A sterilized, isolated, multi-channel radioactive source implant system

Abstract

The application discloses a disinfection and isolation multi-channel radioactive source implanting system. The radioactive source implanting device is installed on a moving platform through a disinfection and isolation cover. The radioactive source implanting device comprises a radioactive source, a first push rod and a push rod output channel. The push rod output channel can be used for guiding the first push rod to move forward and backward. The first push rod pushes the radioactive source to be output along the push rod output channel in sequence. A plurality of connecting holes are arranged on a connecting piece. The connecting piece and one end of the push rod output channel are fixed on two ends of the moving platform respectively. The moving platform drives the relative movement of the connecting piece and one end of the push rod output channel in space. One end of the push rod output channel is connected with one of the connecting holes, so that the radioactive source is output from the connecting hole, and multi-channel implanting is realized. The radioactive source implanting device and the moving platform are arranged separately, disinfection and sterilization of the radioactive source implanting device are realized, the position of the radioactive source pushing can be adjusted through the moving platform, and multi-channel implanting is realized.

Description

Technical Field

[0001] This invention relates to a radiation source implantation device, and more particularly to a disinfection and isolation multi-channel radiation source implantation system. Background Technology

[0002] Radioactive particle implantation surgery involves inserting numerous radioactive particles directly into a tumor via puncture for localized radiotherapy. This procedure has a wide range of indications, including lung cancer, liver cancer, breast cancer, and prostate cancer. It is characterized by small incisions, minimal bleeding, and relatively few surgical complications, while effectively inhibiting tumor growth.

[0003] The basic procedure for this surgery is as follows: First, a preoperative CT scan is taken, and the puncture path and particle placement plan are determined using the TPS system. Then, according to the plan, multiple puncture needles are inserted into the tumor. This process can be completed with the aid of a puncture guide template, ensuring that the spacing and direction between the needles are consistent with the preoperative plan. After confirming with CT that all puncture needles have reached their target positions, the doctor then pushes multiple particles into the tumor according to the preoperative plan through the channels established by the puncture needles, completing the surgery.

[0004] However, current surgeries are lengthy, and doctors are exposed to close contact with the particles during implantation, resulting in significant radiation damage. This greatly limits the application and widespread use of such surgeries. Therefore, it is worth considering using automated medical devices to replace doctors in performing the surgery under radiation conditions.

[0005] Patent document CN105727431A discloses a TRUS image-guided multi-channel prostate brachytherapy robot, comprising: a frame, a bidirectional movement mechanism, a position adjustment mechanism, an electric particle implantation mechanism, a multi-channel puncture mechanism, and a TRUS image navigation mechanism. The frame is equipped with a bidirectional movement mechanism, which includes a first slide with the position adjustment mechanism fixedly mounted on it. The bidirectional movement mechanism also includes a second slide with the multi-channel puncture mechanism fixedly mounted on it. The multi-channel puncture mechanism includes a multi-needle ring adapter with a 6×6 array of needle holes spaced 5mm apart. The number and location of puncture needles can be adjusted according to the preoperative plan. The bidirectional movement mechanism controls the movement of the first and second slides to achieve bidirectional linear movement of the position adjustment mechanism and the multi-channel puncture mechanism along the needle insertion axis. The position adjustment mechanism has a connecting frame with the electric particle implantation mechanism fixed below it. Below the electric particle implantation mechanism is the TRUS image navigation mechanism. The image navigation mechanism can acquire tumor boundaries and puncture needles in real time and track lesion points. In the structure of this particle implantation robot, hollow needles are directly connected to multi-needle ring adapters. Due to the long length and certain elasticity of the hollow needles, the connection is difficult. Multiple motors, particle storage chambers, puncture needles, and other components are mixed and installed, which not only increases manufacturing costs and makes disassembly and replacement inconvenient, but also makes it difficult to effectively isolate active and passive components, resulting in difficulties in surgical sterilization.

[0006] The particle implantation robots disclosed in patent documents such as CN108969878A, CN110141417A, WO2021035620A1, CN111281498A and CN112691286A all use a mixture of active and passive devices, which cannot effectively isolate them, making surgical sterilization difficult. Furthermore, the aforementioned particle implantation robots cannot achieve multi-channel implantation. Summary of the Invention

[0007] The purpose of this invention is to solve the problem of inconvenient disinfection in existing particle implantation devices. It proposes a disinfection and isolation multi-channel radioactive source implantation system, which can separate the radioactive source implantation device from the motion platform in order to disinfect and sterilize the radioactive source implantation device, and can adjust the position of the radioactive source push through the motion platform to achieve multi-channel implantation.

[0008] This invention is achieved through the following technical solution: a multi-channel radioactive source implantation system with disinfection and isolation, comprising a connector, a motion platform, a radioactive source implantation device, and a disinfection and isolation cover. The radioactive source implantation device is mounted on the motion platform through the disinfection and isolation cover. The radioactive source implantation device includes a radioactive source, a first push rod, and a push rod output channel. The push rod output channel can be used to guide the first push rod to move back and forth. The first push rod pushes the radioactive source to be output sequentially along the push rod output channel. The connector is provided with multiple connection holes. One end of the connector and one end of the push rod output channel are respectively fixed to the two ends of the motion platform. The motion platform drives the connector and one end of the push rod output channel to move relative to each other in space, so that one end of the push rod output channel is connected to one of the connection holes, thereby outputting the radioactive source from the connection hole, realizing multi-channel implantation.

[0009] Preferably, the device also includes multiple first delivery catheters, with the rear end of each first delivery catheter respectively installed at the corresponding connection hole of the connector. The push rod output channel is connected to one of the first delivery catheters through the drive of the motion platform. The front end of the first delivery catheter is connected to a puncture needle or is provided with a quick connector for connecting to the puncture needle. The quick connector and the puncture needle are fixedly connected by one or more combinations of threads, locks, and adhesives. The first push rod pushes the radiation source along the push rod output channel, the delivery catheter, and the puncture needle inserted into the biological tissue to implant it into the biological tissue.

[0010] Preferably, the connector is installed on the motion platform through a sterilization sealing cover, and the array of connecting holes is distributed on the connector. The end of the connecting hole near the push rod output channel is provided with a centering cone surface, which is used to automatically guide centering when docking with one end of the push rod output channel.

[0011] Preferably, the motion platform is one of the following: A. The connector moves, while one end of the push rod output channel remains stationary; B. The connector is stationary, and one end of the push rod output channel moves; C. The connecting part moves, and one end of the push rod output channel moves; The motion platform is used to realize relative movement of at least two degrees of freedom between the connector and one end of the push rod output channel, wherein the relative movement is one of the following: A. The connector is fixed, while one end of the push rod output channel moves back and forth in a linear motion and in a plane. B. The connector moves back and forth in a straight line, and one end of the push rod output channel moves in a plane. C. The connector moves within a plane, and one end of the push rod output channel moves back and forth in a straight line. D. The connector moves back and forth in a linear motion and in a plane, while one end of the push rod output channel remains fixed. The motion within a plane is one of the following: single-joint rotational motion, single-joint rotational motion combined with radial linear motion, double-joint rotational motion, or XY-axis linear motion. The motion platform includes a forward and backward motion module, a rotational motion module, and a radial motion module. The motion platform realizes the movement of one end of the push rod output channel in three degrees of freedom in space through rotational motion in one direction and linear motion in two directions. Alternatively, the motion platform may include a forward and backward motion module, a left and right motion module, and a up and down motion module. The motion platform achieves three degrees of freedom of movement for one end of the push rod output channel in space through linear motion in three directions. Alternatively, the motion platform may be a multi-joint robotic arm, which can drive one end of the push rod output channel to move and position freely in three-dimensional space.

[0012] Preferably, the radiation source implantation device is connected to a first external power source via a first rotating docking shaft. The first rotating docking shaft and the first external power source are separated by the isolation element to ensure that the sterile environment is isolated from the sterile environment. The radiation source implantation device also includes a first push rod driving mechanism. The first push rod driving mechanism is directly or indirectly connected to the first rotating docking shaft. The first rotating docking shaft transmits the rotational motion from the first external power source to the first push rod driving mechanism, and drives the first push rod to move back and forth along the push rod output channel through the first push rod driving mechanism. The first rotating docking shaft is connected to the second transmission part of the first external power source via a first transmission part. The first and second transmission parts are structures in which a transmission shaft mates with a transmission hole. The transmission shaft is one of the following: a straight shaft, a cross-shaped shaft, a square shaft, a hexagonal shaft, a polygonal shaft, a D-shaped shaft, a flat shaft, a splined shaft, or an irregularly shaped shaft. The shape of the transmission hole matches the shape of the transmission shaft. Alternatively, the first and second transmission parts adopt a friction disc structure and establish torque transmission through the friction between the friction disc structures. Or, the first and second transmission parts adopt a pin hole or pin groove structure with a pin shaft to achieve torque transmission. It also includes a first elastic element disposed in the first transmission part and / or the second transmission part, the first elastic element driving the first transmission part and the second transmission part to move towards each other to complete docking, the first elastic element being one or a combination of spring, elastic block, spring sheet, coil spring, and torsion spring.

