A fully automatic preparation device for a nuclide applicator

Abstract

The invention provides a fully automatic preparation device for a nuclide applicator, belonging to the technical field of medical devices, comprising: a cutting platform; an X-Y plane moving system is equipped with a transfer grasping mechanism, a titration mechanism and a cutting mechanism, a consumables supply system comprises a filter paper supply mechanism, an upper film supply mechanism and a lower film supply mechanism, and a conveying mechanism comprises a first conveying roller group, a second conveying roller group and a third conveying roller group; a moving path of the filter paper between the first conveying roller group and the second conveying roller group is arranged correspondingly to a receiving position up and down; the upper film and the lower film are bonded after passing through the third conveying roller group and the filter paper is plastic-sealed between the upper film and the lower film; the beneficial effects of the invention are as follows: the device can realize full-process automated operation from cutting, transfer, dosing, drying, plastic sealing to final cutting, without the need for human operation, thereby greatly improving the efficiency of nuclide applicator preparation and reducing safety risks.

Description

Technical Field

[0001] The invention belongs to the technical field of medical devices and relates to a fully automatic preparation device for a nuclide applicator. Background Art

[0002] The radionuclide applicator is a medical applicator used to treat keloids. This applicator can be closely attached to the surface of the skin of the lesion, and uses the short-range beta rays emitted by the isotope for local shallow radiotherapy to achieve the purpose of destroying the lesion tissue. The radioactive isotopes currently used in clinical practice are mainly solid radioactive sources strontium-90 and liquid radioactive sources phosphorus-32. Among them, phosphorus-32 is a liquid isotope with a half-life of only 14 days. The production process of the phosphorus-32 radionuclide applicator is relatively cumbersome. The manual preparation process includes multiple steps such as rubbing cutting, area calculation, drug administration and drying, and plastic sealing. A complete preparation process requires the cooperation of multiple doctors, and the preparation efficiency is very low. At the same time, during the drug administration and plastic sealing stages, doctors are in direct contact with isotopes and have a high risk of radiation exposure. In addition, when manually preparing the applicator, it is common for the amount of radionuclide solution to be inaccurate due to inaccurate estimation of the filter paper area, resulting in poor treatment effect.

[0003] At present, there are some equipment specifically used to prepare radionuclide applicators. These devices can obtain the shape model of the patient's lesion area in advance, use laser technology to accurately cut the filter paper, and automatically add the liquid medicine to the cut filter paper through a titration device. Although this type of equipment can theoretically realize automatic cutting of the applicator and addition of liquid medicine, this type of equipment cannot fully automate the entire preparation process from cutting, transfer, dosing, drying, plastic sealing to final cutting. Therefore, these devices still have shortcomings in terms of the degree of automation, and medical staff are still required to participate in the process of applicator preparation. In particular, radionuclide applicators cannot be prepared continuously, and there is a large room for improvement in preparation efficiency. Summary of the invention

[0004] The purpose of the present invention is to address the above problems existing in the prior art and to provide a fully automatic preparation device for a nuclide applicator.

[0005] The object of the present invention can be achieved by the following technical scheme: A fully automatic preparation device for a nuclide applicator, comprising:

[0006] A cutting platform, wherein the cutting platform is configured as a translatable structure, and the travel positions of the cutting platform include a receiving position and a transfer position;

[0007] A titration platform, wherein a hot bed is arranged on the upper surface of the titration platform;

[0008] An XY plane moving system, wherein the XY plane moving system is equipped with a transfer and grabbing mechanism, a titration mechanism and a cutting mechanism, wherein the travel position of the transfer and grabbing mechanism includes a first transfer position and a second transfer position, wherein the first transfer position is arranged correspondingly to the transfer position, and the second transfer position is arranged correspondingly to the titration platform;

[0009] A consumables supply system, the consumables supply system comprising a filter paper supply mechanism, an upper film supply mechanism and a lower film supply mechanism, the filter paper supply mechanism, the upper film supply mechanism and the lower film supply mechanism are used to supply filter paper, an upper film and a lower film respectively;

[0010] A conveying mechanism, the conveying mechanism comprising a first conveying roller group, a second conveying roller group and a third conveying roller group, the first conveying roller group is close to the rear side of the receiving position, the second conveying roller group is close to the front side of the receiving position, and the third conveying roller group is close to the front side of the titration platform;

[0011] A cutter mechanism, wherein the cutter mechanism is arranged at the front side of the third conveying roller group;

[0012] The moving path of the filter paper is arranged to pass through the first conveying roller group and the second conveying roller group in sequence, and the moving path of the filter paper between the first conveying roller group and the second conveying roller group is arranged correspondingly above and below the receiving position;

[0013] The moving path of the lower film is arranged to pass through the rear edge of the titration platform and the third conveying roller group in sequence, and the moving path of the lower film between the rear edge of the titration platform and the third conveying roller group is arranged correspondingly above and below the hot bed;

[0014] The moving path of the upper film and the moving path of the lower film merge at the third conveying roller group, and the upper film and the lower film are bonded after passing through the third conveying roller group, and the filter paper is plastic-sealed between the upper film and the lower film.

