A puncture needle and an automated particle implantation system using the same

Abstract

The present invention discloses a puncture needle and an automated particle implantation system using the puncture needle. The automated particle implantation system includes a controller, an angle adjustment device, and a puncture needle assembly; wherein, the angle adjustment device is electrically connected to the controller, the puncture needle assembly is mounted on the angle adjustment device, and the puncture needle assembly includes a puncture needle; wherein, the controller is used to control the angle adjustment device to adjust the puncture angle of the puncture needle assembly, and the controller is also used to control the particle gun to pass through the diaphragm of the puncture needle and enter the puncture needle to implant radioactive particles, and when the particle gun withdraws, the diaphragm automatically seals the wide diameter section of the needle base, waiting for the particle gun to implant radioactive particles again. Through precise angle adjustment and special structural design of the puncture needle, the present invention realizes the precise positioning of the puncture needle assembly, significantly improving the efficiency and safety of the operation.

Description

Technical Field

[0001] The present invention relates to a puncture needle and also to an automated particle implantation system using the puncture needle, belonging to the technical field of medical devices. Background Art

[0002] Radioactive particle implantation therapy is an advanced medical technology widely used in the treatment of middle and late stage tumors such as lung cancer, prostate cancer, and liver cancer. This technology implants a radiation source (the core is a radioactive particle) into the tumor to destroy tumor cells using its radioactivity. Currently, the commonly used radioactive particle in clinical practice is iodine-125, which has a short half-life (59.6 days) and a limited ray penetration distance (1.7 cm), and can effectively kill tumor cells without damaging the surrounding normal tissues, thereby improving the local control rate and long-term treatment rate.

[0003] However, during radioactive particle implantation therapy, the existing puncture needles have the problem of negative pressure blood return. This phenomenon occurs during the puncture process. When a channel is formed among the human body, the puncture needle, and the outside world, negative pressure will cause blood to flow back, which may contaminate the implantor and there is a risk of pushing the particles out of the needle tube. This not only increases the complexity of the operation but also poses challenges to the safety and effectiveness of the operation. To overcome these difficulties and improve the accuracy and safety of the operation, a new type of surgical device needs to be developed. This device should be able to accurately puncture to the lesion area along the planned path under CT guidance, reducing the dependence on doctors' experience and operation. The traditional puncture surgical process is relatively cumbersome, including multiple steps such as imaging scanning, arranging grids, and pre-puncturing. Doctors need to enter and exit the operating room frequently, which undoubtedly increases the physical burden on doctors and patients. Therefore, a new type of surgical device that can simplify the surgical process and improve efficiency is crucial for enhancing the treatment effect and reducing the burden on doctors and patients. Summary of the Invention

[0004] The primary technical problem to be solved by the present invention is to provide a puncture needle.

[0005] Another technical problem to be solved by the present invention is to provide an automated particle implantation system using the puncture needle.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] According to the first aspect of the embodiments of the present invention, there is provided a puncture needle, comprising:

[0008] A needle seat having a hollow inner cavity, the hollow inner cavity including a wide-diameter section, a transition section, and a narrow-diameter section connected in sequence;

[0009] A needle tip disposed on the needle seat and passing through the narrow-diameter section of the hollow inner cavity;

[0010] Wherein, a diaphragm installation groove is formed on the inner wall of the wide-diameter section, and a diaphragm is arranged in the diaphragm installation groove for preventing the particles to be loaded from detaching from the puncture needle; and, a strip-shaped scratch for delivering particles is formed on the diaphragm.

[0011] Preferably, a limiting clamping jaw is arranged at one end of the transition section close to the narrow-diameter section, and the end surface diameter of the end of the limiting clamping jaw far from the needle tip is smaller than the diameter of the particles to be loaded, so as to prevent the particles to be loaded from detaching from the puncture needle.

