image information obtained by the image tracking module; the implantation driving module is used to provide a loading force for the implantation needle to enable its implantation; the control module controls the movement of the implantation driving module based on the position information fed back by the image feedback module. This device is based on medical image guidance, determines the tip position information of the implantation needle by obtaining the image information of the implantation needle, and can control the movement of the implantation driving module according to the position information, thereby controlling the implantation action of the implantation needle, and can accurately control the implantation action to improve the radiotherapy effect.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly relates to a brachytherapy-assisted implanting device, a control method and a readable storage medium. Background Art

[0002] The indication of interstitial implant radiotherapy is that the implanting needle is inserted into the target tissue, and then the radiation source is pushed through the interpolation needle to the target tissue position for radiotherapy; its main advantage is that the dose of the tumor locally irradiated is high while the dose of the surrounding normal tissues irradiated is very small;

[0003] The implanting needle often cooperates with a positioning template for radiotherapy. The main function of the positioning template is to place and guide the implanting needle to facilitate the insertion of the implanting needle. During the insertion process of the implanting needle, the control of its insertion depth is particularly important. The existing insertion depth is usually controlled by manual experience. If the error of the insertion depth and direction is large during the insertion process, resulting in the insertion position of the implanting needle deviating from the target tissue position, it will directly affect the radiotherapy effect. Summary of the Invention

[0004] The purpose of the present invention is to provide a brachytherapy-assisted implanting device, a control method and a readable storage medium. Based on medical image guidance, the device can determine the position information of the tip of the implanting needle relative to the target tissue by obtaining the image information of the implanting needle in real time, and control the movement of the implanting drive module according to the position information, thereby controlling the implanting action of the implanting needle, and can accurately control the implanting depth and the implanting position, which is beneficial to improving the radiotherapy effect.

[0005] The brachytherapy-assisted implanting device in this embodiment, based on medical image guidance, can accurately control the implanting depth and improve the radiotherapy effect, and includes:

[0006] An image tracking module, an image feedback module, a control module and an implanting drive module;

[0007] The image tracking module is used to obtain the image information of the implanting needle;

[0008] The image feedback module is used to obtain the position information of the tip of the implanting needle relative to the target tissue according to the image information obtained by the image tracking module;

[0009] The implanting drive module is used to provide the loading force for the implanting needle to make it implant;

[0010] The control module controls the movement of the implanting drive module based on the position information fed back by the image feedback module.

[0011] Optionally, the brachytherapy-assisted implanting device further includes a rotating assembly;

[0012] The image tracking module has a scanning plane. The image tracking module acquires the image information scanned by the scanning plane. The rotating assembly is used to rotate the image tracking module so that the scanning plane rotates accordingly, and then the corresponding image information at each rotation angle is acquired respectively.

[0013] Optionally, the implant driving module further includes an implanting assembly. The implanting assembly is used to provide a loading force for the implanting needle to be loaded to enable it to be implanted. The image tracking module is used to acquire the image information of the implanting needle to be loaded during the implanting process.

[0014] Optionally, the implant driving module further includes an implant template;

[0015] The implant template is used to place and guide the implanting needle; the implanting assembly includes an implant driving member. The implant driving member has a driving end. The implant driving member is arranged on the implant template and can move along a direction parallel to the implant template to adjust the position of the driving end so that the driving end is aligned with the implanting needle to be loaded. The driving end is movable to provide a loading force for the implanting needle aligned with it to enable it to be implanted.

[0016] Optionally, the implanting assembly is detachably connected to the implant template.

[0017] Optionally, the brachytherapy-assisted implanting device further includes a force feedback module. The force feedback module is communicatively connected to the control module. The force feedback module is used to detect the resistance of the implanting needle when the implanting assembly loads the implanting needle to obtain a resistance detection value. The force feedback module is configured to control the loading action of the implanting assembly through the following steps:

[0018] Judge whether the resistance detection value is abnormal. If it is abnormal, control the implanting assembly to stop the loading action. If it is normal, continue the loading action.

[0019] Optionally, the implanting assembly further includes a sliding seat. The sliding seat is arranged on the implant template and can move along a direction parallel to the implant template. The implant driving member is installed on the sliding seat.

[0020] Optionally, the implant driving module further includes a connecting column. The implanting assembly and the implant template are detachably connected through the connecting column.

[0021] Optionally, the plugging component further includes a first mounting plate and a second mounting plate. The first mounting plate and the second mounting plate are arranged parallel to the plugging template. The first mounting plate is connected to the plugging template. The second mounting plate is connected to the first mounting plate, and a sliding cavity is formed between the first mounting plate and the second mounting plate. The sliding seat is installed in the sliding cavity and can slide in a direction parallel to the plugging template.

[0022] Optionally, the first mounting plate is located between the second mounting plate and the plugging template. A through hole is formed in the middle of the second mounting plate. A part of the sliding seat extends out of the second mounting plate through the through hole for installing the plugging driving member.

[0023] Optionally, the plugging driving module further includes a locking member. An installation hole for inserting the first end of the connecting column is formed in the plugging template. A locking groove is formed on the outer wall of the first end of the connecting column. The locking member is rotatably installed on the plugging template. The locking member is configured such that when the locking member rotates, it at least has a locking state and an unlocking state. In the locking state, the locking member rotates into the locking groove, so that the connecting column and the plugging template form a connected state. In the unlocking state, the locking member rotates out of the locking groove, so that the connecting column and the plugging template form a detachable state.

[0024] Optionally, a locking member installation groove is provided on the plugging template. The locking member installation groove is formed in a direction perpendicular to the axial direction of the installation hole and communicates with the inner cavity of the installation hole. The locking member is rotatably installed in the locking member installation groove with the central axis parallel to the axial direction of the installation hole as the center.

[0025] Optionally, in the locking state, a part of the locking member is located outside the locking member installation groove.

[0026] Optionally, a plurality of mesh holes for the driving end to pass through are provided on the first mounting plate. A plurality of plugging holes for placing and guiding the plugging needles are provided on the plugging template. Each of the mesh holes and each of the plugging holes correspond one by one in a direction perpendicular to the plugging template.

[0027] Optionally, the plugging component further includes a positioning member. Any one of the first mounting plate, the second mounting plate, and the sliding seat is used as a mounting component. The positioning member is provided on the mounting component for positioning the sliding seat.

[0028] Optionally, the positioning member includes a locking member and a potential energy member. A first positioning groove is provided on the mounting member, and a plurality of second positioning grooves are provided on the other member adjacent to the mounting member among the first mounting plate, the second mounting plate, and the sliding seat. The potential energy member and the locking member are disposed in the first positioning groove. The potential energy member is configured to provide potential energy for the locking member. The potential energy causes a part of the locking member to protrude from the first positioning groove and insert into the second positioning groove. The positioning groove and the locking member are configured such that when the sliding seat slides, the locking member slides out of the second positioning groove along the edge of the second positioning groove after overcoming the potential energy.

[0029] Optionally, the driving end has a driving groove for accommodating the head of the implanting needle and positioning the head.