[0013] Preferably, the first transmission part is disposed on the first rotating docking shaft, or a coupling is rotatably disposed on the isolation member, the coupling passing through the disinfection isolation cover, and the first transmission part is disposed on the coupling; When the first transmission part is located at one end of the coupling, the other end of the coupling is provided with a third transmission part. The coupling is connected to a fourth transmission part of the first rotating docking shaft through the third transmission part. The third and fourth transmission parts adopt one of the following structures to achieve torque transmission: a transmission shaft and transmission hole fit, a friction disc, or a pin hole or pin groove and pin shaft. The coupling also includes a second elastic element located in the third and / or fourth transmission parts. The second elastic element pushes the third and fourth transmission parts to move towards each other to complete the docking. The second elastic element is one or a combination of a spring, an elastic block, a spring sheet, a coil spring, and a torsion spring. The isolation component and the disinfection isolation cover are connected as a continuous whole, and the disinfection isolation cover is made of plastic film.

[0014] Preferably, the push rod output channel is a rigid structure or a flexible structure that can be bent. The first push rod is a flexible push rod that can be bent. The flexible push rod is a flexible filament structure with elasticity. The material of the flexible push rod is one or more combinations of nickel-titanium alloy, spring steel, elastomer material, and composite material. The length of the flexible push rod is greater than 300mm.

[0015] Preferably, the radiation source implantation device includes a main body and a radiation source feeding part. The first push rod driving mechanism is disposed on the main body, and the push rod output channel is connected to the first push rod driving mechanism. The main body is connected to a first external power source through a first rotating docking shaft. The radiation source feeding part is used to place the radiation source at the front end of the first push rod. The first push rod can push the radiation source all the way to the target position. The first push rod drive mechanism adopts a friction drive assembly. A part of the friction drive assembly is pressed against the first push rod, and the first push rod is driven by the friction force generated by the pressing. The friction drive assembly is one or more combinations of friction wheel, friction belt, and reciprocating clamping assembly. The push rod output channel is equipped with several limit switches. When the first push rod passes through a limit switch, a position signal is triggered. The main body is provided with a first conductive contact, and the position signal is transmitted to the controller outside the main body through the first conductive contact. The isolator is provided with a first conductive transmission part corresponding to the first conductive contact. The main body also includes a measuring wheel and a rotary encoder. The measuring wheel is directly connected to the rotary encoder or driven connection. The measuring wheel is in contact with the first push rod. When the first push rod moves back and forth, it will drive the measuring wheel to rotate. The displacement of the first push rod can be calculated by measuring the angular displacement of the measuring wheel through the rotary encoder. The main body is provided with a second conductive contact. The rotary encoder is electrically connected to the controller outside the main body through the second conductive contact. The isolator is provided with a second conductive transmission part corresponding to the second conductive contact.

[0016] Preferably, the device also includes a needle removal drive mechanism and a needle removal accessory. The needle removal drive mechanism can drive the needle removal accessory to move. The needle removal accessory can be directly connected to an external puncture needle that has been inserted into biological tissue and can independently control the puncture needle to be pulled out of the biological tissue. Alternatively, the needle removal accessory can clamp an external puncture needle that has been inserted into biological tissue and can independently control the puncture needle to be pulled out of the biological tissue. The needle removal drive mechanism is mounted on a motion platform through a disinfection isolation cover. The motion platform is equipped with a second external power source. The needle removal drive mechanism is equipped with a second rotating docking shaft. The second external power source establishes torque transmission with the second rotating docking shaft and drives the needle removal drive mechanism to move, thereby driving the needle removal accessories to realize the needle removal operation.

[0017] Preferably, the first delivery catheter is provided with a needle core, which extends along the first delivery catheter and fills the space inside the puncture needle connected to the front end of the first delivery catheter, so as to prevent blood from flowing into the puncture needle and coagulating to form a blockage. It also includes a core-pulling mechanism, which can dock with the tail of the needle core in the first delivery catheter and pull out the needle core from the first delivery catheter, thereby forming a hollow implantation channel. The core-removing mechanism is mounted on a motion platform through a disinfection isolation cover. The motion platform is equipped with a third external power source, and the core-removing mechanism is equipped with a third rotating docking shaft. The third external power source establishes torque transmission with the third rotating docking shaft and drives the core-removing mechanism to move, thereby realizing the core-removing operation.

[0018] Therefore, the present invention has the following beneficial effects: The present invention connects to an external power source via a rotating docking shaft, and separates the radiation source implantation device, needle removal mechanism, and core removal mechanism without a power source from the external power source through isolation components and disinfection isolation covers, ensuring the isolation between sterile and sterile environments. While being easy to install, the radiation source implantation device, needle removal mechanism, and core removal mechanism do not have a power unit, making them easy to disassemble and disinfect. Furthermore, the elastic element and telescopic structure make docking very convenient. Simply align the rotating docking shaft or the output shaft of the external power source with the coupling and drive the output shaft of the external power source to rotate. When the two components to be docked rotate to the same fixed angle in the circumferential direction (such as a slotted shaft aligning with a slotted hole), the transmission shaft will be pushed into the transmission hole under the drive of the elastic element, completing the docking.

[0019] This invention uses a motion platform to achieve relative movement between the connector and the push rod output channel, thereby enabling rapid switching between multiple puncture channels and the radiation source implantation device, thus achieving multi-channel implantation.

[0020] This invention employs a flexible push rod and push rod output channel to push particles or particle chains. The particles are fed through a particle clip or particle chain clip, or the particle chain of the target length is cut or separated by a cutting mechanism, thereby achieving particle chain feeding. At the same time, the limit switch and rotary encoder can measure the actual position of the first push rod and / or the radiation source in real time, thereby achieving high-precision position control and high-precision radiation source implantation.

[0021] The present invention inserts the needle core into the puncture needle along the first delivery conduit, thereby filling the space inside the puncture needle with the needle core before and after implantation to prevent blood from flowing into the puncture needle and clotting, causing blockage. The needle core removal mechanism pulls out the needle core from the first delivery conduit and the puncture needle, thereby forming a hollow implantation channel. After the implantation is completed, the needle core is inserted into the puncture needle along the delivery conduit.

[0022] The particle or particle chain implantation process of this invention can adjust the length and dosage of the particle chain at any time according to the characteristics of the tumor and the needs of the surgery, and can even select different particle chain models and spacer lengths. Simultaneously, the needle removal mechanism drives the needle removal accessory to remove the needle, thereby controlling the implantation position of the particle or particle chain in the biological tissue. Furthermore, the particle or particle chain implantation process and the needle removal process are synchronized. When the tip of the particle or particle chain reaches the tip of the puncture needle, the needle removal mechanism and the radiation source implantation device begin to work synchronously. For every distance the particle or particle chain is pushed forward, the needle removal mechanism drives the needle removal accessory to pull the puncture needle backward from the biological tissue at the same rate, until the particle or particle chain is completely ejected from the puncture needle. This ensures that the particle or particle chain is implanted in a stable form at the predetermined position, improving implantation accuracy and effectiveness, achieving fully automated operation, avoiding radiation risks, and reducing surgical time. Attached Figure Description

[0023] Figure 1 This is one of the overall structural schematic diagrams of the radiation source implantation system of the present invention; Figure 2 This is the second schematic diagram of the overall structure of the radiation source implantation system of the present invention; Figure 3 This is a schematic diagram of the first structure of the motion platform in this invention; Figure 4 This is a schematic diagram of the particle implantation connector in this invention. Figure 5 This is a schematic diagram of the mating structure of the particle implantation connector and the connector in this invention; Figure 6 This is one of the structural schematic diagrams of the radiation source implantation device of the present invention; Figure 7 This is the second schematic diagram of the structure of the radiation source implantation device of the present invention; Figure 8 This is a schematic diagram of the installation structure of the first and second disinfection isolation covers in this invention. Figure 9 This is a schematic diagram of the installation structure of each component on the isolation plate of the present invention; Figure 10 This is a schematic diagram of the mating structure of the rotary docking shaft, coupling, and output shaft of the external power source of the present invention; Figure 11 This is a schematic diagram of the second structure of the motion platform in this invention; Figure 12 This is a schematic diagram of the structure of Embodiment 3 of the present invention; Figure 13 This is a schematic diagram of the structure of Embodiment 3 of the present invention, excluding the motion platform and the core-pulling mechanism; Figure 14 for Figure 13 The main view; Figure 15 for Figure 14 A magnified view of a portion of the image; Figure 16 This is a schematic diagram of the needle removal drive mechanism according to Embodiment 3 of the present invention; Figure 17 This is a schematic diagram of the connection between the inner and outer tubes and the puncture needle in Embodiment 3 of the present invention; Figure 18 This is one of the structural perspective views of the third disinfection isolation cover according to Embodiment 4 of the present invention; Figure 19 for Figure 18 A schematic diagram of the structure of the third disinfection isolation shield; Figure 20 This is a second perspective view of the structure of the third disinfection isolation shield according to Embodiment 4 of the present invention; Figure 21 for Figure 20 A schematic diagram of the structure of the third disinfection isolation shield; Figure 22 This is a schematic diagram of the docking state in Embodiment 4 of the present invention; Figure 23 This is a schematic diagram of the position and structure of the third disinfection isolation shield in Embodiment 4 of the present invention; Figure 24 This is a schematic diagram of the structure of Embodiment 5 of the present invention; Figure 25 This is an internal cross-sectional view of the particle chain magazine of Embodiment 5 of the present invention; Figure 26 This is a schematic diagram of the structure of Embodiment Six of the present invention; Figure 27 This is a top view of Embodiment Six of the present invention; Figure 28This is a schematic diagram of the cutting mechanism, particle chain driving mechanism, and flexible push rod driving mechanism of Embodiment Six of the present invention; Figure 29 This is a schematic diagram of the cutting mechanism according to Embodiment Six of the present invention; Figure 30 This is a schematic diagram of the structure when the particle chain is ejected according to Embodiment Six of the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0025] Example 1 like Figure 1-10 As shown: A multi-channel radioactive source implantation system with disinfection and isolation includes a connector 11, a motion platform 12, a radioactive source implantation device 14, a base 15, and a disinfection and isolation cover 16. The motion platform 12 is mounted on the base 15, and the radioactive source implantation device 14 is mounted on the motion platform 12 through the disinfection and isolation cover 16. The radioactive source implantation device 14 includes a radioactive source, a first push rod 1301, and a push rod output channel 13. The push rod output channel 13 can be used to guide the first push rod 1301 to move back and forth. The first push rod 1301 pushes the radioactive source to be output sequentially along the push rod output channel 13. The connector 11 is provided with multiple connection holes 1101. One end of the connector 11 and one end of the push rod output channel 13 are respectively fixed to the two ends of the motion platform 12. The motion platform 12 drives the connector 11 and one end of the push rod output channel 13 to move relative to each other in space, so that one end of the push rod output channel 13 docks with one of the connection holes 1101, thereby outputting the radioactive source from the connection hole 1101, realizing multi-channel implantation. The radiation source implantation device 14 is installed on the motion platform 12. It can be that the entire radiation source implantation device 14 is installed on the motion platform 12, or a part of the radiation source implantation device 14 is installed on the motion platform 21. Specifically, the push rod output channel 13 is a flexible and bendable structure. One end of the push rod output channel 13 is installed on the motion platform 12, and the other parts of the radiation source implantation device are set separately on the base.