[0015] Preferably, the filter paper supply mechanism includes a filter paper unwinder and a filter paper rewinder, the upper film supply mechanism includes an upper film unwinder and a first substrate layer rewinder, and the lower film supply mechanism includes a lower film unwinder and a second protective layer rewinder;

[0016] The filter paper is arranged on the filter paper unwinder, and the filter paper passes through the first conveying roller group and the second conveying roller group in sequence and is wound up to the filter paper winder, and the second conveying roller group drives the filter paper to move forward when it is running;

[0017] The upper film comprises a first substrate layer, a first adhesive layer and a first protective layer which are arranged in sequence, the upper film is arranged on the upper film unwinder, the first substrate layer is wound up to the first substrate layer winder, the first adhesive layer and the first protective layer are guided to the third conveying roller group, and the third conveying roller group drives the first adhesive layer and the first protective layer to move forward when running;

[0018] The lower film includes a second substrate layer, a second adhesive layer and a second protective layer which are arranged in sequence. The lower film is arranged on the lower film unwinder. The second protective layer is wound onto the second protective layer winder. The second adhesive layer and the second substrate layer pass through the rear edge of the titration platform and the third conveying roller group in sequence. When the third conveying roller group is in operation, it drives the second adhesive layer and the second substrate layer to move forward.

[0019] Preferably, the conveying mechanism also includes a first motor and a second motor, the second conveying roller group includes a second active roller and a second driven roller, a gap is reserved between the second active roller and the second driven roller, a second active gear is provided on the second active roller, a second driven gear is provided on the second driven roller, the second active gear is meshed with the second driven gear, the first motor is connected to the second active roller through a first transmission belt, the third conveying roller group includes a third active roller and a third driven roller, a gap is reserved between the third active roller and the third driven roller, a third active gear is provided on the third active roller, a third driven gear is provided on the third driven roller, the third active gear is meshed with the third driven gear, and the second motor is connected to the third active roller through a second transmission belt.

[0020] Preferably, the cutting platform includes a displacement drive element, a lifting drive element and a platform seat, the lifting drive element is connected to the displacement drive element, and the platform seat is connected to the lifting drive element, the displacement drive element can drive the platform seat to move to the receiving position or the transfer position, and the lifting drive element can drive the platform seat to rise and fall to the adsorption position or the separation position.

[0021] Preferably, the cutting platform also includes a first negative pressure generator, the top surface of the platform seat is provided with a plurality of first microholes, the first negative pressure generator is installed in the platform seat, and the top surface of the platform seat generates suction when the first negative pressure generator is in operation; or the cutting platform also includes a first electrostatic generator, the first electrostatic generator is installed in the platform seat, and the top surface of the platform seat generates an electrostatic field when the first electrostatic generator is in operation.

[0022] Preferably, two guide constraint blocks are provided at the rear edge of the titration platform, the two guide constraint blocks are arranged in parallel and a spacing consistent with the width of the lower membrane is reserved therebetween.

[0023] Preferably, the transfer and grasping mechanism includes a first Z-direction displacement element and a grasping seat, the first Z-direction displacement element is connected to the XY plane movement system, the grasping seat is connected to the first Z-direction displacement element, and a second negative pressure generator or a second electrostatic generator is arranged in the grasping seat.

[0024] Preferably, the titration mechanism comprises a second Z-direction displacement element and an automatic titrator, the second Z-direction displacement element is connected to the XY plane movement system, and the automatic titrator is connected to the second Z-direction displacement element.

[0025] Preferably, the cutting mechanism is configured as a laser cutter or an ultrasonic cutter or a rolling cutter or a drag cutter.

[0026] Preferably, a guide seat is installed on the rear side of the third conveying roller group, and the guide seat has an arc-shaped guide surface for guiding the upper film to move forward.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. This device can realize the full process automation from cutting, transfer, dosing, drying, plastic sealing to final cutting, without the need for human operation, which greatly improves the efficiency of radionuclide applicator preparation and reduces safety risks;

[0029] 2. The second conveying roller group can drive the filter paper to move forward, thereby continuously replenishing the filter paper; similarly, the movement of the third conveying roller group can drive the lower film and the upper film to move forward, thereby continuously replenishing the lower film and the upper film;