[0030] The present invention also provides a control method, including the following steps:

[0031] S1: Obtain the image information of the implanting needle;

[0032] S2: Obtain the position information of the tip of the implanting needle relative to the target tissue based on the image information;

[0033] S3: Control the movement of the implanting drive module based on the position information.

[0034] Optionally, in step S1, the image information is obtained through an image tracking module. The image tracking module has a scanning plane. The image tracking module obtains the image information scanned by the scanning plane, and rotates the image tracking module so that the scanning plane rotates accordingly to obtain the corresponding image information at each rotation angle.

[0035] Optionally, it further includes step S4:

[0036] S4: Judge whether the tip position of the implanting needle reaches the planned depth according to the position information;

[0037] If the planned depth is reached, stop implanting. If the planned depth is not reached, continue implanting.

[0038] Optionally, in step S2, the tip position of the implanting needle is obtained through the following method:

[0039] S21: Form the scanning plane parallel to the implanting direction of the implanting needle, and rotate the image tracking module around a certain central axis parallel to the implanting direction;

[0040] During the rotation of the image tracking module, if the position of the implanting needle image in each piece of image information does not change, determine the distal end of the implanting needle image as the tip position of the implanting needle;

[0041] If the position of the distal end of the implant needle image in each of the image information changes during the rotation of the image tracking module, step S22 is executed;

[0042] S22: If the position of the distal end of the implant needle image in each of the image information changes during the rotation of the image tracking module, it is determined that the implant needle is bent. Determine the position of the most distal end of the implant needle image in the image information along the implant direction each time during the rotation of the image tracking module, and determine this position as the tip position of the implant needle.

[0043] Optionally, step S22 includes:

[0044] S221: As the image tracking module rotates, if the distal end of the implant needle in each of the image information moves distally along the implant direction, step S223 is executed; if the distal end of the implant needle in each of the image information does not move distally along the implant direction, step S222 is executed;

[0045] S222: Rotate the image tracking module in the reverse direction and then re - execute step S221;

[0046] S223: Determine whether the implant needle image in the image information disappears. If it does not disappear, continue to rotate the image tracking module; if it disappears, stop rotating the image tracking module, and finely adjust the image tracking module in the reverse direction to obtain the image information of the most distal end of the implant needle along the implant direction, and determine the position where this end is located as the tip position.

[0047] Optionally, before step S1, there is also step S0:

[0048] S0: Load the implant needle, measure the resistance of the implant needle during the loading process to obtain a resistance detection value; determine whether the resistance detection value is abnormal. If the resistance detection value is abnormal, stop loading the implant needle; if the resistance detection value is normal, continue to load the implant needle.

[0049] The present invention also provides a readable storage medium, on which a program is stored, and when the program is executed, the above - mentioned control method is implemented.

[0050] In summary, the present invention provides a brachytherapy-assisted implanting device, a control method, and a readable storage medium. The brachytherapy-assisted implanting device is based on medical image guidance and includes an image tracking module, an image feedback module, a control module, and an implanting driving module. The image tracking module, the image feedback module, and the implanting driving module are respectively communicatively connected to the control module. The image tracking module is used to obtain image information of the implanting needle. The image feedback module is used to obtain position information of the tip of the implanting needle relative to the target tissue based on the image information obtained by the image tracking module. The implanting driving module is used to provide a loading force for the implanting needle to enable it to be implanted. The control module controls the movement of the implanting driving module based on the position information fed back by the image feedback module.

[0051] With such a configuration, the device is based on medical image guidance. By obtaining the image information of the implanting needle in real time, the position information of the tip of the implanting needle relative to the target tissue can be determined. And based on the position information, the movement of the implanting driving module can be controlled, thereby controlling the implanting action of the implanting needle. The implanting depth and position can be accurately controlled, improving the radiotherapy effect.

[0052] Through the cooperation of the image tracking module, the image feedback module, the force feedback module, and other modules, the device can quickly determine the tip position and then judge the positional relationship between the implanting needle and the target tissue. During the implanting process, the force feedback module can also detect the resistance detection value in real time to judge whether the implanting resistance is abnormal. In addition, the state of the implanting needle can be detected in real time by rotating the scanning plane, and it can be judged whether the implanting needle is bent. The above information can be used as a reference for judging whether the implanting needle deviates from the implanting plan, and further provides a reference basis for whether medical staff need to manually intervene in the implanting process.

[0053] The present invention solves the technical problem of the heavy and complex structure of the existing brachytherapy-assisted implanting device. The implanting template in the device is connected to the entire implanting assembly that drives the movement of the implanting needle. The implanting assembly can move in a direction parallel to the implanting template, thereby adjusting the position of the driving end to match the position of the implanting needle to be loaded. Compared with the prior art in which the implanting template and the implanting assembly are integrated on a robot, the entire device of the present invention has a simple structure and is relatively simple.

[0054] The detachable structure between the implanting template and the connecting column in the present invention is relatively simple, which is conducive to manually disassembling the implanting assembly, and the disassembly process is simple and fast, facilitating medical staff to quickly manually intervene in the implanting process according to the actual situation. And based on the simple positioning structure of the sliding seat, it is conducive to simplifying the structure of the entire assisted implanting device and also facilitating manually adjusting the position of the sliding seat. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1Schematic diagram of the axial cross-sectional image information of the embodiment of the present invention;

[0056] Figure 2 Schematic diagram of the axial side image information of the embodiment of the present invention;

[0057] Figure 3 Schematic diagram of the scanning plane scanning when the implanting needle is in a bent state in the embodiment of the present invention;

[0058] Figure 4 Schematic diagram of the structure of the brachytherapy-assisted implanting device in the embodiment of the present invention;

[0059] Figure 5 is Figure 1 side view structure diagram of;

[0060] Figure 6 Schematic diagram of the detachable structure of the implanting component and the implanting template in the embodiment of the present invention;

[0061] Figure 7 Schematic diagram of the implanting template structure in the embodiment of the present invention;

[0062] Figure 8 is Figure 6 enlarged structure diagram of point A of;

[0063] Figure 9 Schematic diagram of the structure of another embodiment of the brachytherapy-assisted implanting device in the embodiment of the present invention;

[0064] Figure 10 Schematic diagram of the partial structure of the implanting component in the embodiment of the present invention;

[0065] Figure 11 is Figure 10 enlarged structure diagram of point B of;

[0066] Figure 12 Schematic diagram of the structure of the sliding seat in the embodiment of the present invention;

[0067] Figure 13 Schematic diagram of the structure of the first mounting plate in the embodiment of the present invention;

[0068] Figure 14 Schematic diagram of the structure of the driving end in the embodiment of the present invention;

[0069] Figure 15 Application flow chart of the embodiment of the present invention;

[0070] Figure 16 Application scenario diagram of the embodiment of the present invention;

[0071] Figure 17 Schematic diagram of the implanting process in the embodiment of the present invention;