[0026] As a preferred option, such as Figure 4As shown: It also includes multiple first delivery catheters 18, the rear end of each first delivery catheter 18 is respectively installed at each connection hole 1101 of the connector 11. The push rod output channel 13 is connected to one of the first delivery catheters 18 by the drive of the motion platform 12. The front end of the first delivery catheter 18 is connected to a puncture needle or is provided with a quick connector for connecting to the puncture needle. The quick connector and the puncture needle are fixedly connected by one or more combinations of threads, locks, and adhesives. The first push rod 1301 pushes the radiation source along the push rod output channel 13, the first delivery catheter 18 and the puncture needle inserted into the biological tissue and implants it into the biological tissue.

[0027] As a preferred option, such as Figure 4 and Figure 5 As shown: the connector 11 is installed on the motion platform 12 through the disinfection sealing cover. The connecting holes 1101 are distributed on the connector 11 in a linear array, a curved array, a matrix array, or a ring array. The end of the connecting hole 1101 near the push rod output channel 13 is provided with a centering cone surface 11011. The centering cone surface 11011 is used to automatically guide the centering when docking with one end of the push rod output channel 13. Specifically: The push rod output channel 13 is also connected to a particle implantation connector 1207 at one end near the connector. The particle implantation connector 1207 is provided with a tapered mating nozzle that mates with the centering tapered surface 11011 on the connecting hole 1101. A floating connection mechanism is provided between the particle implantation connector 1207 and the motion platform 12, or inside the motion platform 12, or between the motion platform 12 and the connector 11. When the particle implantation connector 1207 or the connector 11 is subjected to external force, the floating connection mechanism can cause relative movement between the particle implantation connector 1207 and the motion platform 12, or inside the motion platform 12, or between the motion platform 12 and the connector 11. Thus, when the particle implantation connector 1207 is inserted into the connecting hole 1101 on the connector 11, it automatically centers under the guidance of the centering tapered surface 11011, eliminating the positioning error of the motion platform 12. After the external force is removed, the particle implantation connector 1207 can automatically reset.

[0028] The floating connection mechanism consists of a guide element and an elastic element disposed between the particle implantation joint 1207 and the motion platform 12, or inside the motion platform 12, or between the motion platform 12 and the connector 11. The guide element can guide the two parts connected at both ends of the floating connection mechanism to make a certain form of relative movement. The elastic element can restrict the two parts connected at both ends of the floating connection mechanism to remain in the initial position when there is no external force, and can deform under the external force to make the two parts move relative to each other. After the external force is removed, the elastic element will reset the two parts connected at both ends of the floating connection mechanism under its own elastic action to realize the floating connection. The guide element is a ball joint, hinge, slide, guide rail, or sliding plane; the elastic element is one or a combination of elastic ring, elastic block, spring, spring sheet, torsion spring, and coil spring.

[0029] As a preferred embodiment, the motion platform 12 is one of the following: A. Connector 11 moves, and one end of push rod output channel 13 remains stationary; B. Connector 11 is stationary, and one end of the push rod output channel 13 moves; C. When connector 11 moves, one end of push rod output channel 13 moves; The motion platform 12 is used to realize relative movement of at least two degrees of freedom between the connector 11 and one end of the push rod output channel 13, and the relative movement is one of the following: A. Connector 11 is fixed, while one end of the push rod output channel 13 moves back and forth in a straight line and in a plane. B. Connector 11 moves back and forth in a straight line, and one end of push rod output channel 13 moves in a plane. C. Connector 11 moves in a plane, and one end of push rod output channel 13 moves back and forth in a straight line. D. Connector 11 performs linear motion and motion in a plane, while one end of push rod output channel 13 remains fixed. Motion within a plane can be one of the following: single-joint rotational motion, single-joint rotational motion combined with radial linear motion, double-joint rotational motion, or XY-axis linear motion. The motion platform 12 includes a forward and backward motion module, a rotational motion module, and a radial motion module. The motion platform 12 achieves three degrees of freedom movement of one end of the push rod output channel 13 in space through rotational motion in one direction and linear motion in two directions. Alternatively, the motion platform 12 includes a forward and backward motion module, a left and right motion module, and a up and down motion module. The motion platform 12 achieves three degrees of freedom movement of one end of the push rod output channel 13 in space through linear motion in three directions. Alternatively, the motion platform 12 is a multi-joint robotic arm, which can drive one end of the push rod output channel 13 to move and position freely in three-dimensional space.

[0030] like Figures 1-3 As shown, this embodiment employs a motion platform 12 comprising a forward / backward motion module, a rotational motion module, and a radial motion module. The motion platform 12 achieves three degrees of freedom of movement in space for one end of the push rod output channel 13 through rotational motion in one direction and linear motion in two directions. Specifically, the motion platform 12 includes a forward / backward motion module 121, a rotational motion module 122, and a radial motion module 123. The forward / backward motion module 121 is used for the forward / backward movement of the particle implantation connector; the rotational motion module 122 is used to enable the particle implantation connector 1207 to rotate in a plane; and the radial motion module 123 is used to enable the particle implantation connector 1207 to move in the plane of rotation along the diameter or radius with the rotation center as the center. Since there are many specific driving methods for the forward / backward motion module 121, the rotational motion module 122, and the radial motion module 123, such as direct motor drive, gear and rack drive, synchronous belt drive, or drive through a lead screw and nut, etc., these will not be specifically described in this text.

[0031] Preferably, the radiation source implantation device 14 is connected to the first external power source via a first rotating docking shaft. The first rotating docking shaft and the first external power source are separated by an isolator to ensure that the sterile environment is isolated from the sterile environment. The radiation source implantation device 14 also includes a first push rod driving mechanism. The first push rod driving mechanism is directly or indirectly connected to the first rotating docking shaft. The first rotating docking shaft transmits the rotational motion from the first external power source to the first push rod driving mechanism, and drives the first push rod 1301 to move back and forth along the push rod output channel 13 through the first push rod driving mechanism. Among them, such as Figure 9-10 As shown, an isolation plate 100 and a docking assembly 300 disposed on the isolation plate 100 are provided between the moving part of the radiation source implantation device and the first external power source. The docking assembly 300 can realize power transmission, signal transmission and power supply. The docking assembly 300 includes a rotating docking shaft 310 and a conductive contact 320. The rotating docking shaft 310 is used for power transmission, and the conductive contact 320 is used for signal transmission and provides electrical energy. The rotating docking shaft 310 can be a first rotating docking shaft, a second rotating docking shaft, a third rotating docking shaft, or a fourth rotating docking shaft. The isolation plate 100 and the disinfection isolation cover 16 are connected as a continuous whole. The disinfection isolation cover 16 is made of plastic film.

[0032] In this embodiment, a coupling 312 is rotatably mounted on the isolation plate 100. When the first transmission part 3121 is mounted on one end of the coupling 312, the other end of the coupling 312 is provided with a third transmission part 3122. The coupling 31 is connected to the second transmission part 3132 of the first external power source through the first transmission part 3121, and the coupling 312 is connected to the fourth transmission part 3141 of the rotating docking shaft 310 through the third transmission part 3122.