[0030] 3. After cutting, the filter paper is sucked by the upper surface of the platform seat, and then the lifting drive element drives the platform seat down to the separation position, thereby driving the filter paper to separate from the filter paper belt. This design can effectively grab the filter paper and separate it from the filter paper belt, ensuring the accuracy of subsequent transfer and grabbing, and greatly improving the success rate of automatic preparation;

[0031] 4. The cutting platform can absorb the filter paper through the negative pressure generated by the first negative pressure generator. The advantage of this design is that it can greatly improve the anti-interference ability during the transfer process. The negative pressure suction can firmly absorb the filter paper, avoiding position deviation caused by looseness or sliding during the transfer process, ensuring the precise position of the filter paper after cutting, facilitating subsequent transfer and processing, and improving the accuracy of the entire preparation process;

[0032] 5. The arc-shaped guide surface can ensure that the upper film maintains the correct direction and position during the transmission process to avoid deviation or distortion, and better guide the upper film and the lower film to fit together to avoid the two being skewed. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the structure of the fully automatic preparation device of the present invention.

[0034] Figure 2 It is a structural schematic diagram of the fully automatic preparation device of the present invention from another perspective.

[0035] Figure 3 Schematic diagram of the consumables path of the fully automatic preparation device of the present invention.

[0036] Figure 4 It is a schematic structural diagram of the conveying mechanism and cutting platform of the present invention.

[0037] Figure 5 It is a schematic diagram of the working principle of the third conveying roller group of the present invention.

[0038] Figure 6 It is a structural schematic diagram of the titration mechanism of the present invention.

[0039] Figure 7 It is a structural schematic diagram of the transfer and grasping mechanism of the present invention.

[0040] Figure 8 It is a schematic structural diagram of the cutting mechanism of the present invention.

[0041] Fig. 9 Schematic diagram of the structure of the applicator.

[0042] In the figure, 100, cutting platform; 110, shift drive element; 120, lifting drive element; 130, platform seat; 200, titration platform; 210, hot bed; 220, guide constraint block; 300, XY plane moving system; 400, transfer grabbing mechanism; 410, first Z-direction displacement element; 420, grabbing seat; 500, titration mechanism; 510, second Z-direction displacement element; 520, automatic titrator; 600, cutting mechanism; 710, filter paper supply mechanism; 711, filter paper unwinder; 712, filter paper rewinder; 720, upper film supply mechanism; 721, upper film unwinder; 72 2. First substrate layer winder; 730. Lower film supply mechanism; 731. Lower film unwinder; 732. Second protective layer winder; 810. First conveying roller group; 820. Second conveying roller group; 821. Second driving roller; 822. Second driving gear; 823. Second driven roller; 824. Second driven gear; 830. Third conveying roller group; 831. Third driving roller; 832. Third driving gear; 833. Third driven roller; 834. Third driven gear; 835. Guide seat; 836. Arc guide surface; 840. First motor; 850. Second motor; 900. Cutter mechanism. DETAILED DESCRIPTION

[0043] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0044] like Figures 1 to 9As shown, a fully automatic preparation device for a nuclide applicator includes: a cutting platform 100, the cutting platform 100 is configured as a translatable structure, and the travel position of the cutting platform 100 includes a receiving position and a transfer position; a titration platform 200, the upper surface of the titration platform 200 is provided with a hot bed 210; an XY plane moving system 300, the XY plane moving system 300 is equipped with a transfer grabbing mechanism 400, a titration mechanism 500 and a cutting mechanism 600, the travel position of the transfer grabbing mechanism 400 includes a first transfer position and a second transfer position, the first transfer position is arranged correspondingly to the transfer position up and down, and the second transfer position is arranged correspondingly to the titration platform 200 up and down; a consumables supply system, the consumables supply system includes a filter paper supply mechanism 710, an upper film supply mechanism 720 and a lower film supply mechanism 730, the filter paper supply mechanism 710, the upper film supply mechanism 720 and the lower film supply mechanism 730 are used to supply filter paper, an upper film and a lower film respectively; a conveying mechanism, the conveying mechanism includes a first conveying roller group 810, a second conveying roller group 811, a second conveying roller group 812 and a second conveying roller group 813. The conveying roller group 820 and the third conveying roller group 830, the first conveying roller group 810 is close to the rear side of the receiving position, the second conveying roller group 820 is close to the front side of the receiving position, and the third conveying roller group 830 is close to the front side of the titration platform 200; the cutting mechanism 900, the cutting mechanism 900 is arranged on the front side of the third conveying roller group 830; the moving path of the filter paper is arranged to pass through the first conveying roller group 810 and the second conveying roller group 820 in sequence, and the moving path of the filter paper is between the first conveying roller group 810 and the second conveying roller group 820 is arranged in correspondence with the receiving position up and down; the moving path of the lower film is arranged to pass through the rear edge of the titration platform 200 and the third conveying roller group 830 in sequence, and the moving path of the lower film between the rear edge of the titration platform 200 and the third conveying roller group 830 is arranged in correspondence with the hot bed 210 up and down; the moving path of the upper film and the moving path of the lower film converge at the third conveying roller group 830, and the upper and lower films are bonded after passing through the third conveying roller group 830, and the filter paper is plastic-sealed between the upper and lower films.