[0012] According to a second aspect of the embodiments of the present invention, an automated particle implantation system is provided, including a controller, an angle adjustment device, and a puncture needle assembly;

[0013] The angle adjustment device is electrically connected to the controller, the puncture needle assembly is installed on the angle adjustment device, and the puncture needle assembly includes the above-mentioned puncture needle;

[0014] Wherein, the controller is used to control the angle adjustment device to adjust the puncture angle of the puncture needle assembly, the controller is further used to control the particle gun to pass through the diaphragm and enter the puncture needle to implant radioactive particles, and after the particle gun exits, the diaphragm seals the wide-diameter section of the needle seat, waiting for the particle gun to implant radioactive particles again.

[0015] Preferably, the angle adjustment device further includes:

[0016] An angle disk, on the surface of which an annular guide rail is arranged around the central axis of the angle disk, and an arc-shaped slider is slidably matched on the annular guide rail;

[0017] A linear slide rail is arranged on the arc-shaped slider, and the length direction of the linear slide rail passes through the central axis of the angle disk, and a linear slider is slidably matched on the linear slide rail;

[0018] A first rotating part is rotatably installed on the linear slider around a first direction, and the first direction is perpendicular to a preset plane formed by the length direction of the linear slide rail and the central axis of the angle disk;

[0019] A second rotating part is rotatably installed on the first rotating part around a second direction, and the second direction is always perpendicular to the first direction and is located in the preset plane; the puncture needle assembly is arranged on the second rotating part for implanting radioactive particles;

[0020] Among them, the sliding fit between the linear slide rail and the linear slider is used to adjust the puncture position of the puncture needle assembly; the sliding fit between the annular guide rail and the arc slider is used to adjust the first puncture angle of the puncture needle assembly; the rotational fit between the first rotating part and the linear slider is used to adjust the second puncture angle of the puncture needle assembly; the rotational fit between the second rotating part and the first rotating part is used to adjust the third puncture angle of the puncture needle assembly; the puncture position, the first puncture angle, the second puncture angle, and the third puncture angle of the puncture needle assembly jointly determine the positioning accuracy of the puncture needle assembly.

[0021] Preferably, the first rotating part further includes:

[0022] A fixed plate, fixed on the linear slider, and the length direction of the fixed plate is parallel to the central axis of the angle dial;

[0023] A movable plate, rotatably connected to the fixed plate around the first direction, and a plurality of connection holes are formed along the length direction on the movable plate;

[0024] A brace, the first end of the brace is fixedly connected to the fixed plate, and the second end is connected to any one of the connection holes to adjust the included angle between the fixed plate and the movable plate by replacing different connection holes.

[0025] Preferably, the second rotating part further includes:

[0026] An angle plate, arranged at one end of the movable plate away from the fixed plate, and the angle plate is perpendicular to the movable plate;

[0027] A rotary fixing part, rotatably installed on the angle plate around the second direction, for connecting with the puncture needle assembly.

[0028] Preferably, the angle dial has a first scale for indicating the first puncture angle of the puncture needle assembly;

[0029] At the connection hole, there is a second scale for indicating the second puncture angle of the puncture needle assembly;

[0030] The angle plate has a third scale for indicating the third puncture angle of the puncture needle assembly.

[0031] Preferably, the first rotating part further includes:

[0032] A fixed plate, fixed on the linear slider, and the length direction of the fixed plate is parallel to the central axis of the angle dial;

[0033] A movable plate, rotatably connected to the fixed plate around the first direction;

[0034] A telescopic diagonal brace, with the first end connected to the fixed plate and the second end connected to the movable plate;

[0035] Wherein, the telescopic diagonal brace can telescopically move along its length direction to drive the movable plate to rotate relative to the fixed plate around the first direction.

[0036] Preferably, the puncture needle assembly further includes:

[0037] A needle advancing and retracting module, installed on the rotary fixing part and rotating with the rotation of the rotary fixing part, for advancing or retracting the needle;

[0038] A clamping part, arranged on the needle advancing and retracting module, for clamping and fixing the puncture needle.

[0039] Preferably, the automated particle implantation system further includes a bracket, which is supported at the bottom of the angle disc and erected above the human body.