[0072] Figure 18 Schematic diagram of the working process of the image tracking module and the image feedback module according to an embodiment of the present invention;

[0073] Figure 19 Schematic diagram of the working process of the control module according to an embodiment of the present invention;

[0074] Figure 20 Schematic diagram of the working process of the force feedback module according to an embodiment of the present invention;

[0075] Among them, the reference numerals are as follows:

[0076] 10 - implant template; 11 - mounting hole; 12 - implant hole; 101 - plate body; 102 - border;

[0077] 20 - implant assembly; 21 - implant driving member; 211 - driving end; 212 - driving groove; 213 - motor;

[0078] 214 - driving gear; 215 - driven rack; 22 - sliding seat; 221 - second positioning groove; 222 - mounting position; 23 - first mounting plate; 231 - mesh hole; 232 - first positioning groove; 24 - second mounting plate; 241 - through hole; 25 - sliding cavity; 26 - locking member; 27 - potential energy member; 28 - boss;

[0079] 30 - implant needle; 31 - implanted implant needle; 32 - implant needle being implanted; 32a - bending part;

[0080] 33 - head;

[0081] 40 - connecting column; 41 - locking groove; 42 - locking member mounting groove;

[0082] 50 - locking member;

[0083] 60- Prostate gland. Detailed implementation manners

[0084] The following further describes in detail the close - range radiotherapy assisted implant device proposed by the present invention in conjunction with the accompanying drawings and specific embodiments. According to the following description, the advantages and features of the present invention will be clearer. It should be noted that the accompanying drawings are all in very simplified forms and use non - precise scales, only for conveniently and clearly assisting in explaining the purpose of the embodiments of the present invention.

[0085] In the present invention, "proximal" and "distal" are the relative orientations, relative positions, and directions of elements or actions with respect to each other from the perspective of a doctor using the product. Although "proximal" and "distal" are not restrictive, "proximal" generally refers to the end of the product that is closer to the doctor during normal operation, while "distal" generally refers to the end that first enters the patient's body.

[0086] In the present invention, the definitions of parallel and perpendicular should not be narrowly understood as an absolutely perpendicular or absolutely parallel relationship. It should be understood that within the premise of corresponding perpendicularity or parallelism, an error with a set angle is allowed. This set angle is usually ±0° - 10°, and the specific value of the set angle is determined according to the required operating conditions.

[0087] As used in the present invention, the singular forms "a", "an", and "the" include plural objects. The term "or" is generally used in the sense of including "and / or". The term "several" is generally used in the sense of including "at least one". The term "at least two" is generally used in the sense of including "two or more". In addition, the terms "first", "second", "third" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", "third" may explicitly or implicitly include one or at least two of such features. In addition, as used in the present invention, "mounted", "connected", "coupled", and an element "disposed" on another element should be understood in a broad sense. Generally, it only means that there is a connection, coupling, cooperation, or transmission relationship between the two elements, and the two elements can be directly or indirectly connected, coupled, cooperated, or transmitted through an intermediate element, rather than being construed as indicating or implying the spatial position relationship between the two elements. That is, one element can be in any orientation such as inside, outside, above, below, or on one side of another element, unless otherwise explicitly stated in the content. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, directional terms such as above, below, up, down, upward, downward, left, right, etc. are used with respect to exemplary embodiments as shown in the figures. The upward or upper direction faces the top of the corresponding figure, and the downward or lower direction faces the bottom of the corresponding figure.

[0088] To ensure precise control of the insertion depth of the implanting needle, the present embodiment provides a brachytherapy-assisted implanting device. This device is based on medical image guidance and includes an image tracking module, an image feedback module, a control module, and an implanting drive module. The image tracking module, the image feedback module, and the implanting drive module are respectively communicatively connected to the control module.

[0089] The image tracking module is used to obtain the image information of the implanting needle.

[0090] The image feedback module is used to obtain the position information of the tip of the implanting needle relative to the target tissue based on the image information obtained by the image tracking module;

[0091] The implanting driving module is used to provide a loading force for the implanting needle to enable it to be implanted;

[0092] The control module controls the movement of the implanting driving module based on the position information fed back by the image feedback module.

[0093] The application of the brachytherapy-assisted implanting device may further include a target tissue and adjacent tissue modeling module and an implanting planning module; before implantation, the target tissue and adjacent tissues near the target tissue are first modeled by the target tissue and adjacent tissue modeling module, and the number of implanting needles, the implanting positions, and the implanting sequence of the implanting needles are planned by the implanting planning module according to the modeled model. The brachytherapy-assisted implanting device can assist doctors in completing the radiotherapy implanting work; after the doctor places the implanting needles according to the implanting plan and starts the brachytherapy-assisted implanting device, the implanting driving module aligns with the implanting needle to be implanted for the implanting action. During the implanting process, the image information of the implanting needle is obtained in real time through the image tracking module, and the position information of the tip of the implanting needle relative to the target tissue is obtained by the image feedback module based on the image information; furthermore, the control module judges whether the position information is in place and correspondingly controls the movement of the implanting driving module, thereby controlling the implanting action of the implanting needle;

[0094] The image tracking module can adopt an ultrasonic probe or other scanning imaging devices, such as an X-ray probe, etc.; the image tracking module obtains the image information of the implanting needle during the implanting process and sends the image information to the image feedback module. The image feedback module can adopt a client terminal, such as a screen or other devices that can display image information. The image feedback module can compare the model of the target tissue with the image information to obtain the position information of the tip of the implanting needle relative to the target tissue and send the position information to the control module. The control module can adopt a PLC or other processors. The control module judges whether the tip of the implanting needle reaches the planned position through the position information and thereby controls the movement of the implanting driving module, thereby controlling the implanting action of the implanting needle; the implanting driving module can adopt a hydraulic driving structure or other known linear driving structures, such as a mechanical driving structure composed of a linear motor or a lead screw and nut pair;

[0095] Based on medical image guidance, the device can determine the position of the tip of the implanting needle relative to the target tissue by obtaining the image information of the implanting needle in real time, and can control the movement of the implanting driving module based on the position information, thereby controlling the implanting action of the implanting needle, and can accurately control the implanting depth and improve the radiotherapy effect.

[0096] Further, the brachytherapy-assisted implantation device further includes a rotation assembly;

[0097] The image tracking module has a scanning plane. The image tracking module acquires the image information scanned by the scanning plane. The rotation assembly is used to rotate the image tracking module so that the scanning plane rotates accordingly, and then the corresponding image information at each rotation angle is obtained respectively.