[0033] In this embodiment, the first transmission part 3121 and the second transmission part 3132 adopt one of the following structures to achieve torque transmission: a transmission shaft and transmission hole cooperation structure, a friction disc structure, and a pin hole or pin groove and pin shaft structure. The second transmission part 3132 is a transmission shaft, and the first transmission part 3121 is a transmission hole. The transmission shaft adopts one of the following types: a straight shaft, a cross-shaped shaft, a square shaft, a hexagonal shaft, a polygonal shaft, a D-shaped shaft, a flat shaft, a splined shaft, and an irregular shaft. The shape of the transmission hole matches the shape of the transmission shaft. Specifically: The second transmission part 3132 is retractably mounted on the output shaft 3131 of the first external power source. The output shaft 3131 of the first external power source and the second transmission part 3132 are synchronously rotated circumferentially and slide axially. The output shaft 3131 of the first external power source can be provided with a first locking groove 3133 that matches the shape of the second transmission part 3132 to achieve synchronous rotational and axial sliding engagement between the two. The second transmission part 3132 extends out and synchronously rotates with the first transmission part 3121 of the coupling 312 to achieve power connection. The first elastic element and the second elastic element are both compression springs 3134, but of course, they can also be... It is one or a combination of elastic blocks, spring sheets, coil springs, and torsion springs. A compression spring 3134 is disposed within the output shaft 3131 of the first external power source. The compression spring 3134 provides an elastic force to the outward extension of the second transmission part 3132, pushing the second transmission part 3132 and the first transmission part 3121 to complete the docking operation. The compression spring 3134 allows for flexible docking of the two transmission parts, preventing damage caused by rigid docking. If docking fails, simply rotating the second transmission part 3132 and the first transmission part 3121 will automatically dock them once the docking positions are aligned. Additionally, an angle measuring element is provided for measuring the rotation angle. This element is directly or indirectly connected to the rotating docking shaft 310. By measuring the rotation angle of the rotating docking shaft 310, the actual power transmission status can be obtained, and adjustments can be made based on the measurement results to meet usage requirements.

[0034] In this embodiment, the third transmission part 3122 and the fourth transmission part 3141 adopt one of the following structures to achieve torque transmission: a transmission shaft and transmission hole fit together, a friction disc structure, or a pin hole or pin groove and pin shaft structure. The fourth transmission part 3141 is a transmission shaft, and the third transmission part 3122 is a transmission hole. The transmission shaft adopts one of the following types: a straight shaft, a cross-shaped shaft, a square shaft, a hexagonal shaft, a polygonal shaft, a D-shaped shaft, a flat shaft, a splined shaft, or an irregular shaft. The shape of the transmission hole matches the shape of the transmission shaft. Specifically: The fourth transmission part 3141 is telescopically mounted on the rotating docking shaft 310. The rotating docking shaft 310 and the fourth transmission part 3141 are synchronously rotated circumferentially and slide axially. The rotating docking shaft 310 can be provided with a second locking groove 3142 adapted to the shape of the fourth transmission part to achieve synchronous rotational engagement and axial sliding engagement between the two. The fourth transmission part 3141 extends out and is synchronously rotated and connected to the third transmission part 3122 of the coupling 312 to achieve power docking. The first elastic element and the second elastic element are both compression springs 3134, but they can also be elastic blocks, spring sheets, etc. A compression spring 3134, comprising one or a combination of coil springs and torsion springs, is disposed within the rotating docking shaft 310. The compression spring 3134 provides an outward elastic force to the fourth transmission part 3141, driving the fourth transmission part 3141 and the third transmission part 3122 to complete the docking operation. The compression spring 3134 ensures a flexible docking between the two transmission parts, preventing damage caused by rigid docking. Furthermore, if docking fails, simply rotating either the fourth transmission part 3141 or the third transmission part 3122 will automatically dock the two transmission parts once the docking positions are aligned. Additionally, an angle measuring element is provided for measuring the rotation angle. This element is directly or indirectly connected to the rotating docking shaft 310. By measuring the rotation angle of the rotating docking shaft 310, the actual power transmission status can be obtained, and adjustments can be made based on the measurement results to meet usage requirements.

[0035] This embodiment also includes an mounting component 400. The main body 1401 is directly mounted on the mounting component 400. The mounting component 400 can be directly fixed to the isolation plate 100, or it can be mounted on the isolation plate 100 via a detachable locking assembly 200. The locking assembly 200 can be one or a combination of a hook and slot structure, a snap-fit ​​structure, and a screw structure.

[0036] Preferably, the push rod output channel 13 is a rigid structure or a flexible structure that can be bent, and the first push rod 1301 is a flexible push rod that can be bent. The flexible push rod is a flexible filament structure with elasticity. The material of the flexible push rod is one or more combinations of nickel-titanium alloy, spring steel, elastomer material, and composite material; the length of the flexible push rod is greater than 300mm.

[0037] Preferably, the radiation source implantation device includes a main body 1401 and a radiation source feeding part 1402. A first push rod driving mechanism is disposed on the main body 1401, and a push rod output channel 13 is connected to the first push rod driving mechanism. The main body 1401 is connected to a first external power source through a first rotating docking shaft. The radiation source feeding part 1402 is used to place a radiation source at the front end of the first push rod 1301. The first push rod 1301 can push the radiation source all the way to the target position. like Figure 8 As shown: The disinfection sealing cover includes a first disinfection sealing cover 16 and a second disinfection sealing cover 17. The first disinfection sealing cover 16 is used to isolate the first push rod drive mechanism from the first external power source, and the second disinfection sealing cover 17 is used to isolate the particle implantation connector 1207 from the motion platform. Of course, the first disinfection sealing cover 16 and the second disinfection sealing cover 17 can be combined into a single disinfection sealing cover, and the base 15 can also be sealed and isolated together.

[0038] like Figure 6 and Figure 7 As shown: The first push rod drive mechanism adopts a friction drive assembly. A part of the friction drive assembly is pressed against the first push rod 1301. The friction force generated by the pressing drives the first push rod 1301. The friction drive assembly is one or more combinations of friction wheel, friction belt, and reciprocating clamping assembly. Specifically, the friction wheel is used as follows: it includes an active friction wheel 1403, a pressing friction wheel 1404 and a winding wheel 1405. The active friction wheel 1403 and the pressing friction wheel 1404 cooperate to clamp the first push rod 1301 and drive it to move back and forth. The first push rod 1301 is stored in the winding wheel 1405.

[0039] The push rod output channel 13 is equipped with several limit switches. When the first push rod 1301 passes through a limit switch, a position signal is triggered. The main body 1401 is provided with a first conductive contact, through which the position signal is transmitted to a controller outside the main body 1401. The isolator is provided with a first conductive conduction part corresponding to the first conductive contact. The main body 1401 also includes a rotary encoder connected to a measuring wheel. The measuring wheel is in contact with the first push rod 1301. When the first push rod 1301 moves back and forth, it will drive the measuring wheel to rotate. The displacement of the first push rod 1301 can be calculated by measuring the angular displacement of the measuring wheel by the rotary encoder. The main body 1401 is provided with a second conductive contact, through which the rotary encoder 18 is electrically connected to the controller outside the main body. The isolator is provided with a second conductive conduction part corresponding to the second conductive contact. The limit switches can also be non-contact limit switches, such as photoelectric sensors or Hall sensors, or contact-type miniature mechanical limit switches.

[0040] Preferably, the device also includes a needle removal drive mechanism and a needle removal accessory. The needle removal drive mechanism can drive the needle removal accessory to move. The needle removal accessory can be directly connected to an external puncture needle that has been inserted into the biological tissue and can independently control the puncture needle to be pulled out of the biological tissue. Alternatively, the needle removal accessory can be clamped to an external puncture needle that has been inserted into the biological tissue and can independently control the puncture needle to be pulled out of the biological tissue. 1. When the needle removal accessory is directly connected to the external puncture needle: The needle removal accessory includes: an inner tube for connecting to an external puncture needle; and an outer tube that is fitted over the inner tube, with one end of the outer tube abutting against or connected to an external support component or the skin of a living organism. The external support component remains relatively stationary with the living organism or is mounted on the skin of the living organism. A needle removal drive mechanism drives the inner and outer tubes to move relative to each other, so that the inner tube pulls the external puncture needle out of the living organism. The needle removal drive mechanism directly drives the inner or outer tubes to slide relative to each other through direct push-pull, clamping drive, friction drive, or meshing drive. When the direct push-pull method is used, the needle pulling drive mechanism directly applies a pushing or pulling force to the end face of the inner tube or outer tube, or to the stepped surface or connecting part set on the inner tube or outer tube, thereby driving the inner tube or outer tube to make relative sliding motion. When the friction drive method is used, a part of the needle pulling drive mechanism is pressed against the inner tube or the outer tube, and the friction force generated by the pressing drives the inner tube or the outer tube to make relative sliding motion. At this time, the needle pulling drive mechanism is a friction drive component. When the clamping drive method is used, a part of the needle pulling drive mechanism clamps the inner tube or the outer tube, and then the part moves to one side, thereby driving the inner tube or the outer tube to make relative sliding movements. At this time, the needle pulling drive mechanism is a clamping drive component. When the meshing drive method is adopted, the needle pulling drive mechanism realizes the relative sliding drive of the inner tube or the outer tube by meshing the tooth grooves on the inner tube or the outer tube. At this time, the needle pulling drive mechanism is one or a combination of gear, worm, and pawl. Alternatively, the needle removal accessory includes a needle removal assembly that follows the tube. The needle removal assembly is located on the outside of the outer or inner tube. The needle removal assembly can drive the inner and outer tubes to slide relative to each other through friction drive, engagement drive, or direct push-pull, thereby pulling the puncture needle out of the biological tissue through the inner tube. The needle removal assembly is one or a combination of a clamping drive assembly, an engagement drive assembly, a direct push-pull drive assembly, and a friction drive assembly. 2. When the needle removal accessory is clamped with the external puncture needle: At this time, the external puncture needle is directly connected to the delivery catheter. The delivery catheter is not set in the form of inner and outer tubes. The needle removal accessory adopts the tube-following needle removal component. The tube-following needle removal component is set on the outside of the puncture needle. One end of the tube-following needle removal component abuts against or is connected to the external support component or the epidermis of the organism. The external support component is relatively stationary with the organism tissue or is set on the epidermis of the organism. The tube-following needle removal component can drive the puncture needle to move upward and be pulled out of the organism through clamping drive, friction drive, meshing drive, or direct push and pull.