[0040] Compared with the prior art, the puncture needle provided by the present invention and the automated particle implantation system applying the puncture needle achieve precise positioning of the puncture needle assembly through precise angle adjustment and special structural design of the puncture needle, significantly improving the efficiency and safety of the operation. The system automatically adjusts the puncture angle through a controller, and uses the dual mechanisms of the diaphragm and the limit clamping jaws to effectively prevent the particles from being ejected under negative pressure, reducing the operation burden of the doctor and ensuring the stability of the operation process. In addition, the present invention is not limited to radioactive particle implantation treatment, but also has wide applicability and can serve in various puncture technical fields such as puncture biopsy, microwave ablation, radiofrequency ablation, cryoablation, etc. Brief Description of the Drawings

[0041] Figure 1 It is a schematic cross-sectional view of the puncture needle provided by the first embodiment of the present invention;

[0042] Figure 2 It is a schematic structural view of the diaphragm in the first embodiment of the present invention;

[0043] Figure 3A It is a schematic overall structural view of an automated particle implantation system provided by the second embodiment of the present invention;

[0044] Figure 3 It is a schematic structural view of the automated particle implantation system omitting the controller and the particle gun in the second embodiment of the present invention;

[0045] Figure 4 It is Figure 3 a top view of the shown structure;

[0046] Figure 5 It isFigure 3 Side view of the structure shown

[0047] Figure 6 Schematic diagram for adjusting the third puncture angle of the puncture needle assembly using the second rotating part

[0048] Figure 7 Schematic diagram of the structure of another automated particle implantation system provided by the second embodiment of the present invention Detailed implementation manners

[0049] The technical content of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments

[0050] An embodiment of the present invention provides a puncture needle and an automated particle implantation system using the puncture needle. The multi-angle adjustment of the puncture needle assembly is achieved through the sliding or rotating cooperation between components, thereby improving the positioning accuracy of the puncture needle assembly. In addition, through the special structural setting of the puncture needle, the particles to be loaded are prevented from detaching from the puncture needle, effectively preventing the particles from being ejected during the particle implantation process, and increasing the safety and reliability of the operation

[0051] First embodiment

[0052] As Figure 1 and Figure 2 shown, a puncture needle 83 provided by the first embodiment of the present invention includes a needle seat 831 and a needle tip 832. Among them, the needle seat 831 is made of medical PC material. The needle seat 831 has a hollow inner cavity 830, and the hollow inner cavity 830 includes a wide diameter section 801, a transition section 802, and a narrow diameter section 803 that are connected in sequence. The needle tip 832 is made of stainless steel material, is disposed on the needle seat 831, and penetrates through the narrow diameter section 803 of the hollow inner cavity

[0053] Specifically, in this embodiment, one end of the transition section 802 close to the narrow diameter section 803 (i.e., Figure 1 the right end of the narrow diameter section 803 in

[0054] In addition, in the above embodiments, preferably, a diaphragm mounting groove 8011 is provided on the inner wall of the wide-diameter section 801. A diaphragm 834 is provided in the diaphragm mounting groove 8011. Moreover, a strip-shaped scratch 8341 for delivering particles is provided on the diaphragm 834. It can be understood that the diaphragm 834 can further prevent the particles to be loaded from detaching from the puncture needle, thus cooperating with the limit jaw 833 to play a dual protection role, effectively preventing the negative pressure from ejecting the particles, while the needle core of the particle gun 20 can smoothly enter and exit to achieve particle delivery.

[0055] Second Embodiment

[0056] As Figure 3A shown, an automated particle implantation system provided by the second embodiment of the present invention includes a controller 100, an angle adjustment device 200, and a puncture needle assembly 8. Among them, the angle adjustment device 200 is electrically connected to the controller 100, and the puncture needle assembly 8 is installed on the angle adjustment device 200, and the puncture needle assembly 8 includes the puncture needle 83 in the above first embodiment. Specifically, the controller 100 is used to control the angle adjustment device 200 to adjust the puncture angle of the puncture needle assembly 8, and the controller 100 is also used to control the particle gun 20 to pass through the diaphragm 834 and enter the puncture needle to implant radioactive particles. And when the particle gun 20 withdraws, the diaphragm 834 automatically seals the wide-diameter section 801 of the needle seat 821 (without the doctor using a finger to block the open end of the needle seat 831), waiting for the particle gun 20 to implant radioactive particles again, so as to realize an automated particle implantation process.