[0098] Wherein the rotation assembly can be a motor shaft or other structures that can drive the image tracking module to rotate, such as a turntable, etc. The image tracking module preferably rotates around the axis of the implantation needle to obtain the image information of the implantation needle at each angle; Please refer to Figures 1 to 3 As shown, if the diseased tissue of the prostate gland 60 is used as the target tissue, then the remaining tissues of the prostate gland 60 itself can be used as adjacent tissues. The corresponding axial cross-sectional image information can be obtained through the scanning plane perpendicular to the implantation direction, and the corresponding axial side image information can be obtained through the scanning plane parallel to the implantation direction. The line C is the scanning plane formed by the image tracking module. There are multiple implanted implantation needles 31 in place at the target tissue, and there is an implantation needle 32 being implanted. Since the implanted implantation needles 31 have already obtained their image information in advance, their position information is actually known. When the scanning plane Figure 1 passes through the implantation needle 32 being implanted, the image information as shown in Figure 2 is obtained. If the image tracking module is rotated, the scanning plane rotates accordingly, and the image information of the implantation needle can be obtained at each angle, which is beneficial to accurately judge the position information. Figure 1 is obtained. If the image tracking module is rotated, the scanning plane rotates accordingly, and the image information of the implantation needle can be obtained at each angle, which is beneficial to accurately judge the position information. Figure 2 As shown, if the diseased tissue of the prostate gland 60 is used as the target tissue, then the remaining tissues of the prostate gland 60 itself can be used as adjacent tissues. The corresponding axial cross-sectional image information can be obtained through the scanning plane perpendicular to the implantation direction, and the corresponding axial side image information can be obtained through the scanning plane parallel to the implantation direction. The line C is the scanning plane formed by the image tracking module. There are multiple implanted implantation needles 31 in place at the target tissue, and there is an implantation needle 32 being implanted. Since the implanted implantation needles 31 have already obtained their image information in advance, their position information is actually known. When the scanning plane

[0099] Further, the image feedback module is configured to obtain the tip position of the implantation needle through the following steps:

[0100] Form a scanning plane parallel to the implantation direction of the implantation needle, and rotate the image tracking module around a certain central axis parallel to the implantation direction of the implantation needle;

[0101] During the rotation of the image tracking module, if the position of the distal end of the implantation needle image in each image information does not change, then determine the distal end of the implantation needle image as the tip position of the implantation needle;

[0102] During the rotation of the image tracking module, if the position of the distal end of the implantation needle image in each image information changes, then it is determined that the implantation needle is bent. Determine the position of the most distal end of the implantation needle image in the image information based on the image information obtained each time during the process of rotating the image tracking module, and determine this position as the tip position of the implantation needle.

[0103] If the implanting needle 32 being implanted is not bent, the entire implanting needle can be scanned by the scanning plane, and as the scanning plane rotates, the length of the implanting needle in the image information does not change until the image of the implanting needle disappears. Therefore, at this time, the distal end of the implanting needle image remains stationary, and it is relatively easy to determine the position of the needle tip at this time; please refer to Figure 3 As shown in , if a bending portion 32a is formed by bending the implanting needle 32 being implanted near the needle tip, the scanning plane can only scan a part of the implanting needle, resulting in incomplete acquisition of the image information of the implanting needle. Then, when the scanning plane rotates, the scanning plane will sequentially scan the remaining parts of the implanting needle, and the distal end of the implanting needle in the corresponding image information will move distally along the implanting direction, and the image of the implanting needle will move in the implanting direction until the image of the implanting needle disappears. Thus, the position of the most distal end of the implanting needle image is obtained, which is the position of the needle tip.

[0104] Furthermore, when it is determined that the implanting needle is bent, the position of the needle tip is determined through the following steps:

[0105] Rotate the image tracking module;

[0106] During the rotation of the image tracking module, if the distal end of the implanting needle in each of the formed image information moves distally along the implanting direction, then determine whether the image of the implanting needle in the image information disappears. If it does not disappear, continue to rotate the image tracking module. If it disappears, stop rotating the image tracking module and finely adjust the image tracking module in the reverse direction to obtain the position of the most distal end of the implanting needle image along the implanting direction, and determine this position as the position of the needle tip;

[0107] During the rotation of the image tracking module, if the distal end of the implanting needle in each of the formed image information does not move distally along the implanting direction, then rotate the image tracking module in the reverse direction, determine whether the image of the implanting needle in the image information disappears. If it does not disappear, continue to rotate the image tracking module. If it disappears, stop rotating the image tracking module and finely adjust the image tracking module in the reverse direction to obtain the position of the most distal end of the implanting needle image along the implanting direction, and determine this position as the position of the needle tip.

[0108] Please refer to Figure 3 As shown in , the left end of the implanting needle corresponds to the distal end of the implanting needle, and the right end of the implanting needle corresponds to the proximal end of the implanting needle. Figure 3 In , the implanting needle 32 being implanted is implanted from right to left. If the image information formed when the scanning plane rotates moves downward along the Figure 3 corresponding viewing angle, the scanning plane will sequentially scan the bending portion 32a. At this time, the image of the implanting needle in the image information will not disappear, and the distal end of the implanting needle image will move Figure 3The corresponding leftward movement indicates that the distal end of the image of the implanting needle gradually moves towards the position closer to the needle tip. When the image information formed during the rotation of the scanning plane runs below the bending portion 32a and the image of the implanting needle disappears, it indicates that the scanning plane has scanned through the needle tip position. Then, the image tracking module is adjusted slightly in the reverse direction to enable the scanning plane to scan the needle tip position again to obtain the needle tip position.

[0109] Furthermore, the implanting driving module further includes an implanting assembly 20. The implanting assembly 20 is used to provide a loading force for the implanting needle 30 to be loaded to enable its implantation. The image tracking module is used to obtain the image information of the implanting needle 30 to be loaded during the implantation process.

[0110] In addition, the implanting driving module further includes an implanting template 10; the implanting template 10 is used to place and guide the implanting needle 30; please refer to Figure 4 As shown, the implanting template 10 is a square plate. The implanting template 10 includes a square plate body 101 and a U-shaped frame 102. There is a slot inside the frame 102, and the plate body 101 is inserted into the slot from the open end of the frame 102; during use, the implanting template 10 needs to be positioned relative to the human body. At this time, the multiple implanting needles 30 placed on the implanting template 10 are also positioned relative to the human body. At this time, the corresponding implanting needles 30 can be loaded according to the target tissue position for implantation.

[0111] Please refer to Figures 4 to 7 As shown, the implanting assembly 20 includes an implanting driving member 21. The implanting driving member 21 has a driving end 211. The implanting driving member 21 is arranged on the implanting template 10 and can move along a direction parallel to the implanting template 10 to adjust the position of the driving end 211 so that the driving end 211 is aligned with the implanting needle 30 to be loaded. The driving end 211 is movable to provide a loading force for the implanting needle 30 aligned with it to enable its implantation.