[0045] The cutting platform 100, the titration platform 200, the XY plane moving system 300, the consumables supply system, the conveying mechanism and the cutter mechanism 900 are all installed on the frame. Among them, the cutting platform 100 can move on the frame, and when the cutting platform 100 moves to the receiving position, it can receive the filter paper cut into a specific shape, and then drive the filter paper to the transfer position for the transfer and grabbing mechanism 400 to grab. The hot bed 210 on the titration platform 200 can heat the filter paper to which the phosphorus-32 solution is added, so as to dry the filter paper. The XY plane moving system 300 is preferably a CoreXY mechanism, and the XY plane moving system 300 can drive the transfer and grabbing mechanism 400, the titration mechanism 500 and the cutting mechanism 600 to move in the X-axis direction and the Y-axis direction. The transfer and grabbing mechanism 400 can move to the first transfer position to grab the filter paper on the transfer position, and then drive the filter paper to the second transfer position and release the filter paper. The filter paper is stuck to the lower membrane above the titration platform 200, so that the filter paper is automatically transferred from the cutting platform 100 to the titration platform 200. The titration mechanism 500 can drip the phosphorus-32 solution onto the filter paper, thereby realizing the step of automatic drug administration. The cutting mechanism 600 can cut the filter paper. In the cutting step, the XY plane moving system 300 moves according to the path data of the host computer, so as to automatically cut the filter paper of the corresponding shape on the filter paper. The consumables supply system is used to continuously provide the stored filter paper, upper membrane and lower membrane, so as to automatically provide the materials required for making the nuclide applicator. The conveying mechanism is used to convey the materials required for making the nuclide applicator, wherein the first conveying roller group 810 and the second conveying roller group 820 cooperate to convey the filter paper, so that the moving path of the filter paper passes above the receiving position, and the rear edge of the titration platform 200 and the third conveying roller group 830 cooperate to convey the lower film, so that the moving path of the lower film passes through the upper surface of the titration platform 200, and the upper film is guided into the third conveying roller group 830, so that the upper film and the lower film are attached together, and the filter paper sheet between the two is sealed to form an applicator. The cutting mechanism 900 can cut the product into the required length. The cutting mechanism 900 can use a laser cutter or an ultrasonic cutter or a roller or a drag knife or a paper cutter. In short, the cutting mechanism 900 can use any tool that can cut the applicator.

[0046] It should be noted here that the preparation steps of the applicator are actually to cut the filter paper into the required shape, then add phosphorus-32 solution and dry it, then seal the filter paper between the upper film and the lower film, and finally cut it into applicators.

[0047] The automatic preparation process of the applicator is as follows: the filter paper between the first conveyor roller group 810 and the second conveyor roller group 820 is located above the receiving position, the lower film between the rear edge of the titration platform 200 and the third conveyor roller group 830 is located on the upper surface of the titration platform 200, and the second adhesive layer (adhesive surface) of the lower film faces upward, the upper film enters the third conveyor roller group 830, and the first adhesive layer (adhesive surface) of the upper film faces downward, and the cutting platform 100 stays at the receiving position. During preparation, the XY plane moving system 300 drives the cutting mechanism 600 to move above the cutting platform 100 and move along the cutting track. The cutting mechanism 600 cuts on the filter paper to cut out a filter paper sheet. The filter paper sheet is grabbed by the cutting platform 100 and moved to the transfer position. The XY plane moving system 300 drives the transfer grabbing mechanism 400 to move to the first transfer position. The transfer grabbing mechanism 400 grabs the filter paper sheet on the cutting platform 100. Then the XY plane moving system 300 drives the transfer grabbing mechanism 400 to move to the second transfer position. The transfer grabbing mechanism 400 places the filter paper sheet on the second adhesive layer of the lower film. The XY plane moving system 300 drives the titration mechanism 500 to drop phosphorus-32 solution onto the filter paper sheet. The hot bed 210 heats and dries the filter paper sheet. Then the third conveying roller group 830 moves to seal the lower film, the filter paper sheet and the upper film together, and finally the film is cut by the cutting mechanism 900.

[0048] It should be noted here that the second conveying roller group 820 can drive the filter paper to move forward, thereby continuously replenishing the filter paper; similarly, the movement of the third conveying roller group 830 can drive the lower film and the upper film to move forward, thereby continuously replenishing the lower film and the upper film.