[0057] In this embodiment, the controller 100 can be a PLC logic controller or a single-chip microcomputer, etc., which will not be specifically elaborated here.

[0058] As Figure 3 shown, in this embodiment, the angle adjustment device 200 includes an angle disk 1, an annular guide rail 2, an arc-shaped slider 3, a linear guide rail 4, a linear slider 5, a first rotating part 6, and a second rotating part 7. Among them, the annular guide rail 2 and the arc-shaped slider 3 that are slidably matched are installed on the surface of the angle disk 1 for adjusting the first puncture angle of the puncture needle assembly 8. The linear guide rail 4 and the linear slider 5 that are slidably matched are installed on the arc-shaped slider 3 for adjusting the puncture position of the puncture needle assembly 8. The first rotating part 6 is rotatably installed on the linear slider 5 for adjusting the second puncture angle of the puncture needle assembly 8. The second rotating part 7 is rotatably installed on the first rotating part 6 for adjusting the third puncture angle of the puncture needle assembly 8. Thus, by adjusting the puncture position, the first puncture angle, the second puncture angle, and the third puncture angle of the puncture needle assembly 8, precise positioning of the puncture needle assembly 8 is achieved.

[0059] Specifically, in this embodiment, the angle dial 1 is an annular plate (not specifically limited to this shape, and the specific shape structure can be adjusted according to needs in other embodiments). An annular guide rail 2 is provided on the surface of the angle dial 1 (i.e., the X-Y plane) around the central axis of the angle dial 1 (parallel to the Z direction), and an arc-shaped slider 3 is slidably fitted on the annular guide rail 2 to adjust the angle of the arc-shaped slider 3 on the annular guide rail 2. As Figure 4 shown, in this embodiment, since the puncture needle assembly 8 is connected to the arc-shaped slider 3 through multiple components, therefore, the first puncture angle of the puncture needle assembly 8 can be adjusted within the plane of the angle dial 1 by the sliding fit of the arc-shaped slider 3 and the annular guide rail 2 (as Figure 4 shown by the arc-shaped double-headed arrow in).

[0060] As Figure 3 shown, in this embodiment, a linear slide rail 4 is provided on the arc-shaped slider 3, and the length direction of the linear slide rail 4 passes through the central axis of the angle dial 1 (that is: the length direction of the linear slide rail 4 is the radial direction of the angle dial 1). Correspondingly, a linear slider 5 is slidably fitted on the linear slide rail 4, as Figure 4 shown, the linear slider 5 can reciprocally move along the linear slide rail 4 to adjust the position of the puncture needle assembly 8 in the radial direction of the angle dial 1 (as Figure 4 shown by the linear double-headed arrow in) to achieve the adjustment of the puncture position.

[0061] As Figure 3 shown, in this embodiment, a first rotating part 6 is rotatably mounted on the linear slider 5 around a first direction, and the first direction is perpendicular to a preset plane formed by the length direction of the linear slide rail 4 and the central axis of the angle dial 1. It can be understood that since the length direction of the linear slide rail 4 will change as the arc-shaped slider 3 slides on the annular guide rail 2, therefore, the angle between the first direction and the preset plane will also change accordingly, but the preset plane will always be perpendicular to the surface of the angle dial 1 and pass through the central axis of the angle dial 1. Correspondingly, the first direction will always be perpendicular to the preset plane. For example: in Figure 3 when the length direction of the linear slide rail 4 is parallel to the Y direction, then the preset plane is parallel to the Y-Z plane, and as the angle of the linear slide rail 4 continuously changes, the preset plane forms an angle of 0 to 180° with the Y-Z plane.