[0041] When the direct push-pull method is used, the needle removal assembly directly applies a pushing or pulling force to the stepped surface set on the puncture needle, thereby driving the puncture needle to move upward and be pulled out of the body. When the friction drive method is used, part of the needle removal drive mechanism is pressed against the needle shaft of the puncture needle, and the friction force generated by the pressing drives the puncture needle to move upward and be pulled out of the body. At this time, the needle removal drive mechanism is a friction wheel assembly or a friction belt assembly. When the clamping drive is used, a part of the needle removal drive mechanism clamps the puncture needle, and then the part moves upward, thereby driving the puncture needle to move upward and be pulled out of the body. When a meshing drive is used, the needle removal drive mechanism drives the needle upward to be pulled out of the body by meshing with the tooth grooves on the needle. In this case, the needle removal drive mechanism is one or a combination of gear, worm, and pawl.

[0042] The needle removal assembly is driven by a follow-up drive assembly, which can be a drive wire, hydraulic hose, or air hose. The drive wire is fitted with a drive wire sleeve, one end of which abuts or connects to the follow-up needle removal assembly, and the other end abuts or connects to the needle removal drive mechanism. The needle removal drive mechanism enables relative sliding between the drive wire and the drive wire sleeve, thereby transmitting power to the follow-up needle removal assembly. The hydraulic hose contains hydraulic oil, one end of which is connected to the follow-up needle removal assembly, and the other end to the needle removal drive mechanism. The needle removal drive mechanism injects or extracts the hydraulic oil, allowing it to transmit power to the follow-up needle removal assembly along the hydraulic hose. One end of the air hose is connected to the follow-up needle removal assembly, and the other end to the needle removal drive mechanism. The needle removal drive mechanism injects or extracts gas into the air hose, allowing it to transmit power to the follow-up needle removal assembly along the air hose.

[0043] The needle removal drive mechanism is mounted on a motion platform through a sterilization isolation cover. The motion platform is equipped with a second external power source, and the needle removal drive mechanism is equipped with a second rotating docking shaft. The second external power source establishes torque transmission with the second rotating docking shaft and drives the needle removal drive mechanism to move, thereby driving the needle removal accessories to perform needle removal operations. The relative movement between the needle removal drive mechanism and the connecting parts in space is achieved through the motion platform, so that the needle removal drive mechanism can drive any needle removal accessory on the connecting parts, thereby realizing multi-channel needle removal.

[0044] Preferably, the first delivery catheter is provided with a needle core, which extends along the first delivery catheter and fills the space inside the puncture needle connected to the front end of the first delivery catheter, so as to prevent blood from flowing into the puncture needle and clotting to form a blockage. It also includes a needle-pulling mechanism, which can dock with the tail of the needle core inside the first delivery catheter and pull out the needle core, thereby forming a hollow implantation channel; specifically: the needle-pulling mechanism adopts a friction needle-pulling assembly, a part of the friction needle-pulling assembly is pressed against the needle core, and the needle core is pulled out by the friction force generated by the pressing; the friction needle-pulling assembly is one or a combination of friction wheel, friction belt, and reciprocating clamping assembly; The needle removal mechanism is mounted on a motion platform through a disinfection isolation cover. The motion platform is equipped with a third external power source, and the needle removal mechanism is equipped with a third rotating docking shaft. The third external power source establishes torque transmission with the third rotating docking shaft and drives the needle removal mechanism to move, thereby realizing the needle removal operation. The relative movement between the needle removal mechanism and the connector in space is realized through the motion platform, so that the needle removal mechanism docks with the tail of the needle in any of the first delivery tubes on the connector and pulls out the needle, thereby realizing multi-channel needle removal.

[0045] Preferably, the radioactive source is a particle or a particle chain, which is a strip containing radioactive material. The particle chain includes particles and spacers, with adjacent particles directly abutting each other or separated by spacers. The spacers are made of a biodegradable material. Alternatively, the particle chain includes particles and a particle chain sleeve, with multiple particles arranged close together or spaced apart in the particle chain sleeve. The particle chain sleeve is a closed tube or an open tube with grooves on the sides. The particle chain sleeve is a continuous long tube or a short tube that connects only two adjacent particles. The particle chain sleeve has a through structure inside or has a partition inside for axial positioning of the particles. The particles and spacers are connected by adhesive or directly abut each other, or the particle chain sleeve is fitted over the particles and spacers, fixing the relative positions of the particles and / or spacers. The particle chain sleeve is made of a biodegradable material. The biodegradable material is one or more combinations of collagen, polymers, gelatin, alginate, and biodegradable polyester materials.

[0046] Preferably, the radioactive source feeding section is a cutting mechanism. In this case, the first push rod 1301 itself is a particle chain or a particle chain sleeve, or the front half of the first push rod 1301 is a particle chain or a particle chain sleeve that can be cut by the cutting mechanism, and the rear half of the first push rod 1301 is a push rod wire. The particle chain or particle chain sleeve of the target length is cut off from the front end of the first push rod 1301 by the cutting mechanism, thereby realizing the feeding of the particle chain or particle chain sleeve. When the cut-off part is a particle chain sleeve, the radioactive source feeding section also includes a particle embedding mechanism. The particle embedding mechanism enables the particles and / or spacers to be embedded into the particle chain sleeve from the end face or side face of the particle chain sleeve, thereby forming a complete particle chain. The cutting mechanism is set at any point in the push rod output channel 13. Alternatively, the radioactive source feeding unit 1402 adopts a magazine feeding method. The radioactive source feeding unit 1402 is directly installed in the push rod output channel 13. Particles or pre-made particle chains or particle chain sleeves are installed in the magazine storage slots or storage holes. The particles or pre-made particle chains or particle chain sleeves are placed at the front end of the first push rod 1301 for feeding by the magazine feeding mechanism installed on the magazine. When the magazine is equipped with a particle chain sleeve, the radioactive source feeding unit also includes a particle embedding mechanism. The particle embedding mechanism enables the particles and / or spacers to be embedded into the particle chain sleeve from the end face or side face of the particle chain sleeve, thereby forming a complete particle chain. Alternatively, the radioactive source feeding unit 1402 employs a particle chain feeding system. The radioactive source feeding unit 1402 includes a particle chain driving mechanism, a particle chain output channel, and a cutting mechanism. The particle chain driving mechanism continuously outputs particle chains or particle chain sleeves, and the cutting mechanism cuts the particle chains or particle chain sleeves to a target length, thus feeding the particle chains or particle chain sleeves. The radioactive source feeding unit is connected to a fourth external power source via a fourth rotating docking shaft. The particle chain driving mechanism is directly or indirectly connected to the fourth rotating docking shaft, which transmits the rotational motion from the fourth external power source to the particle chain driving mechanism. When the particle chain driving mechanism outputs a particle chain sleeve, the radioactive source feeding unit also includes a particle embedding mechanism. This mechanism allows particles and / or spacers to be embedded from the end face or side of the particle chain sleeve, forming a complete particle chain. The particle chain driving mechanism is connected to the particle chain output channel, which is a rigid or flexible structure. The cut particle chain is positioned in front of the first push rod 1301 via a branched tube or motion platform docking.

[0047] Example 2 like Figure 11As shown, this embodiment uses a motion platform to achieve three degrees of freedom in space for one end of the push rod output channel and / or the connecting part through linear motion in three directions. The motion platform 12 consists of three parts: a forward and backward motion module, a left and right motion module, and a forward and backward motion module, realizing three degrees of freedom of motion. Specifically: a particle gun three-axis robot includes a forward and backward motion module 1, a left and right motion module 2, a forward and backward motion module 3, a particle guiding module 4, a particle implantation gun 5, and a surgical robot flange 6. The forward and backward motion module 1 is used to realize the up and down movement of the particle gun; the left and right motion module 2 is used to realize the left and right movement of the particle gun; the forward and backward motion module 3 is used for the forward and backward movement of the particle gun; the particle guiding module 4 is used to guide and fix the particle delivery pipe; the particle gun 5 is used to deliver particles; and the surgical robot flange 6 is used to connect with the surgical robot. Since there are many specific driving methods for the forward and backward motion modules 1, 2, and 3, such as direct motor drive, gear and rack drive, synchronous belt drive, or drive through lead screw and nut, etc., they will not be described in detail in this text.

[0048] Example 3 The radioactive source feeding section is a cutting mechanism. In this case, the push rod itself is a particle chain or a particle chain sleeve, or the front half of the push rod is a particle chain or a particle chain sleeve that can be cut by the cutting mechanism, and the rear half of the push rod is a push rod wire. The particle chain or particle chain sleeve of the target length is cut off from the front end of the push rod by the cutting mechanism, thereby realizing the feeding of the particle chain or particle chain sleeve. When the cut-off part is a particle chain sleeve, the radioactive source feeding section also includes a particle embedding mechanism. The particle embedding mechanism enables the particles and / or spacers to be embedded into the particle chain sleeve from one end or side of the particle chain sleeve, thereby forming a complete particle chain. The cutting mechanism is set at any point in the push rod output channel.