[0049] The device can realize the whole process automation from cutting, transferring, dosing, drying, plastic sealing to final cutting without the need for human operation, which greatly improves the efficiency of radionuclide applicator preparation and reduces safety risks.

[0050] like Figures 1 to 5 , Fig. 9As shown, on the basis of the above embodiment, the filter paper supply mechanism 710 includes a filter paper unwinder 711 and a filter paper rewinder 712, the upper film supply mechanism 720 includes an upper film unwinder 721 and a first substrate layer rewinder 722, and the lower film supply mechanism 730 includes a lower film unwinder 731 and a second protective layer rewinder 732; the filter paper is arranged on the filter paper unwinder 711, and the filter paper passes through the first conveying roller group 810 and the second conveying roller group 820 in sequence and is rewound to the filter paper rewinder 712, and the second conveying roller group 820 drives the filter paper to move forward when it is running; the upper film includes a first substrate layer, a first adhesive layer and a first protective layer arranged in sequence, and the upper film is provided with a plurality of filter paper unwinders 711, 712 ... The upper film unwinder 721 is placed, the first substrate layer is wound onto the first substrate layer winder 722, the first adhesive layer and the first protective layer are guided to the third conveying roller group 830, and the third conveying roller group 830 drives the first adhesive layer and the first protective layer to move forward when it is in operation; the lower film includes a second substrate layer, a second adhesive layer and a second protective layer arranged in sequence, the lower film is arranged on the lower film unwinder 731, the second protective layer is wound onto the second protective layer winder 732, the second adhesive layer and the second substrate layer pass through the rear edge of the titration platform 200 and the third conveying roller group 830 in sequence, and the third conveying roller group 830 drives the second adhesive layer and the second substrate layer to move forward when it is in operation.

[0051] The filter paper unwinder 711 is used to place the filter paper roll and provide the filter paper to be cut, and the filter paper rewinder 712 is used to rewind the used filter paper. The upper film unwinder 721 is used to place the upper film roll. When the upper film is in use, the first substrate layer needs to be peeled off to expose the first adhesive layer, so the first substrate layer is peeled off by the first substrate layer rewinder 722. The lower film unwinder 731 is used to place the lower film roll. When the lower film is in use, the second protective layer needs to be peeled off to expose the second adhesive layer, so the second protective layer is peeled off by the second protective layer rewinder 732. Preferably, the filter paper supply mechanism 710, the upper film supply mechanism 720 and the lower film supply mechanism 730 have the same structure and are all set to an integrated unwinding and rewinding structure. The unwinder is linked to the rewinder, and the rewinder is rewound while the unwinder is unwinding.

[0052] The upper film and the lower film are actually both medical waterproof patches, and their structures are basically the same. The prepared applicator is actually formed by stacking a first protective layer, a first adhesive layer, a filter paper sheet, a second adhesive layer and a second substrate layer in sequence, the first protective layer plays a waterproof role, and the second substrate layer is made of a polymer material and plays a supporting role.

[0053] On the basis of the above embodiment, the conveying mechanism further includes a first motor 840 and a second motor 850, the second conveying roller group 820 includes a second active roller 821 and a second driven roller 823, a gap is reserved between the second active roller 821 and the second driven roller 823, a second active gear 822 is provided on the second active roller 821, a second driven gear 824 is provided on the second driven roller 823, the second active gear 822 is meshed with the second driven gear 824, the first motor 840 is connected to the second active roller 821 through a first transmission belt, the third conveying roller group 830 includes a third active roller 831 and a third driven roller 833, a gap is reserved between the third active roller 831 and the third driven roller 833, a third active gear 832 is provided on the third active roller 831, a third driven gear 834 is provided on the third driven roller 833, the third active gear 832 is meshed with the third driven gear 834, and the second motor 850 is connected to the third active roller 831 through a second transmission belt.

[0054] The power for the filter paper to move comes from the second conveying roller set 820, and the power for the upper and lower films to move comes from the third conveying roller set 830. The second conveying roller set 820 and the third conveying roller set 830 have the same structure, and the two conveying roller sets can realize automatic conveyance of consumables according to the preparation steps.

[0055] like Figures 1 to 4 As shown, on the basis of the above embodiment, the cutting platform 100 includes a displacement driving element 110, a lifting driving element 120 and a platform seat 130. The lifting driving element 120 is connected to the displacement driving element 110, and the platform seat 130 is connected to the lifting driving element 120. The displacement driving element 110 can drive the platform seat 130 to move to a receiving position or a transfer position, and the lifting driving element 120 can drive the platform seat 130 to rise and fall to an adsorption position or a separation position.