[0062] As Figure 3 and Figure 5As shown, in this embodiment, the first rotating part 6 includes a fixing plate 61, a movable plate 62, and a diagonal brace 63. Among them, the fixing plate 61 is a vertical plate, which is fixed on the linear slider 5, and the length direction of the fixing plate 61 is parallel to the central axis of the angle dial 1. The movable plate 2 is a horizontal plate, which is rotatably connected to the fixing plate 61 around the first direction, and a plurality of connection holes 621 are formed along the length direction of the movable plate 62. The diagonal brace 63 is obliquely arranged between the fixing plate 61 and the movable plate 62, and the first end of the diagonal brace 63 is fixedly connected to the fixing plate 61, and the second end of the diagonal brace 63 is connected to any one of the connection holes 621. It can be seen that when the second end of the diagonal brace 63 is connected to different connection holes 621, the included angle between the fixing plate 61 and the movable plate 62 is different, so that the movable plate 62 can be rotationally adjusted by replacing different connection holes 621 (as shown by the arc-shaped double-headed arrow in Figure 5 ), and then, within the preset plane, the second puncture angle of the puncture needle assembly 8 can be adjusted.

[0063] In addition, in another embodiment, the diagonal brace 63 of the first rotating part 6 can be set as a telescopic diagonal brace, and there is no need to form connection holes 621 on the movable plate 62 anymore. Specifically, the telescopic diagonal brace 63 is connected between the fixing plate 61 and the movable plate 62, and the telescopic diagonal brace 63 can telescopically move along its length direction, so as to drive the movable plate 62 to rotate relative to the fixing plate 61 around the first direction. It can be understood that after the diagonal brace 63 is set as a telescopic diagonal brace, the adjustable range of the movable plate 62 will be larger, and the adjustment of 0-180° can be realized within the preset plane.

[0064] As Figure 3 shown, in this embodiment, the second rotating part 7 is rotatably mounted on the first rotating part 6 around the second direction, and the second direction is always perpendicular to the first direction and is located within the preset plane. In this embodiment, the second direction is the length direction of the movable plate 62. It can be understood that as the movable plate 62 rotates relative to the fixing plate 61, the second direction will continuously adjust the angle within the preset plane, but the second direction will always be perpendicular to the first direction.

[0065] As Figure 6As shown in the figure, specifically, the second rotating part 7 includes an angle plate 71 and a rotating fixing part 72. Among them, the angle plate 71 is a semi-circular plate, which is arranged at one end of the movable plate 62 away from the fixed plate 61, and the angle plate 71 is perpendicular to the movable plate 62. The rotating fixing part 72 is rotatably mounted on the angle plate 71 around the second direction for connecting with the puncture needle assembly 8. In this embodiment, the rotation center of the rotating fixing part 72 is located at the center of the semi-circular plate, and the rotating fixing part 72 can rotate around the center of the semi-circular plate within 0 to 180° and be fixed at any angle, so as to adjust the third puncture angle of the puncture needle assembly 8 within the plane where the angle plate 71 is located. Among them, the specific structure of the rotating fixing part 72 is not described in detail here, and the adaptive structure can be selected according to needs. For example: through a rotating block cooperating with a positioning bolt, or through gear meshing, etc.

[0066] As Figure 3 and Figure 6 shown in the figure, in this embodiment, the puncture needle assembly 8 is arranged on the rotating fixing part 72 of the second rotating part 7 for implanting radioactive seeds. Specifically, the puncture needle assembly 8 includes a needle advancing and retracting module 81, a clamping part 82 and a puncture needle 83. Among them, the needle advancing and retracting module 81 is mounted on the rotating fixing part 72 and rotates with the rotation of the rotating fixing part 72, and is used for manually and evenly retracting the needle to implant radioactive seeds according to the implanting dose of radioactive seeds, ensuring that the distances between the implanted radioactive seeds are equal and maximizing the radiation dose. And, the needle advancing and retracting module 81 has scales, and the depth of needle advancement or retraction can be observed in real time to meet the accuracy of internal radiotherapy. The clamping part 82 is arranged on the needle advancing and retracting module 81 for clamping and fixing the puncture needle 83. The puncture needle 83 is mounted on the clamping part 82 for implanting radioactive seeds. Among them, the puncture needle 83 is the puncture needle in the above-mentioned first embodiment and will not be elaborated here.