[0049] like Figure 12-17 As shown, this embodiment can achieve automatic switching of implantation channels. The radiation source supply unit uses a cutting mechanism for supplying materials. At this time, the push rod itself is a particle chain or a particle chain sleeve. Then, the particle chain or particle chain sleeve is cut by the cutting mechanism to achieve supply. When the particle chain sleeve is cut off, the radiation source supply unit also includes a particle embedding mechanism. The particle embedding mechanism enables the particles and / or spacers to be embedded into the particle chain sleeve from one end or side of the particle chain sleeve, thereby forming a complete particle chain. The motion platform is a first rotary arm mechanism. The needle removal drive mechanism drives the inner tube or outer tube of the needle removal accessory to make relative sliding movements by directly pushing and pulling.

[0050] Includes a first core-pulling mechanism 18122101, a first rotating arm mechanism 18122102, an ejection mechanism 18122103, a first docking plate 18122104, a first docking hole 18122105, a second docking hole 18122124, a storage box 18122106, a conveying mechanism 18122107, a cutting blade 18122108, a linkage mechanism 18122109, a motor A 18122110, an inner tube connector 18122111, an outer tube pusher seat 18122112, and a locking knob 1812211. 3. Metal ring 18122114, inner tube 18122115, outer tube 18122116, force sensor 18122117, driven gear 18122118, driving gear 18122119, motor B 18122120, docking motion seat 18122121, docking rod 18122122, rack 18122123, rack seat 18122124; particle chain 18122127, spacer rod 18122126, inner tube 18122115, outer tube 18122116, puncture needle 11.

[0051] Its working principle is as follows: A conveying mechanism 18122107 is set on the pushing mechanism 18122103 of the first rotary arm mechanism 18122102. A storage box 18122106 is set at the end of the conveying mechanism 18122107. The storage box is used to store the particle chain 18122127. A docking rod 18122122 is set at the front end of the conveying mechanism. The docking rod 18122122 is fixed on the docking motion seat 18122121. There is a slot on the rear side of the docking rod 18122122. A motor A18122110 is set on the docking motion seat 18122121. 18122110 is fixed to the linkage mechanism 18122109. The linkage mechanism 18122109 is connected to the cutting blade 18122108. The cutting blade 18122108 is located at the slot of the docking rod 18122122. A rack seat 18122124 is located below the docking rod 18122122, and a rack 18122123 is installed inside the rack seat 18122124. A motor B 18122120 is installed at the bottom of the docking motion seat 18122121. A force sensor 18122117 is installed on the side of the motor B 18122120 and is attached to or connected to the motor B 18122120. The motor B 18122120 is connected to the drive gear 18122119. A driven gear 18122118 is installed on the docking motion seat 18122121. The driven gear 18122118 meshes with the driving gear 18122119 and the rack 18122123. When the rack 18122123 encounters resistance, the force sensor 18122117 can detect the reaction force caused by the resistance encountered when the motor B 18122120 rotates. The motor B 18122120 is equipped with an angle sensor, which calculates the displacement of the rack 18122123. Based on force feedback and position feedback, the equipment can determine whether the rack 18122123 has contacted the outer tube push seat 18122112 or whether the rack 18122123 has successfully extended from the second docking hole 18122124.

[0052] An inner tube 18122115 is connected to the first docking plate 18122104. An inner tube connector 18122111 is provided at the front end of the inner tube 18122115. An outer tube 18122116 is provided outside the inner tube 18122115. Multiple metal rings 18122114 are provided at one end of the outer tube 18122116. An outer tube push seat 18122112 is provided outside the metal rings 18122114. The metal rings 18122114 can also be replaced by lock holes distributed on the outer tube 18122116.

[0053] During the puncture procedure, the inner tube connector 18122111 is fixed at the first docking hole 18122105 of the first docking plate 18122104. The section of the inner tube 18122115 near the inner tube connector 18122111 is a rigid section, which can maintain perpendicularity with the first docking plate 18122104, thereby guiding the outer tube push seat 18122112. The other end of the inner tube 18122115 is a flexible section, which can better connect with the puncture needle in different positions and adapt to the patient's body movement, ensuring the safety of the operation. Then, move the outer tube pusher 18122112 along the outer tube 18122116 so that its front end face is close to or fits against the first mating plate 18122104. At the same time, adjust the locking knob 18122113 to press the metal ring 18122114, and fix the outer tube pusher 18122112 and the outer tube 18122116 relative to each other. The metal ring 18122114 is used to avoid squeezing the flexible outer tube flat, which would prevent relative movement between the inner tube and the outer tube, i.e., make it impossible to pull out the needle. Alternatively, the locking knob 18122113 can be inserted into the locking holes distributed on the outer tube 18122116 to fix the outer tube pusher 18122112 and the outer tube 18122116 relative to each other. The first rotating arm mechanism 18122102 first aligns the first core-pulling mechanism 18122101 with the first docking hole 18122105, thereby controlling the first core-pulling mechanism 18122101 to pull out the needle core inside the inner tube 18122115. Then, the first rotating arm mechanism 18122102 works to align the docking rod 18122122 with the first docking hole 18122105, and the ejection mechanism 18122103 ejects the docking rod 18122122 so that it aligns with the first docking hole 18122105.The conveying mechanism 18122107 pushes out the particle chain 18122127 inside the storage box 18122106. The particle chain 18122127 is mainly composed of particles and spacer bars 18122126. After pushing out the particle chain 18122127 of the target length, the motor A 18122110 rotates to drive the linkage mechanism 18122109 to work, rotating the cutting blade 18122108 and cutting off the spacer bars 18122126 of the particle chain 18122127 inside the docking rod 18122122. Then, the motor A... The operation of 18122110 causes the cutting blade 18122108 to return to its initial position. The conveying mechanism 18122107 pushes out the particle chain 18122127, which pushes the cut particle chain 18122127 at the front end, and delivers it into the organism through the inner tube 18122115 and the puncture needle 11 connected to it. At the same time, the motor B 18122120 rotates the drive gear 18122119, and the driven gear 18122118 meshing with it works, pushing out the rack 18122123 above. The rack 18122123 will be continuously pushed out until it contacts the outer tube push seat 18122112. The force sensor 18122117 on the side of the motor B 18122120 detects the resistance encountered by the motor B 18122120 and records this position as zero. Motor B 18122120 continues to rotate and pushes out rack 18122123. Rack 18122123 pushes out outer tube push seat 18122112. The other end of outer tube 18122116 has already pressed against the surface of the organism. The fixed inner tube 18122115 and the pushed outer tube 18122116 will form relative motion, pulling the inner tube 18122115 out of the organism tissue. At the same time as the inner tube 18122115 is pulled out, the delivery mechanism 18122107 will simultaneously push out particle chain 18122127. After the needle is removed, the severed particle chain 18122127 will remain at the lesion site and complete the implantation.

[0054] Example 4 like Figure 18-23As shown, the structure of this embodiment is the same as that of Embodiment 3, except that it can also achieve sterile isolation of the particle chain implantation and needle removal driving mechanism 30131202, the second core removal mechanism 30131204, and the first docking plate 30131203. It includes a third disinfection isolation cover 30131201, the particle chain implantation and needle removal driving mechanism 30131202, the first docking plate 30131203, and the second rotating arm mechanism 30131. 205, Second core-pulling mechanism 30131204, Motor A30131211, Synchronous pulley A30131215, Synchronous belt 30131212, Motor docking shaft A30131206, Synchronous pulley B30131213, Spring pin 30131207, Isolation plate A30131209, Motor docking shaft B30131208, Isolation plate B30131210, Motor B30131214.

[0055] The isolation process is as follows: A third disinfection isolation cover 30131201 is installed outside the second rotary arm mechanism 30131205 to wrap it. The particle chain implantation and needle removal drive mechanism 30131202 and the second core removal mechanism 30131204 are installed on the outside of the isolation bag through the third disinfection isolation cover 30131201. The isolation bag 3013201 is equipped with isolation plates A3013209 and B3013210 at the corresponding positions of the mechanism installation and is connected to the isolation bag 3013201. The motor A30131211 is connected to the synchronous pulley A30131215, and the power is output to the synchronous pulley B through the synchronous belt 30131212. 30131213, and through the motor docking shaft A inside the isolation plate A30131209, the power is output to the particle chain implantation and needle removal drive mechanism 30131202. The motor B30131214 outputs power to the particle chain implantation and needle removal drive mechanism 30131202 through the motor docking shaft B30131208 in the middle of the isolation plate B30131210. The electrical signals of the limit switches, sensors, chips and other electronic components inside the particle chain implantation and needle removal drive mechanism 30131202 are output through the spring pin 3013207. The first docking plate 30131203 is installed on the second rotating arm mechanism 30131205 through the third disinfection isolation cover 30131201.

[0056] Before the operation, bacteria and viruses may be present on the second rotating arm mechanism 30131205. The particle chain implantation and needle removal drive mechanism 30131202, the second core removal mechanism 30131204, and the first docking plate 30131203 need to be sterilized before the operation. Therefore, the machine needs to be isolated separately by the third sterilization isolation cover 30131201 before the sterile components are installed to ensure a sterile surgical environment.

[0057] Example 5 like Figure 24-25 As shown, the radioactive source feeding unit adopts a magazine feeding method. The radioactive source feeding unit is directly set in the push rod output channel. Particles or pre-made particle chains or particle chain sleeves are installed in the magazine's storage slots or storage holes. The particles or pre-made particle chains or particle chain sleeves are placed at the front end of the push rod for feeding through the magazine feeding mechanism installed on the magazine. When the magazine contains a particle chain sleeve, the radioactive source feeding unit also includes a particle embedding mechanism. The particle embedding mechanism enables the particles and / or spacers to be embedded into the particle chain sleeve from one end or side, thereby forming a complete particle chain.