[0056] The displacement driving element 110 is installed on the frame, and the displacement driving element 110 drives the platform seat 130 to move through the lifting driving element 120, so that the platform seat 130 switches between the receiving position and the transfer position. The lifting driving element 120 can drive the platform seat 130 to rise and fall, so that the platform seat 130 switches between the adsorption position and the separation position.

[0057] When the cutting mechanism 600 cuts the filter paper, the displacement driving element 110 drives the platform seat 130 to stay at the receiving position through the lifting driving element 120, and the lifting driving element 120 drives the platform seat 130 to rise to the adsorption position. At this time, the upper surface of the platform seat 130 is close to the filter paper or in contact with the filter paper. After cutting, the filter paper is sucked by the upper surface of the platform seat 130, and then the lifting driving element 120 drives the platform seat 130 to descend to the separation position, thereby driving the filter paper to separate from the filter paper belt, and then the displacement driving element 110 drives the platform seat 130 to move to the transfer position. This design can effectively grasp the filter paper and separate it from the filter paper belt, thereby ensuring the accuracy of subsequent transfer and grasping, and greatly improving the success rate of automatic preparation.

[0058] Preferably, when the cutting mechanism 600 uses laser cutting to cut, a certain gap can be reserved between the platform seat 130 and the filter paper belt to prevent the filter paper and the surface of the platform seat 130 from carbonizing and adhering due to the high temperature during cutting. Embodiment 1:

[0059] In this embodiment, the cutting platform 100 uses negative pressure to absorb the filter paper. The cutting platform 100 also includes a first negative pressure generator, and a plurality of first micropores are provided on the top surface of the platform seat 130. The first negative pressure generator is installed in the platform seat 130. When the first negative pressure generator is in operation, the top surface of the platform seat 130 generates suction.

[0060] The cutting platform 100 can absorb the filter paper by the negative pressure generated by the first negative pressure generator. The advantage of this design is that it can greatly improve the anti-interference ability during the transfer process. The negative pressure suction can firmly absorb the filter paper, avoid position deviation caused by looseness or sliding during the transfer process, ensure the precise position of the filter paper after cutting, facilitate subsequent transfer and processing, and improve the accuracy of the entire preparation process. In addition, through negative pressure adsorption, the filter paper can be firmly fixed on the platform seat 130, and when the platform seat 130 descends, the filter paper can be smoothly separated from the filter paper belt.

[0061] It should also be pointed out that when the cutting mechanism 600 uses laser cutting to cut, the wind generated by the cooling fan of the laser cutter may disturb the filter paper, and the thermal deformation and heat pressure generated when the laser cuts the filter paper may also cause the filter paper to move, all of which may interfere with the subsequent grasping success rate. Using negative pressure to suck the filter paper can minimize this interference. Embodiment 2:

[0062] In this embodiment, the cutting platform 100 absorbs the filter paper by electrostatic means. The cutting platform 100 also includes a first electrostatic generator installed in the platform seat 130. When the first electrostatic generator is in operation, the top surface of the platform seat 130 generates an electrostatic field.

[0063] When the high voltage generated by the first electrostatic generator is transmitted to the platform seat 130 through the electrode, the top surface of the platform seat 130 will be charged with static electricity. When the filter paper is close to the top surface of the platform seat 130, the surface of the filter paper will be charged with opposite charges due to electrostatic induction, thereby being attracted by the electrostatic field. Therefore, the electrostatic field can tightly adsorb the filter paper to the top surface of the platform seat 130, preventing the material from shifting during the cutting process, and ensuring the cutting accuracy and stability.

[0064] like Figure 4 As shown, based on the above embodiment, two guide constraint blocks 220 are arranged at the rear edge of the titration platform 200, and the two guide constraint blocks 220 are arranged in parallel with a spacing consistent with the width of the lower film reserved therebetween.

[0065] The guide constraint block 220 ensures that the lower film always maintains the correct direction and position during the transmission process, thereby playing a role in correcting the deviation.

[0066] like Figures 1 to 4 , Figure 7 As shown, based on the above embodiment, the transfer and grasping mechanism 400 includes a first Z-axis displacement element 410 and a grasping seat 420, the first Z-axis displacement element 410 is connected to the XY plane moving system 300, the grasping seat 420 is connected to the first Z-axis displacement element 410, and a second negative pressure generator or a second electrostatic generator is arranged in the grasping seat 420.

[0067] The XY plane moving system 300 is responsible for the movement of the grabbing seat 420 in the XY plane. The first Z-direction displacement element 410 can drive the grabbing seat 420 to move independently in the Z direction. The grabbing seat 420 can grab the filter paper through the suction generated by the second negative pressure generator or the electrostatic field generated by the second electrostatic generator.