[0067] In addition, in the above-mentioned embodiment, preferably, the angle disk 1 has a first scale, and the first scale is 0 to 360°, which is used to indicate the first puncture angle of the puncture needle assembly 8. The connection hole 621 has a second scale, and the second scale is 0 to 90°, which is used to indicate the second puncture angle of the puncture needle assembly 8. The angle plate 62 has a third scale, and the third scale is 0 to 180°, which is used to indicate the third puncture angle of the puncture needle assembly 8.

[0068] In the above-mentioned embodiment, preferably, the automatic particle implantation system further includes a guard plate 9. The top of the guard plate 9 is recessed inward to form a recess 91, and the angle disk 1 is supported on the top of the guard plate 9 and is located above the recess 91. In this embodiment, by using the recess 91 of the guard plate 9, the patient can lie flat on the guard plate 9, and thus by adjusting the puncture angle of the puncture mechanism, any part of the tumor can reach the puncture point.

[0069] As Figure 7 shown, in the above embodiment, preferably, the automated particle implantation system further includes a bracket 30, which is supported at the bottom of the angle disk 1 and is used to be erected above the human body. It can be understood that when particle implantation is required, after the patient lies down, the bracket 30 can be directly erected above the human body and fixed. After the puncture is completed, the bracket 30 can be removed, which can adapt to different types of hospital beds and is very convenient to use. In addition, more preferably, the bracket 30 can be adjusted in height (the specific lifting structure is not specifically limited here and can be adaptively selected according to needs), so as to be able to adaptively adjust the height according to the body types of different patients to ensure the particle puncture effect.

[0070] In addition, it can be understood that the automated particle implantation system in the embodiment of the present invention can not only be applied to the field of radioactive particle implantation treatment, but also serve in various puncture technology fields such as puncture biopsy, microwave ablation, radiofrequency ablation, and cryoablation.

[0071] Compared with the prior art, the puncture needle and the automated particle implantation system using the puncture needle provided by the present invention achieve precise positioning of the puncture needle assembly through precise angle adjustment and special structural design of the puncture needle, significantly improving the efficiency and safety of the operation. The system automatically adjusts the puncture angle through the controller, and uses the dual mechanisms of the diaphragm and the limit claw to effectively prevent the particles from being ejected under negative pressure, reducing the operation burden of the doctor and ensuring the stability of the operation process.

[0072] It should be noted that the above-mentioned multiple embodiments are only examples. The technical solutions of each embodiment can be combined and are all within the protection scope of the present invention.

[0073] It should be understood that the orientation or positional relationship indicated by terms such as "depth", "upper", "lower", "horizontal", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0074] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined. The above provides a detailed description of the puncture needle and the automated particle implantation system using the puncture needle provided by the present invention. For those of ordinary skill in the art, any obvious modification made without departing from the essence of the present invention will constitute an infringement of the patent right of the present invention and will bear corresponding legal responsibilities.