[0058] It also includes a first motion platform (such as the rotary arm mechanism in this embodiment) and a connector. One end of multiple delivery conduits is mounted on the connector. One end of the push rod output channel is mounted on the first motion platform. The first motion platform is used to realize the relative movement between one end of the push rod output channel or one end of the mixed output channel and the connector in space, so that the push rod output channel or the mixed output channel is connected to any delivery conduit on the connector to form a delivery channel for particles or particle chains, thereby realizing multi-channel implantation.

[0059] The first motion platform is one of the following: A. The connector moves while one end of the push rod output channel remains stationary; B. The connector remains stationary while one end of the push rod output channel moves; C. The connector moves while one end of the push rod output channel moves.

[0060] In this embodiment, the first motion platform is also called the third rotary arm mechanism 2262202, the push rod output channel is the docking rod 2262210, the connecting part is stationary, and one end of the push rod output channel moves.

[0061] A magazine holder 2262201 is provided on one side of the third rotary arm mechanism 2262202, and a particle chain magazine 2262207 is provided inside the magazine holder 2262201. Limit switches A 2262206 and B 2262209 are respectively provided at both ends of the magazine holder 2262201. Multiple first particle chains 2262208 are provided inside the particle chain magazine 2262207. The first particle chain 2262208 is composed of multiple radioactive particles and spacers arranged in sequence.

[0062] Before implantation, different sizes of particle clips or particle chain clips 2262207 are selected according to the patient's needs. The third rotating arm mechanism 2262202 first controls the docking rod at the front end of the particle chain clip 2262207 to move to the position of the third docking hole 2262203 to be implanted. The other side of the third docking hole 2262203 is connected to the puncture needle tube 2262204. Then the third rotating arm mechanism 2262202 pushes out the docking rod 2262210 to make it cooperate with the third docking hole 2262203. The particle pusher 2262205 pushes out the particles or the first particle chain 2262208 from the particle magazine or particle chain magazine 2262207. The limit switches A 2262206 and B 2262209 inside the magazine holder 2262201 detect the current position of the particle pusher 2262205 and check whether it pushes out the particles or the first particle chain 2262208. The particles or the first particle chain 2262208 are pushed out and pass through the puncture needle 2262204 to the lesion site in the human body.

[0063] Example 6 like Figure 26-30 As shown, the radioactive source feeding unit adopts a particle chain feeding method. The radioactive source feeding unit includes a particle chain driving mechanism, a particle chain output channel, and a cutting mechanism. The particle chain driving mechanism continuously outputs particle chains or particle chain sleeves, and the cutting mechanism cuts the particle chains or particle chain sleeves to the target length to achieve the feeding of particle chains or particle chain sleeves. When the particle chain driving mechanism outputs particle chain sleeves, the radioactive source feeding unit also includes a particle embedding mechanism. The particle embedding mechanism enables particles and / or spacers to be embedded into the particle chain sleeve from one end or side, thereby forming a complete particle chain. The particle chain driving mechanism is connected to the particle chain output channel, which is a rigid structure or a flexible bendable structure. The cut particle chain is positioned in front of the push rod through a branched tube or motion platform docking.

[0064] The push rod output channel and the particle chain output channel converge into a single channel through a branch pipe. The first branch of the branch pipe is connected to the push rod output channel, the second branch of the branch pipe is connected to the particle chain output channel, the main pipe of the branch pipe is connected to the mixed output channel, and the mixed output channel is connected to the delivery conduit. The mixed output channel is a rigid structure or a flexible bendable structure.

[0065] When a particle or particle chain implantation device is needed, the particle chain of the target length, which has been cut, is delivered to the main channel of the branch tube through the particle chain drive mechanism. The particle chain drive mechanism then withdraws the uncut particle chain from the main channel of the branch tube. Subsequently, the push rod moves forward under the drive of the push rod drive mechanism and enters the main channel of the branch tube, pushing the particle chain of the target length forward together. The particle chain is pushed into the biological tissue along the delivery catheter and the puncture needle connected to the front end of the delivery catheter, thus completing the implantation of the particle chain in one go.

[0066] The branch tube can also be a multi-channel branch tube. The number of branches in a multi-channel branch tube is greater than 2, and it is equipped with multiple particle chain driving mechanisms that drive particle chains of different models or spacer lengths. The particle chain output channels of different particle chain driving mechanisms are connected to different branches of the branch tube, thereby converging different types of particle chains cut to the target length into the main channel. Different types of particle chains can be set according to surgical needs and implanted into biological tissues through push rods.

[0067] The cutting mechanism is located at any point in the particle chain output channel, the branch tube, or the mixing output channel.

[0068] The main pipe of the branch pipe is equipped with a one-way check mechanism to prevent the particle chain from flowing back in the opposite direction. The one-way check mechanism is a damping block or an elastic check element.

[0069] The cutting mechanism adopts one or more combinations of guillotine cutting mechanism, scissor cutting mechanism, and ring cutting mechanism. The guillotine cutting mechanism completes the cutting by moving a single blade, the scissor cutting mechanism completes the cutting by moving two blades simultaneously towards each other, and the ring cutting mechanism completes the cutting by moving at least three blades simultaneously towards the center point.

[0070] It also includes a power source for cutting off, which is connected to the cutting mechanism through a cutting transmission mechanism or directly connected to the cutting mechanism, thereby transmitting power to the cutting mechanism to complete the cutting action. The cutting transmission mechanism is one or more of a linkage mechanism, a lead screw and nut mechanism, a gear mechanism, a belt drive mechanism, and a cam mechanism. The power source for cutting off is one or more of a motor, a pneumatic push rod, a pneumatic motor, a hydraulic push rod, and a hydraulic motor.

[0071] In this embodiment, the fourth rotating arm mechanism 2026216 inserts the docking nozzle 2026215 into the hole on the needle plate to complete the docking with the implantation channel 2026213. The second particle chain 202621 is cut and sent into the docking nozzle 2026215 after being cut by the particle chain driving mechanism 202623, limit switch C2026212, limit switch D202627, limit switch E2026210 and the cutting mechanism 202622. The second flexible push rod 202624 moves forward through the flexible push rod driving mechanism 2026211, pushing the cut second particle chain 202621 forward together into the human body, thus completing the particle implantation in one go.

[0072] The cutting mechanism 202622 in this embodiment can also be placed at the docking nozzle (i.e., after the pipes converge). In this way, the second particle chain can be driven to the docking nozzle first, then cut off, and then withdrawn from the docking nozzle, and then the second flexible push rod can be used to push the second particle chain.

[0073] The bifurcation tube can be replaced by a docking motion platform. First, the output channel of the particle or particle chain is docked with the mixed output channel or delivery conduit, and the particle or particle chain is pushed into the mixed output channel or delivery conduit. Then, the push rod output channel is docked with the mixed output channel or delivery conduit, and the particle or particle chain is pushed forward until it is implanted into the biological tissue.

[0074] Particle chain implantation process: 1. The fourth rotary arm mechanism 2026216 operates (through the cooperation of a rotary component and two linear motion components) to insert the docking nozzle 2026215 into the corresponding connection hole of the implantation channel 2026213 for this implantation, thus completing the docking with the implantation channel 2026213.

[0075] Second: The second particle chain 202621 (a chain-like implant composed of particles and spacers) is delivered into the sub-channel of the delivery pipe 202625 via the particle chain drive mechanism 202623.

[0076] Three: After conveying to the specified length ( Figure 26 Afterwards, the cutting mechanism 202622 cuts off the material (limit switch C 2026212 marks the zero position, limit switch D 202627 determines whether the second particle chain is used up). The cutting blade 202622-2 is connected to the push rod 202622-3. When the push rod 202622-3 moves forward, it will drive the cutting blade 202622-2 forward to complete the cutting. The cutting blade 202622-2 is equipped with a guide post 202622-4 along the cutting direction to ensure that the cutting blade does not deviate from the cutting direction. Figure 29 ).

[0077] 4. The particle chain drive mechanism 202623 continues to drive the second particle chain 202621 forward. (Since the cutting process will compress and deform the second particle chain 202621, a guide port 202622-5 is provided at the cut to guide it, in order to ensure that the cut second particle chain 202621 can continue to move forward. See...) Figure 29 After the severed second particle chain 202621 enters the front end of the docking nozzle, it is retracted back into the particle chain winding wheel 202628 (the front end of the docking nozzle is equipped with damping to prevent the position of the severed second particle chain from shifting during the retraction of the second particle chain, see...). Figure 30 ).

[0078] Fifth: The second flexible push rod 202624 moves forward through the flexible push rod drive mechanism 2026211 (detected and recorded by the limit switch E2026210) and merges into the main pipe from the branch pipe of the delivery pipe 202625 (the main pipe and the docking nozzle are relatively fixed). Pushing the cut second particle chain 202621 forward together, it enters the human body to complete the particle implantation in one go. Then the second flexible push rod 202624 is retracted into the flexible push rod winding wheel 202629.

[0079] Six: The rotating arm mechanism will work again to insert the docking nozzle into the corresponding connection hole of the next implantation channel to be implanted, repeating the above implantation action until the implantation is completed. To save time, step one can be completed simultaneously during steps two to four.