[0068] like Figures 1 to 4 , Figure 6 As shown, based on the above embodiment, the titration mechanism 500 includes a second Z-direction displacement element 510 and an automatic titrator 520 . The second Z-direction displacement element 510 is connected to the XY plane movement system 300 , and the automatic titrator 520 is connected to the second Z-direction displacement element 510 .

[0069] The XY plane moving system 300 is responsible for the movement of the automatic titrator 520 in the XY plane. The second Z-direction displacement element 510 can drive the automatic titrator 520 to move independently in the Z direction. The automatic titrator 520 is a device for accurately dripping liquid medicine, which can accurately drip liquid medicine onto the filter paper according to preset parameters (such as titration amount, titration speed, etc.).

[0070] like Figure 2 , Figure 8 As shown, based on the above embodiment, the cutting mechanism 600 is configured as a laser cutter or an ultrasonic cutter or a roller cutter or a drag cutter.

[0071] The cutting mechanism 600 can be cut by laser cutting or mechanical cutting. When the cutting mechanism 600 is mechanically cut, the cutting mechanism 600 can be set as an ultrasonic cutter, a roller cutter or a drag cutter. Among them, the ultrasonic cutter is a cutter that uses ultrasonic energy to cut, and the roller cutter is a cutting tool with a rotating blade. The basic principle of the roller cutter is to drive the blade to rotate at high speed through a motor, and use centrifugal force and the sharpness of the blade to achieve material cutting. The working method of the drag cutter is to apply a certain pressure on the surface of the material through a robot arm, and move along a predetermined path at the same time, and use the sharpness of the tip of the knife to complete the cutting. In short, the cutting mechanism 600 can use any element that can cut the filter paper.

[0072] like Figures 1 to 5 As shown, based on the above embodiment, a guide seat 835 is installed at the rear side of the third conveying roller group 830, and the guide seat 835 has an arc-shaped guide surface 836 for guiding the upper film to move. The arc-shaped guide surface 836 can ensure that the upper film maintains the correct direction and position during the transmission process to avoid deviation or distortion, and better guide the upper film and the lower film to fit together to avoid the two being crooked.

[0073] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0074] In addition, in the present invention, the descriptions such as "first", "second", "one", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0075] In the present invention, unless otherwise clearly stipulated and limited, the terms "connected", "fixed", etc. should be understood in a broad sense. For example, "fixed" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly limited.

[0076] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

Claims

1. A fully automatic preparation device for a nuclide applicator, characterized in that: include: A cutting platform (100), wherein the cutting platform (100) is configured as a translatable structure, wherein the travel position of the cutting platform (100) comprises a receiving position and a transfer position, wherein the cutting platform (100) comprises a displacement drive element (110), a lifting drive element (120) and a platform seat (130), wherein the lifting drive element (120) is connected to the displacement drive element (110), and the platform seat (130) is connected to the lifting drive element (120), wherein the displacement drive element (110) can drive the platform seat (130) to move to the receiving position or the transfer position, and wherein the lifting drive element (120) can drive the platform seat (130) to be lifted or lowered to an adsorption position or a separation position; A titration platform (200), wherein a hot bed (210) is disposed on an upper surface of the titration platform (200); An XY plane moving system (300), wherein the XY plane moving system (300) is equipped with a transfer grabbing mechanism (400), a titration mechanism (500) and a cutting mechanism (600), wherein the travel position of the transfer grabbing mechanism (400) comprises a first transfer position and a second transfer position, wherein the first transfer position is arranged in correspondence with the transfer position, and the second transfer position is arranged in correspondence with the titration platform (200); A consumables supply system, the consumables supply system comprising a filter paper supply mechanism (710), an upper film supply mechanism (720) and a lower film supply mechanism (730), the filter paper supply mechanism (710), the upper film supply mechanism (720) and the lower film supply mechanism (730) being used to supply filter paper, an upper film and a lower film respectively; A conveying mechanism, the conveying mechanism comprising a first conveying roller group (810), a second conveying roller group (820) and a third conveying roller group (830), the first conveying roller group (810) being close to the rear side of the receiving position, the second conveying roller group (820) being close to the front side of the receiving position, and the third conveying roller group (830) being close to the front side of the titration platform (200); A cutter mechanism (900), wherein the cutter mechanism (900) is arranged on the front side of the third conveying roller group (830); The moving path of the filter paper is arranged to pass through the first conveying roller group (810) and the second conveying roller group (820) in sequence, and the part of the moving path of the filter paper between the first conveying roller group (810) and the second conveying roller group (820) is arranged correspondingly above and below the receiving position; The moving path of the lower film is arranged to pass through the rear edge of the titration platform (200) and the third conveying roller group (830) in sequence, and the moving path of the lower film is arranged above and below the hot bed (210) in a portion between the rear edge of the titration platform (200) and the third conveying roller group (830); The moving path of the upper film and the moving path of the lower film converge at the third conveying roller group (830), and the upper film and the lower film are bonded after passing through the third conveying roller group (830) and the filter paper is plastic-sealed between the upper film and the lower film.