[0112] Please refer to Figure 4 As shown, the implanting assembly 20 is mainly used to load the implanting needle 30 to drive the implanting needle 30 to move in the implanting direction. In addition, since multiple implanting needles 30 are usually placed on the implanting template 10, the implanting assembly 20 also needs to move along a direction parallel to the implanting template 10 to adjust the position of the driving end 211 of the implanting driving member 21 so that the driving end 211 is aligned with the head 33 of the implanting needle 30 to be loaded and load the head 33 to provide a loading force for the implanting needle 30 to move in the implanting direction. Therefore, the driving end 211 is usually preferably movable in a straight line along the implanting direction of the implanting needle 30, such as Figure 4As shown, the implant driving member 21 includes a motor 213, a driving gear 214, and a driven rack 215. The driving gear 214 is in transmission cooperation with the rotor of the motor 213. The driven rack 215 is arranged in a manner that it can slide perpendicular to the implant template 10. The implant assembly 20 can be externally covered by a housing. The driven rack 215 is slidably mounted on the housing along the direction perpendicular to the implant template 10. The driving gear 214 meshes with the driven rack 215. By driving the driving gear 214 to rotate with the motor, the driven rack 215 is driven to slide, thereby applying a loading force to the implant needle 30. At this time, the end of the rack 215 close to the implant needle 30 is used as the driving end 211;

[0113] In another embodiment, the implant template 10 can be a circular plate or a plate of other shapes;

[0114] In the existing close-range radiotherapy assisted implant device, the positioning template is usually integrated on a robot. The robot is placed in the radiotherapy room. An implant driving mechanism for driving the movement of the implant needle 30 is also integrated on the robotic arm of the robot. During radiotherapy, the implant needle 30 is installed on the positioning template, and the orientation is changed through the movement of the robotic arm, so that the implant driving mechanism is aligned with the corresponding implant needle 30, and then the implant needle 30 is driven to act for implantation through the implant driving mechanism; the structure of the entire device system is relatively complex, and the portability is poor. Moreover, due to the complex structure of the entire device, it is difficult for medical staff to manually intervene in the implant process. Therefore, usually, the implant needle 30 is mainly controlled by controlling the actions of the robot, and medical staff assist in intervening, and its flexibility is poor; therefore, in the present invention, the structures of the implant assembly 20 and the implant template 10 are improved;

[0115] The above structure in the present invention solves the technical problem of the heavy and complex structure of the existing close-range radiotherapy assisted implant device. The implant template 10 in the device is connected to the entire implant assembly 20 that drives the movement of the implant needle 30. The implant assembly 20 can move along the direction parallel to the implant template 10, thereby adjusting the position of the driving end 211 to match the position of the implant needle 30 to be loaded. Compared with the prior art technical solution in which the implant template 10 and the implant assembly 20 are integrated on a robot, the structure of the entire device in the present invention is simple.

[0116] Furthermore, the close-range radiotherapy assisted implant device further includes a force feedback module. The force feedback module is communicatively connected to the control module. The force feedback module is used to detect the resistance when the implant assembly 20 loads the implant needle 30 to obtain a resistance detection value. The force feedback module is configured to control the loading action of the implant assembly 20 through the following steps:

[0117] Judge whether the resistance detection value is abnormal. If it is abnormal, control the implant assembly 20 to stop the loading action. If it is normal, continue the loading action.

[0118] The force feedback module can be a pressure sensor. The force feedback module can be installed at the driving end 211 to detect the loading force of the implanting needle 30 during the loading process, so as to obtain the resistance detection value. When the resistance detection value is greater than the resistance threshold, it is determined that the resistance is abnormal, and then the driving end 211 of the implanting component 20 is controlled to stop operating. If the resistance detection value is less than the resistance threshold, it is determined that the resistance is normal, and then the driving end 211 of the implanting component 20 can be controlled to continue operating. This structure can obtain the resistance detection value in real time, and when the resistance detection value is abnormal, according to the needs of the actual radiotherapy process, the implanting component 20 can be disassembled to facilitate the doctor to manually intervene in the implanting process.

[0119] Furthermore, the implanting component 20 is detachably connected to the implanting template 10.

[0120] Specifically, it can be connected by mechanical locking, snap connection or other known connection methods. This structure can disassemble the implanting component 20 to facilitate the doctor to manually intervene in the implanting process, making the entire implanting process more flexible.

[0121] Furthermore, the implanting drive module further includes a connecting column 40. The implanting component 20 and the implanting template 10 are detachably connected through the connecting column 40.

[0122] Please refer to Figures 4 to 7 As shown, four connecting columns 40 are provided and distributed at the four corners of the implanting template 10. Through the arrangement of the connecting columns 40, there is enough space between the implanting component 20 and the implanting template 10 for storing the implanting needle 30, and through the arrangement of the connecting columns 40, it is also convenient to achieve the detachable connection with the implanting template 10.

[0123] Furthermore, the implanting drive module further includes a locking member 50. An installation hole 11 for inserting the first end of the connecting column 40 is provided on the implanting template 10. A locking groove 41 is provided on the outer wall of the first end of the connecting column 40. The locking member 50 is rotatably installed on the implanting template 10. The locking member 50 is configured such that when the locking member 50 rotates, it at least has a locking state and an unlocking state. In the locking state, the locking member 50 rotates into the locking groove 41, so that the connecting column 40 and the implanting template 10 form a connected state. In the unlocking state, the locking member 50 rotates out of the locking groove 41, so that the connecting column 40 and the implanting template 10 form a detachable state.

[0124] Please refer to Figures 6 to 8As shown, the locking member 50 is a fan-shaped plate structure. A torsion spring can be provided for the locking member 50 to provide a force for the locking member 50 to rotate towards the locking groove 41. Through the rotation setting of the locking member 50, it is convenient for the connecting column 40 and the planting template 10 to quickly switch between the connected state and the disassembled state. To ensure the reliability in the locked state, a magnetic attraction can be set in the locking groove 41 to ensure that the locking member 50 is adsorbed and fixed when it rotates into the locking groove 41. With this structure, it is convenient to manually and quickly remove the planting assembly 20.

[0125] Furthermore, a locking member installation groove 42 is provided on the planting template 10. The locking member installation groove 42 is opened in the axial direction perpendicular to the installation hole 11 and communicates with the inner cavity of the installation hole 11. The locking member 50 is rotatably installed in the locking member installation groove 42 with the central axis parallel to the axial direction of the installation hole 11 as the center. In the locked state, a part of the locking member 50 is located outside the locking member installation groove 42.

[0126] Please refer to Figure 7 As shown, the exposed part of the locking member 50 facilitates manually rotating the locking member 50 to achieve unlocking.

[0127] Please refer to Figure 8 As shown, the installation groove 42 is opened on the side of the planting template 10. The setting of the installation groove 42 facilitates hiding or partially hiding the locking member 50 in the locked state, and can prevent the locking member 50 from being accidentally touched.

[0128] In another embodiment, please refer to Figure 9 As shown, the planting assembly 20 adopts a hydraulic cylinder, and the output shaft of the hydraulic cylinder serves as the driving end 211; the planting assembly 20 can also adopt other known linear driving structures; among them, the control module controls the movement of the driving end 211 of the planting assembly 20 based on the position information fed back by the image feedback module.