Claims

1. An automated particle implantation system, characterized in that It includes a controller, an angle adjustment device and a puncture needle assembly; The angle adjustment device is electrically connected to the controller, the puncture needle assembly is mounted on the angle adjustment device, and the puncture needle assembly includes a puncture needle; the puncture needle includes a needle seat, which has a hollow inner cavity, and the hollow inner cavity includes a wide diameter section, a transition section and a narrow diameter section connected in sequence; a needle head is arranged on the needle seat and penetrates the narrow diameter section of the hollow inner cavity; wherein a diaphragm mounting groove is provided on the inner wall of the wide diameter section, and a diaphragm is provided in the diaphragm mounting groove for preventing the particles to be loaded from detaching from the puncture needle; and a strip-shaped scratch for delivering particles is provided on the diaphragm; The controller is used to control the angle adjustment device to adjust the puncture angle of the puncture needle assembly, and the controller is also used to control the particle gun to pass through the diaphragm into the puncture needle to implant radioactive particles, and after the particle gun is withdrawn, the diaphragm blocks the wide diameter section of the needle seat, waiting for the particle gun to implant radioactive particles again; The angle adjustment device also includes: An angle plate, the surface of which is provided with an annular guide rail around the central axis of the angle plate, and an arc-shaped slider is slidably matched on the annular guide rail; A linear slide rail is arranged on the arc-shaped slider, and the length direction of the linear slide rail passes through the central axis of the angle plate, and the linear slide rail is slidably matched with the linear slide rail; A first rotating portion is rotatably mounted on the linear slide block around a first direction, wherein the first direction is perpendicular to a preset plane formed by a length direction of the linear slide rail and a central axis of the angle plate; A second rotating part is rotatably mounted on the first rotating part around a second direction, the second direction is always perpendicular to the first direction and is located in the preset plane; the puncture needle assembly is arranged on the second rotating part and is used for implanting radioactive particles; Among them, the sliding cooperation between the linear slide rail and the linear slider is used to adjust the puncture position of the puncture needle assembly; the sliding cooperation between the annular guide rail and the arc-shaped slider is used to adjust the first puncture angle of the puncture needle assembly; the rotational cooperation between the first rotating part and the linear slider is used to adjust the second puncture angle of the puncture needle assembly; the rotational cooperation between the second rotating part and the first rotating part is used to adjust the third puncture angle of the puncture needle assembly; the puncture position, the first puncture angle, the second puncture angle and the third puncture angle of the puncture needle assembly jointly determine the positioning accuracy of the puncture needle assembly.

2. The automated particle implantation system of claim 1, wherein: A limiting clamp is provided at one end of the transition section close to the narrow diameter section, and the end surface diameter of the limiting clamp at one end away from the needle head is smaller than the diameter of the particles to be loaded, so as to prevent the particles to be loaded from escaping from the puncture needle.

3. The automated particle implantation system of claim 1, wherein The first rotating part further includes: A fixed plate, fixed on the linear slider, and the length direction of the fixed plate is parallel to the central axis of the angle plate; A movable plate is rotatably connected to the fixed plate around the first direction, and a plurality of connecting holes are formed on the movable plate along the length direction; The diagonal brace has a first end fixedly connected to the fixed plate and a second end connected to any of the connecting holes, so that the angle between the fixed plate and the movable plate can be adjusted by replacing different connecting holes.

4. The automated particle implantation system of claim 3, wherein The second rotating part further includes: An angle plate, arranged at one end of the movable plate away from the fixed plate, and the angle plate and the movable plate are perpendicular to each other; The rotation fixing part is rotatably mounted on the angle plate around the second direction and is used for connecting with the puncture needle assembly.

5. The automated particle implantation system of claim 4, wherein: The angle disk has a first scale for indicating a first puncture angle of the puncture needle assembly; The connecting hole is provided with a second scale for indicating a second puncture angle of the puncture needle assembly; The angle plate has a third scale for indicating a third puncture angle of the puncture needle assembly.

6. The automated particle implantation system of claim 1, wherein The first rotating part further includes: A fixed plate, fixed on the linear slider, and the length direction of the fixed plate is parallel to the central axis of the angle plate; a movable plate, rotatably connected to the fixed plate about the first direction; A telescopic diagonal brace, a first end of which is connected to the fixed plate, and a second end of which is connected to the movable plate; The telescopic diagonal brace can be telescopically moved along its length direction to drive the movable plate to rotate relative to the fixed plate around the first direction.

7. The automated particle implantation system of claim 4, wherein The puncture needle assembly also includes: The needle advancing and withdrawing module is installed on the rotating fixed part and rotates with the rotation of the rotating fixed part, and is used for needle advancing or withdrawing; The clamping part is arranged on the needle advancing and retracting module and is used for clamping and fixing the puncture needle.

8. The automated particle implantation system of claim 1, wherein Also includes a stand; The bracket is supported on the bottom of the angle plate and is erected above the human body.

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