[0080] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, alterations, deletions of some features, additions of features, or recombinations of features to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the innovative principles of the present invention shall still fall within the scope of the technical solutions of the present invention.

Claims

1. A multi-channel radiation source implantation system for disinfection and isolation, characterized in that: The device includes a connector, a motion platform, a radiation source implantation device, and a disinfection isolation shield. The radiation source implantation device is mounted on the motion platform through the disinfection isolation shield. The radiation source implantation device includes a radiation source, a first push rod, and a push rod output channel. The push rod output channel can be used to guide the first push rod to move back and forth. The first push rod pushes the radiation source to be output sequentially along the push rod output channel. The connector has multiple connection holes. One end of the connector and one end of the push rod output channel are respectively fixed to the two ends of the motion platform. The motion platform drives the connector and one end of the push rod output channel to move relative to each other in space, so that one end of the push rod output channel connects with one of the connection holes, thereby outputting the radiation source from the connection hole, realizing multi-channel implantation. The radiation source implantation device is connected to a first external power source via a first rotating docking shaft. The first rotating docking shaft and the first external power source are separated by an isolator to ensure that the sterile environment is isolated from the sterile environment. The radiation source implantation device also includes a first push rod driving mechanism. The first push rod driving mechanism is directly or indirectly connected to the first rotating docking shaft. The first rotating docking shaft transmits the rotational motion from the first external power source to the first push rod driving mechanism, and drives the first push rod to move back and forth along the push rod output channel through the first push rod driving mechanism. The first rotating docking shaft is connected to the second transmission part of the first external power source via a first transmission part. The first and second transmission parts are structures in which a transmission shaft mates with a transmission hole. The transmission shaft is one of the following: a straight shaft, a cross-shaped shaft, a square shaft, a hexagonal shaft, a polygonal shaft, a D-shaped shaft, a flat shaft, a splined shaft, or an irregularly shaped shaft. The shape of the transmission hole matches the shape of the transmission shaft. Alternatively, the first and second transmission parts adopt a friction disc structure and establish torque transmission through the friction between the friction disc structures. Or, the first and second transmission parts adopt a pin hole or pin groove structure with a pin shaft to achieve torque transmission. It also includes a first elastic element disposed in the first transmission part and / or the second transmission part, the first elastic element driving the first transmission part and the second transmission part to move toward each other to complete docking, the first elastic element being one or a combination of spring, elastic block, spring sheet, coil spring, and torsion spring. The isolation component and the disinfection isolation cover are connected as a continuous whole.

2. The multi-channel radiation source implantation system for disinfection and isolation according to claim 1, characterized in that: It also includes multiple first delivery catheters, the rear ends of which are respectively installed at the connection holes of the connector. The push rod output channel is connected to one of the first delivery catheters through the drive of the motion platform. The front end of the first delivery catheter is connected to a puncture needle or is provided with a quick connector for connecting to the puncture needle. The quick connector and the puncture needle are fixedly connected by one or more combinations of threads, locks, and adhesives. The first push rod pushes the radiation source along the push rod output channel, the first delivery catheter and the puncture needle inserted into the biological tissue to implant it into the biological tissue.

3. The multi-channel radiation source implantation system for disinfection and isolation according to claim 1, characterized in that: The connector is installed on the motion platform through a sterilization sealing cover. The array of connecting holes is distributed on the connector. The end of the connecting hole near the push rod output channel is provided with a centering cone surface. The centering cone surface is used to automatically guide and center when docking with one end of the push rod output channel.

4. The multi-channel radiation source implantation system for disinfection and isolation according to claim 1, characterized in that: The motion platform is driven in one of the following ways: The connector moves, while one end of the push rod output channel remains stationary; The connector is stationary, while one end of the push rod output channel moves. The connecting piece moves, and one end of the push rod output channel moves; The motion platform is used to realize relative movement of at least two degrees of freedom between the connector and one end of the push rod output channel, wherein the relative movement is one of the following: A. The connector is fixed, while one end of the push rod output channel moves back and forth in a linear motion and in a plane. B. The connector moves back and forth in a straight line, and one end of the push rod output channel moves in a plane. C. The connector moves within a plane, and one end of the push rod output channel moves back and forth in a straight line. D. The connector moves back and forth in a linear motion and in a plane, while one end of the push rod output channel remains fixed. The motion within a plane is one of the following: single-joint rotational motion, single-joint rotational motion combined with radial linear motion, double-joint rotational motion, or XY-axis linear motion. The motion platform includes a forward and backward motion module, a rotational motion module, and a radial motion module. The motion platform realizes the movement of one end of the push rod output channel in three degrees of freedom in space through rotational motion in one direction and linear motion in two directions. Alternatively, the motion platform may include a forward and backward motion module, a left and right motion module, and a up and down motion module. The motion platform achieves three degrees of freedom of movement for one end of the push rod output channel in space through linear motion in three directions. Alternatively, the motion platform may be a multi-joint robotic arm, which can drive one end of the push rod output channel to move and position freely in three-dimensional space.

5. The multi-channel radiation source implantation system for disinfection and isolation according to claim 1, characterized in that: The first transmission part is disposed on the first rotating docking shaft, or a coupling is rotatably disposed on the isolation component, the coupling passing through the disinfection isolation cover, and the first transmission part is disposed on the coupling; When the first transmission part is located at one end of the coupling, the other end of the coupling is provided with a third transmission part. The coupling is connected to a fourth transmission part of the first rotating docking shaft through the third transmission part. The third and fourth transmission parts adopt one of the following structures to achieve torque transmission: a transmission shaft and transmission hole fit, a friction disc, or a pin hole or pin groove and pin shaft. The coupling also includes a second elastic element located in the third and / or fourth transmission parts. The second elastic element pushes the third and fourth transmission parts to move towards each other to complete the docking. The second elastic element is one or a combination of a spring, an elastic block, a spring sheet, a coil spring, and a torsion spring. The disinfection isolation shield is made of plastic film.

6. A multi-channel radiation source implantation system for disinfection and isolation according to any one of claims 1-5, characterized in that: The push rod output channel is a rigid structure or a flexible structure that can be bent. The first push rod is a flexible push rod that can be bent. The flexible push rod is a flexible filament structure with elasticity. The material of the flexible push rod is one or more combinations of nickel-titanium alloy, spring steel, elastomer material, and composite material. The length of the flexible push rod is greater than 300mm.

7. The multi-channel radiation source implantation system for disinfection and isolation according to claim 1, characterized in that: The radioactive source implantation device includes a main body and a radioactive source feeding part. The first push rod driving mechanism is disposed on the main body. The push rod output channel is connected to the first push rod driving mechanism. The main body is connected to a first external power source through a first rotating docking shaft. The radioactive source feeding part is used to place a radioactive source at the front end of the first push rod. The first push rod can push the radioactive source all the way to the target position. The first push rod drive mechanism adopts a friction drive assembly. A part of the friction drive assembly is pressed against the first push rod, and the first push rod is driven by the friction force generated by the pressing. The friction drive assembly is one or more combinations of friction wheel, friction belt, and reciprocating clamping assembly. The push rod output channel is equipped with several limit switches. When the first push rod passes through a limit switch, a position signal is triggered. The main body is provided with a first conductive contact, and the position signal is transmitted to the controller outside the main body through the first conductive contact. The isolator is provided with a first conductive transmission part corresponding to the first conductive contact. The main body also includes a measuring wheel and a rotary encoder. The measuring wheel is directly connected to the rotary encoder or driven connection. The measuring wheel is in contact with the first push rod. When the first push rod moves back and forth, it will drive the measuring wheel to rotate. The displacement of the first push rod can be calculated by measuring the angular displacement of the measuring wheel through the rotary encoder. The main body is provided with a second conductive contact, and the rotary encoder is electrically connected to the controller outside the main body through the second conductive contact. The isolator is provided with a second conductive transmission part corresponding to the second conductive contact.

8. The multi-channel radiation source implantation system for disinfection and isolation according to claim 2, characterized in that: It also includes a needle removal drive mechanism and a needle removal accessory. The needle removal drive mechanism can drive the needle removal accessory to move. The needle removal accessory can be directly connected to an external puncture needle that has been inserted into biological tissue and can independently control the puncture needle to be pulled out of the biological tissue; or the needle removal accessory can be clamped to an external puncture needle that has been inserted into biological tissue and can independently control the puncture needle to be pulled out of the biological tissue. The needle removal drive mechanism is mounted on a motion platform through a disinfection isolation cover. The motion platform is equipped with a second external power source. The needle removal drive mechanism is equipped with a second rotating docking shaft. The second external power source establishes torque transmission with the second rotating docking shaft and drives the needle removal drive mechanism to move, thereby driving the needle removal accessories to realize the needle removal operation.

9. The multi-channel radiation source implantation system for disinfection and isolation according to claim 2, characterized in that: The first delivery catheter is equipped with a needle core, which extends along the first delivery catheter and fills the space inside the puncture needle connected to the front end of the first delivery catheter, preventing blood from flowing into the puncture needle and clotting to form a blockage; It also includes a core-pulling mechanism, which can dock with the tail of the needle core in the first delivery catheter and pull out the needle core from the first delivery catheter, thereby forming a hollow implantation channel. The core-removing mechanism is mounted on a motion platform through a disinfection isolation cover. The motion platform is equipped with a third external power source, and the core-removing mechanism is equipped with a third rotating docking shaft. The third external power source establishes torque transmission with the third rotating docking shaft and drives the core-removing mechanism to move, thereby realizing the core-removing operation.

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