2. The fully automatic preparation device of a nuclide applicator according to claim 1, characterized in that: The filter paper supply mechanism (710) comprises a filter paper unwinder (711) and a filter paper rewinder (712); the upper film supply mechanism (720) comprises an upper film unwinder (721) and a first substrate layer rewinder (722); and the lower film supply mechanism (730) comprises a lower film unwinder (731) and a second protective layer rewinder (732); The filter paper is arranged on the filter paper unwinder (711), the filter paper passes through the first conveying roller group (810) and the second conveying roller group (820) in sequence and is reeled into the filter paper reel (712), and the second conveying roller group (820) drives the filter paper to move forward when it is in operation; The upper film comprises a first substrate layer, a first adhesive layer and a first protective layer which are arranged in sequence, the upper film is arranged on the upper film unwinder (721), the first substrate layer is rolled up to the first substrate layer winder (722), the first adhesive layer and the first protective layer are guided to the third conveying roller group (830), and the third conveying roller group (830) drives the first adhesive layer and the first protective layer to move forward when it is in operation; The lower film includes a second substrate layer, a second adhesive layer and a second protective layer which are arranged in sequence. The lower film is arranged on the lower film unwinder (731). The second protective layer is wound onto the second protective layer winder (732). The second adhesive layer and the second substrate layer pass through the rear edge of the titration platform (200) and the third conveying roller group (830) in sequence. When the third conveying roller group (830) is in operation, it drives the second adhesive layer and the second substrate layer to move forward.

3. The fully automatic preparation device of a nuclide applicator according to claim 2, characterized in that: The conveying mechanism further comprises a first motor (840) and a second motor (850); the second conveying roller group (820) comprises a second active roller (821) and a second driven roller (823); a gap is reserved between the second active roller (821) and the second driven roller (823); a second active gear (822) is arranged on the second active roller (821); a second driven gear (824) is arranged on the second driven roller (823); the second active gear (822) meshes with the second driven gear (824); the first motor (840) is connected to the second driven roller (821) via a first transmission belt. The second active roller (821) is connected, the third conveying roller group (830) comprises a third active roller (831) and a third driven roller (833), a gap is reserved between the third active roller (831) and the third driven roller (833), the third active roller (831) is provided with a third active gear (832), the third driven roller (833) is provided with a third driven gear (834), the third active gear (832) is meshed with the third driven gear (834), and the second motor (850) is connected to the third active roller (831) through a second transmission belt.

4. The fully automatic preparation device of a nuclide applicator according to claim 1, characterized in that: The cutting platform (100) further comprises a first negative pressure generator, the top surface of the platform seat (130) is provided with a plurality of first micropores, the first negative pressure generator is installed in the platform seat (130), and when the first negative pressure generator is in operation, the top surface of the platform seat (130) generates suction; or the cutting platform (100) further comprises a first electrostatic generator, the first electrostatic generator is installed in the platform seat (130), and when the first electrostatic generator is in operation, the top surface of the platform seat (130) generates an electrostatic field.

5. The fully automatic preparation device of a nuclide applicator according to claim 1, characterized in that: Two guide constraint blocks (220) are arranged at the rear edge of the titration platform (200), and the two guide constraint blocks (220) are arranged in parallel with a spacing in between that is consistent with the width of the lower film.

6. The fully automatic preparation device of a nuclide applicator according to claim 1, characterized in that: The transfer and grasping mechanism (400) comprises a first Z-direction displacement element (410) and a grasping seat (420), wherein the first Z-direction displacement element (410) is connected to the XY plane moving system (300), and the grasping seat (420) is connected to the first Z-direction displacement element (410), and a second negative pressure generator or a second electrostatic generator is arranged in the grasping seat (420).

7. The fully automatic preparation device of a nuclide applicator according to claim 1, characterized in that: The titration mechanism (500) comprises a second Z-direction displacement element (510) and an automatic titrator (520), wherein the second Z-direction displacement element (510) is connected to the XY plane movement system (300), and the automatic titrator (520) is connected to the second Z-direction displacement element (510).

8. The fully automatic preparation device of a nuclide applicator according to claim 1, characterized in that: The cutting mechanism (600) is configured as a laser cutter or an ultrasonic cutter or a rolling cutter or a drag cutter.

9. The fully automatic preparation device of a nuclide applicator according to claim 2, characterized in that: A guide seat (835) is installed on the rear side of the third conveying roller group (830), and the guide seat (835) has an arc-shaped guide surface (836) for guiding the upper film to move forward.

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