[0129] Furthermore, the planting assembly 20 further includes a sliding seat 22. The sliding seat 22 is arranged on the planting template 10 and can move along a direction parallel to the planting template 10. The planting driving member 21 is installed on the sliding seat 22. The planting assembly 20 further includes a first mounting plate 23 and a second mounting plate 24. The first mounting plate 23 and the second mounting plate 24 are arranged parallel to the planting template 10. The first mounting plate 23 is connected to the planting template 10. The second mounting plate 24 is connected to the first mounting plate 23, and a sliding cavity 25 is formed between the first mounting plate 23 and the second mounting plate 24. The sliding seat 22 is installed in the sliding cavity 25 and can slide along a direction parallel to the planting template 10.

[0130] Please refer to Figure 4 and Figure 5As shown, the sliding seat 22 can slide in this direction through the X-direction track and the Y-direction track arranged on the implanting template 10 along the direction parallel to the implanting template 10, or can also slide in the direction parallel to the implanting template 10 through other known methods. By sliding the setting of the sliding seat 22, the position adjustment of the implanting driving member 21 can be realized, so that the driving end 211 of the implanting driving member 21 faces the implanting needle 30 to be loaded.

[0131] The first mounting plate 23 and the second mounting plate 24 are square plates, and their sizes are roughly the same as the size of the implanting template 10. The first mounting plate 23 and the second mounting plate 24 are connected by four circular bosses 28 distributed at the four corners, thereby forming a sliding cavity 25. The sliding seat 22 is installed in the sliding cavity 25 and fits with the first mounting plate 23 and the second mounting plate 24. Then the sliding cavity 25 naturally limits the degree of freedom of the sliding seat 22, making it only slide in the direction parallel to the implanting template 10. This structure also facilitates the manual adjustment of the position of the sliding seat 22.

[0132] Furthermore, the first mounting plate 23 is located between the second mounting plate 24 and the implanting template 10. A through hole 241 is provided in the middle of the second mounting plate 24. A part of the sliding seat 22 extends out of the second mounting plate 24 through the through hole 241 as an installation position 222 for installing the implanting driving member 21.

[0133] Please refer to Figure 4 and Figure 5 As shown, the through hole 241 is a square opening, the sliding seat 22 is a strip-shaped seat, and both ends of the sliding seat 22 extend out of the sliding cavity 25 along the direction parallel to the implanting template 10. And a part of the sliding seat 22 is located outside the second mounting plate 24 to form an installation position 222 for installing the implanting driving member 21. When the sliding seat 22 slides, the implanting driving member 21 moves outside the second mounting plate 24 accordingly, thereby adjusting the position of the driving end 211.

[0134] Furthermore, a plurality of mesh holes 231 for the driving end 211 to pass through are provided on the first mounting plate 23, and a plurality of implanting holes 12 for placing and guiding the implanting needles 30 are provided on the implanting template 10. Each mesh hole 231 corresponds to each implanting hole 12 in the direction perpendicular to the implanting template 10. Please refer to Figure 4 As shown, when the driving end 211 is driven to move away from the implanting template 10 and extend out of the mesh hole 231, then find the mesh hole 231 corresponding to the implanting hole 12 where the target implanting needle 30 is located, and then adjust the position of the implanting driving member 21 so that the position of the driving end 211 corresponds to this mesh hole 231. Then the driving end 211 is driven to move towards the implanting template 10 and extend into the mesh hole 231 to automatically align with the target implanting needle 30.

[0135] Further, the implanting assembly 20 further includes a positioning member. Any one of the first mounting plate 23, the second mounting plate 24, and the sliding seat 22 serves as a mounting component, and the positioning member is disposed on the mounting component for positioning the sliding seat 22.

[0136] The positioning member can be positioned by means of frictional damping, or can be positioned by mechanically locking the position of the sliding seat 22. Other known positioning methods can also be adopted. By setting the positioning member, it is beneficial to improve the stability of the sliding seat 22, and thus provide a stable implanting environment during the implanting loading process.

[0137] Further, as Figure 10 and Figure 11 shown, the positioning member includes a locking member 26 and a potential energy member 27. A first positioning groove 232 is provided on the mounting component. A plurality of second positioning grooves 221 are provided on the other component adjacent to the mounting component among the first mounting plate 23, the second mounting plate 24, and the sliding seat 22. The potential energy member 27 and the locking member 26 are disposed in the first positioning groove 232. The potential energy member 27 is used to provide potential energy for the locking member 26. The potential energy causes a part of the locking member 26 to extend out of the first positioning groove 232 and insert into the second positioning groove 221. The positioning groove and the locking member 26 are configured such that when the sliding seat 22 slides, the locking member 26 overcomes the potential energy and slides out of the second positioning groove 221 along the edge of the second positioning groove 221 and inserts into the adjacent second positioning groove 221.

[0138] Please refer to Figures 11 to 13 shown, the locking member 26 is a steel ball, the second positioning groove 221 is an arc-shaped groove. The locking member 26 is mounted on the first mounting plate 23, and a plurality of second positioning grooves 221 are provided on one side of the sliding seat 22 close to the first mounting plate 23. The second positioning grooves 221 are arranged along the length direction of the sliding seat 22. Based on the fact that the sliding seat 22 is long and strip-shaped, a plurality of locking members 26 should be provided on the first mounting plate 23 along the width direction of the sliding seat 22; the distance between adjacent second positioning grooves 221 and the distance between adjacent locking members 26 match the row pitch and column pitch of the mesh holes 231; if the positioning member is mounted on the sliding seat 22, the second positioning grooves 221 are provided on the first mounting plate 23 or the second mounting plate 24. At this time, a plurality of positioning members need to be arranged along the length direction of the sliding seat 22, and a plurality of second positioning grooves 221 are arranged along the width direction of the sliding seat 22 on the first mounting plate 23 or the second mounting plate 24.

[0139] Further, the driving end 211 has a driving groove 212 for accommodating the head 33 of the implanting needle 30 and positioning the head 33.

[0140] Please refer to Figure 14As shown, a circular drive slot 212 is provided at the end of the drive end 211. This drive slot 212 is used to position the head 33 of the implanting needle 30, preventing the head 33 of the implanting needle 30 from sliding relative to the drive end 211 during the implanting process and ensuring the stability of the implanting needle 30 during the implanting process.

[0141] A control method, characterized by comprising the following steps:

[0142] S1: Obtain the image information of the implanting needle;

[0143] S2: Obtain the position information of the tip of the implanting needle relative to the target tissue based on the image information;

[0144] S3: Control the movement of the implanting drive module according to the position information.

[0145] Please refer to Figure 15 and Figure 16 As shown, first, the target tissue and adjacent tissues of the patient are automatically or semi-automatically outlined and modeled by a medical imaging device such as an ultrasound probe, CT, or MRI. Based on the established model, the implanting position is planned. The above control method is applied to the implanting of the brachytherapy-assisted implanting device. After the implanting needle is implanted, a high-dose rate (HDR) dose is delivered for radiotherapy treatment; during the implanting process of the brachytherapy-assisted implanting device, it is necessary to obtain the image information of the implanting needle being implanted, and thereby obtain the position information, determine whether the position information is in place, and correspondingly control the movement of the implanting drive module, and then control the implanting action of the implanting needle;

[0146] Please refer to Figure 17As shown, while modeling the target tissue and adjacent tissues, a 3D scan is also performed to create a phantom, and after specifically 3D printing the implantation template 10, the implantation template 10 is loaded after the implantation plan is completed; during the loading and implantation process, first, the position of the implantation driving module is located so that its driving end 211 faces the implantation needle to be loaded, then the implantation driving module is started for implantation loading, and then the image information of the implantation needle is obtained through the image tracking module and sent to the image feedback module or the control module, and then the position information is judged. When judging the position information, it is necessary to judge in combination with the modeling of the target tissue and adjacent tissues and the implantation plan based on the image information. According to the position information, the movement of the implantation driving module can be controlled. If the implantation needle does not reach the planned depth, the implantation driving module is continuously controlled to perform the implantation operation. If the planned depth is reached, the driving end 211 is returned to the initial position to prepare for the implantation operation of the next implantation needle. After the implantation operations of all the implantation needles in the implantation plan are completed, the HDR dose is delivered; after the image feedback module judges the position information, the implantation resistance detection value can be obtained through the force feedback module, and it is judged whether the implantation resistance detection value is abnormal. The acquisition of the resistance detection value can also be carried out before obtaining the image information.

[0147] Further, in step S1, the image information is obtained through the image tracking module. The image tracking module has a scanning plane, and the image information scanned by the scanning plane is obtained by the image tracking module. The image tracking module is rotated so that the scanning plane rotates accordingly, and the corresponding image information at each rotation angle is obtained respectively.

[0148] Please refer to Figures 1 to 3 As shown, if the image tracking module is rotated, the scanning plane rotates accordingly, and the image information of the implantation needle can be obtained at each angle, which is conducive to accurately judging the position information.

[0149] Further, it also includes step S4:

[0150] S4: Judge whether the tip position of the implantation needle reaches the planned depth according to the position information;

[0151] If the planned depth is reached, the implantation stops. If the planned depth is not reached, the implantation continues.

[0152] The planned depth is determined according to the implantation plan. Specifically, the planned depth is determined based on the modeling information of the target tissue and adjacent tissues. By judging the tip position, the implantation action is automatically controlled, which is conducive to realizing automatic implantation.

[0153] Further, in step S2, the tip position of the implantation needle is obtained by the following method:

[0154] S21: Form a scanning plane parallel to the insertion direction of the insertion needle, and rotate the image tracking module around a central axis parallel to the insertion direction.

[0155] If the distal end of the insertion needle image in each piece of image information does not move during the rotation of the image tracking module, determine the distal end of the insertion needle image as the tip position of the insertion needle.

[0156] If the distal end of the insertion needle image in each piece of image information moves during the rotation of the image tracking module, execute step S22.

[0157] S22: If the distal end of the insertion needle image in each piece of image information moves during the rotation of the image tracking module, it is determined that the insertion needle is bent. Determine the position of the farthest end of the insertion needle image in the image information along the insertion direction according to the image information obtained each time during the rotation of the image tracking module, and determine this position as the tip position of the insertion needle.

[0158] If a bending part is formed near the tip of the insertion needle being inserted or at other parts of the insertion needle, the scanning plane can only scan a part of the insertion needle, resulting in incomplete acquisition of the image information of the insertion needle. Then rotate the scanning plane, and the scanning plane will scan the remaining part of the insertion needle accordingly. Then the distal end of the insertion needle in the corresponding image information will move accordingly, and the image of the insertion needle will move in the insertion direction. Thus, the position of the farthest end of the insertion needle image is obtained, which is the tip position.

[0159] Please refer to Figure 18 As shown, step S22 includes:

[0160] S221: Rotate the image tracking module. If the distal end of the insertion needle in each piece of image information moves distally along the insertion direction, execute step S223. If the distal end of the insertion needle in each piece of image information does not move distally along the insertion direction, execute step S222.

[0161] S222: Rotate the image tracking module in the reverse direction and then re - execute step S221.

[0162] S223: Determine whether the insertion needle image in the image information disappears. If it does not disappear, continue to rotate the image tracking module. If it disappears, stop rotating the image tracking module, and finely adjust the image tracking module in the reverse direction to obtain the image information of the farthest end of the insertion needle along the insertion direction, and determine the position where this end is located as the tip position.

[0163] Combined with Figure 3 As shown, Figure 3 The insertion direction of the insertion needle in [reference] is from right to left. When rotating the image tracking module, it is necessary to pause the driving component and perform transrectal ultrasound scanning. The scanning plane is parallel to the insertion direction of the insertion needle to formFigure 3 The axial side image shown, and then rotate the image tracking module. If the image information formed when the scanning plane rotates moves downward along the Figure 3 corresponding viewing angle, the scanning plane will sequentially scan the bending portion 32a. At this time, the image of the implanting needle in the image information will not disappear, and the distal end of the image of the implanting needle will move Figure 3 to the corresponding left side. At this time, it indicates that the distal end in the image of the implanting needle gradually moves towards the position closer to the needle tip, which means that the rotation direction of the image tracking module is correct. If the image information formed when the scanning plane rotates moves upward along the Figure 3 corresponding viewing angle and sequentially scans the bending portion 32a, the distal end of the image of the implanting needle will move Figure 3 to the corresponding right side, indicating that the turning direction of the image tracking module is opposite, then adjust the turning direction; on the premise of the correct turning direction, if the image information formed when the scanning plane rotates runs below the bending portion 32a and the image of the implanting needle disappears, it means that the scanning plane has scanned through the needle tip position. Then, slightly adjust the image tracking module in the reverse direction so that the scanning plane scans the needle tip position again to obtain the needle tip position. After determining the needle tip position, start the driving component to perform the implanting operation, and pause the action of the driving component after implanting to the set depth, and continue to judge and determine the needle tip position;

[0164] Please refer to Figure 19 shown. When performing transrectal ultrasound scanning, it is necessary to combine the Figure 1 axial cross-sectional image information shown. The axial cross-sectional image information can be formed by a scanning plane perpendicular to the implanting direction. At this time, use the Figure 1 axial cross-sectional image information shown as a reference to adjust the Figure 2 angle corresponding to the axial side image information, and the spatial position of the implanting needle being loaded can be identified. Then, it can be judged whether the implanting position of the implanting needle being loaded deviates from the planned position. If it does not deviate, continue with the implanting. If the distance from the adjacent unimplanted planned position is less than the set distance threshold, the medical staff needs to update the subsequent implanting plan, or send the deviation information to the implanting planning module to update the implanting plan.

[0165] Further, before step S1, there is also step S0:

[0166] S0: Load the implanting needle, measure the resistance of the implanting needle during the loading process of the implanting needle, and obtain a resistance detection value; judge whether the resistance detection value is abnormal. If the resistance detection value is abnormal, stop loading the implanting needle. If the resistance detection value is normal, continue to load the implanting needle.

[0167] Please combine Figure 20As shown, the resistance detection value can be measured directly or indirectly, and the resistance threshold can be obtained through experience or calculated during the simulation of the implantation process. If the resistance detection value is greater than the resistance threshold, it is judged as abnormal; if the resistance detection value is not greater than the resistance threshold, it is judged as normal. When the resistance is abnormal, the driving end 211 of the implanting assembly 20 is controlled to stop operating, or an alarm can be given to request manual intervention. If the resistance is normal, the driving end 211 of the implanting assembly 20 is controlled to continue operating.

[0168] This embodiment also provides a readable storage medium, on which a program is stored, and when the program is executed, the above control method is implemented.

[0169] The readable storage medium can be integrally provided on the brachytherapy-assisted implanting device, such as integrated in the control module, or can be independently attached.

[0170] In this specification, each embodiment is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other.

[0171] The above description is only a description of the preferred embodiments of the present invention, and does not limit the scope of the present invention in any way. Any changes and modifications made by those of ordinary skill in the art of the present invention according to the above disclosure shall fall within the protection scope of the claims.

Claims

1. A brachytherapy-assisted implant device, characterized in that: It includes an image tracking module, an image feedback module, a control module and an implantation driving module; The image tracking module is used to obtain the image information of the implantation needle; The image feedback module is used to obtain the position information of the tip of the implantation needle relative to the target tissue based on the image information obtained by the image tracking module; The implantation driving module is used to provide a loading force for the implantation needle to enable it to be implanted; the implantation driving module includes an implantation component, and the implantation component is used to provide a loading force for the implantation needle to be loaded to enable it to be implanted; The control module controls the movement of the implantation driving module based on the position information fed back by the image feedback module; The implantation driving module further includes an implantation template, the implantation component is detachably connected to the implantation template, and the implantation template is used to place and guide the implantation needle; The brachytherapy-assisted implantation device further includes a force feedback module, the force feedback module is communicatively connected to the control module, and the force feedback module is used to detect the resistance of the implantation needle when the implantation component loads the implantation needle to obtain a resistance detection value; The force feedback module is configured to control the loading action of the implantation component through the following steps: Judge whether the resistance detection value is abnormal. If it is abnormal, control the implantation component to stop the loading action, disassemble the implantation component, and manually intervene in the implantation process; if it is normal, continue the loading action; The implantation component includes an implantation driving member and a sliding seat. The implantation driving member has a driving end. The implantation driving member is arranged on the implantation template and can move along a direction parallel to the implantation template to adjust the position of the driving end so that the driving end is aligned with the implantation needle to be loaded. The driving end is movable to provide a loading force for the implantation needle aligned with it to enable it to be implanted; The implantation driving member is installed on the sliding seat. The implantation component further includes a first mounting plate and a second mounting plate. The first mounting plate and the second mounting plate are arranged parallel to the implantation template. The first mounting plate is connected to the implantation template. The second mounting plate is connected to the first mounting plate, and a sliding cavity is formed between the first mounting plate and the second mounting plate. The sliding seat is installed in the sliding cavity and can slide along a direction parallel to the implantation template.

2. The interstitial implantation device for brachytherapy according to claim 1, wherein: The brachytherapy-assisted implantation device further includes a rotating component; The image tracking module has a scanning plane. The image tracking module obtains the image information scanned by the scanning plane. The rotating component is used to rotate the image tracking module so that the scanning plane rotates accordingly to obtain the corresponding image information at each rotation angle.

3. The interstitial implantation device for brachytherapy according to claim 1, characterized in that: The image tracking module is used to obtain the image information of the implantation needle to be loaded during the implantation process.

4. The interstitial implantation device for brachytherapy according to claim 1, wherein: The implantation driving module further includes a connecting column, and the implantation component is detachably connected to the implantation template through the connecting column.

5. The interstitial implantation device for brachytherapy according to claim 1, wherein: The first mounting plate is located between the second mounting plate and the implanting template. A through hole is formed in the middle of the second mounting plate, and a part of the sliding seat extends out of the second mounting plate through the through hole for mounting the implanting driving member.

6. The interstitial implant device for brachytherapy according to claim 4, wherein: The implanting driving module further includes a locking member. An installation hole for inserting the first end of the connecting column is formed in the implanting template. A locking groove is formed in the outer wall of the first end of the connecting column. The locking member is rotatably mounted on the implanting template. The locking member is configured such that when the locking member rotates, it at least has a locking state and an unlocking state. In the locking state, the locking member rotates into the locking groove, so that the connecting column and the implanting template form a connected state. In the unlocking state, the locking member rotates out of the locking groove, so that the connecting column and the implanting template form a detachable state.

7. The interstitial implantation device for brachytherapy according to claim 6, wherein: A locking member installation groove is provided on the implanting template. The locking member installation groove is formed in a direction perpendicular to the axial direction of the installation hole and communicates with the inner cavity of the installation hole. The locking member is rotatably mounted in the locking member installation groove with the central axis parallel to the axial direction of the installation hole.

8. The interstitial implant device for brachytherapy according to claim 7, wherein: In the locking state, a part of the locking member is located outside the locking member installation groove.

9. The interstitial implantation device for brachytherapy according to claim 5, characterized in that: A plurality of mesh holes for the driving end to pass through are provided on the first mounting plate. A plurality of implanting holes for placing and guiding the implanting needles are provided on the implanting template. Each of the mesh holes and each of the implanting holes correspond one-to-one in a direction perpendicular to the implanting template.

10. The interstitial implantation device for brachytherapy according to claim 1, characterized in that: The implanting assembly further includes a positioning member. Any one of the first mounting plate, the second mounting plate, and the sliding seat serves as a mounting member, and the positioning member is provided on the mounting member for positioning the sliding seat.

11. The interstitial implantation device for brachytherapy according to claim 10, wherein: The positioning member includes a locking member and a potential energy member. A first positioning groove is provided on the mounting member. A plurality of second positioning grooves are provided on the other member adjacent to the mounting member among the first mounting plate, the second mounting plate, and the sliding seat. The potential energy member and the locking member are provided in the first positioning groove. The potential energy member is used to provide potential energy for the locking member. The potential energy causes a part of the locking member to extend out of the first positioning groove and insert into the second positioning groove. The positioning groove and the locking member are configured such that when the sliding seat slides, the locking member slides out of the second positioning groove along the edge of the second positioning groove after overcoming the potential energy.

12. The interstitial implantation device for brachytherapy according to claim 1, characterized in that: The driving end has a driving groove for accommodating the head of the implanting needle and positioning the head.

13. The interstitial implantation device for brachytherapy according to claim 1, wherein: The implanting driving member includes a motor, a driving gear, and a driven rack. The driving gear is in transmission cooperation with the rotor of the motor. The driven rack is arranged in a manner that it can slide perpendicular to the implanting template. The driving gear meshes with the driven rack. One end of the rack close to the implanting needle serves as the driving end.

14. The interstitial implantation device for brachytherapy according to claim 11, wherein: The locking member is a steel ball, and the second positioning groove is an arc-shaped groove.

Images