Close-distance implanting system and implanting needle passage planning method

Abstract

The invention relates to a close-range implantation system and an implantation needle passage planning method.The close-range implantation system comprises CT equipment used for collecting a CT image and a treatment area and an implantation core unit area, the implantation core unit area constructs a body surface positioning contour through an infrared body surface collecting device, contour matching is conducted on the CT image and the body surface positioning contour through a computer, and the CT image and the body surface positioning contour are obtained; a needle inserting channel is planned for the treatment area, the infrared body surface collecting device projects the needle inserting channel to the body surface of the patient, and the actual needle inserting position of the needle inserting channel on the body surface of the patient is shown; the implanting structure receives a movement instruction, planned by the computer, of the implanting needle channel. The CT image collected by the CT equipment is matched with the body surface positioning contour through the computer, the treatment area of the CT equipment can be synchronized to the body surface positioning contour through contour matching, the computer plans the implanting needle passage and sends a movement instruction to the implanting structure, the implanting needle passage is positioned and guided through the implanting structure, and the implanting needle passage is positioned and guided through the implanting structure. Therefore, the planting position of the planting needle is more accurate, and repeated planting is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a close-range implantation system and an implantation needle tract planning method. Background Art

[0002] The treatment of tumors is mainly based on surgery, radiotherapy, and chemotherapy. Currently, the vast majority of malignant tumors are solid tumors that need to be observed inside the body through imaging methods, including common lung cancer, nasopharyngeal cancer, cervical cancer, breast cancer, gastric cancer, liver cancer, rectal cancer, pancreatic cancer, etc. The main imaging methods are CT, MRI, ultrasound, etc.

[0003] Brachytherapy is one of the methods of radiotherapy. Its technical characteristics are to place the radioactive source into the tumor through various methods, and choose to remove it or not after giving the prescribed dose. The most common method of not removing it is the particle implantation treatment method, which usually uses a needle to place iodine 131 into the tumor in a similar way to injection. In addition to iodine 131, some isotope radioactive sources with higher energy can also be used for brachytherapy, including cobalt 60 and iridium 129. Radioactive sources with higher energy cannot exist in the tumor for a long time. After being implanted for a period of time (usually several minutes) for treatment, the radioactive source needs to be removed.

[0004] There are usually two types of this treatment method. One is to use the afterloading treatment of natural cavities, such as cervical cancer, nasopharyngeal cancer, etc., which is called afterloading treatment; the other is to penetrate the human body for more personalized treatment adapted to the tumor, such as cervical cancer, lung cancer, liver cancer, etc., also known as implantation therapy. Implantation therapy can distribute the isotope source according to the shape of the tumor in an individualized manner, and by adjusting the residence time of each inserted "needle channel", the dose can be used to shape the tumor.

[0005] Implantation therapy requires planning the needle tract during CT acquisition so that the patient can undergo insertion of the implant needle under general anesthesia. However, needle tract planning is entirely based on the operator's experience and skills, and there is a risk of repeated insertions of the patient.

[0006] The TPS planning system calculates the isotope source residence time of each needle channel based on the needle channel after insertion to form a dose distribution area. Ideally, the operator inserts the implant needle perfectly according to the tumor location to form a better needle channel layout. If the operator has deviations in needle channel insertion and tolerates deviations, it will make it difficult to optimize the subsequent plan, and there is a situation where normal tissues are exposed to high doses in order to cover the treatment area.

[0007] The main implementation method of current implantation therapy is to collect images of the patient's treatment area through CT, and the operator plans the implantation needle track that can cover the treatment area based on experience and skills, and inserts the implantation needle under general anesthesia. However, since the implantation needle track planning is completely dependent on the operator's subjective experience and skills, and it is impossible to accurately find the needle insertion position when planning the needle track and inserting the needle on the patient's body surface, there is a risk that the treatment area cannot be accurately covered due to the dual reasons of inaccurate needle track planning and inaccurate needle placement by the operator, resulting in the risk of repeated implantation in the future. Summary of the invention

[0008] The purpose of the present invention is to solve the technical problem that the needle path planning in the prior art mainly relies on the experience and skills of the operator, and the acupuncture is inaccurate and cannot completely cover the treatment area, resulting in repeated implantation. A close-range implantation system is provided, which is provided with a core working unit to receive the image file required for treatment sent by the CT device, and can then use the infrared body surface acquisition device to collect the surface surface positioning contour and the detailed image of the CT device for position matching, and then the planned optimal needle path is positioned through the implantation structure, which can improve the accuracy of implantation positioning. The main conception is:

[0009] A close-range implantation system, comprising an implantation core unit area for data matching, wherein the implantation core unit area is used to receive a detailed image of a patient's body formed by a CT device scanning the patient layer by layer, wherein the detailed image formed by the CT device includes a CT image and a treatment area;

[0010] The implantation core unit area includes a computer, an infrared body surface acquisition device and an implantation structure;

[0011] The infrared body surface acquisition device is used to scan the whole body of the patient to construct a body surface positioning contour, and the infrared body surface acquisition device sends the scanned body surface positioning contour to the computer;

[0012] The computer receives the detailed image sent by the CT device, matches the CT image with the body surface positioning contour, synchronizes the treatment area to the body surface positioning contour, and plans the optimal needle insertion path in the spatial area according to the spatial area of ​​the treatment area in the body surface positioning contour;

[0013] The infrared body surface acquisition device is also used to project the implantation needle path onto the patient's body surface through a light source, and display the actual insertion position of the implantation needle path on the patient's body surface through the body surface positioning contour;

[0014] The implantation structure receives the movement instruction of the implantation needle path planned by the computer, and the implantation structure includes an implantation part, which positions the implantation needle.

[0015] This solution sends the patient's detailed image acquired by the CT device to the computer in the implant core unit area, and then scans the patient through an infrared body surface acquisition device to construct a body surface positioning contour, and matches the CT image of the patient's detailed image with the body surface positioning contour. When the CT image and the body surface positioning contour are matched, the treatment area of ​​the detailed image can also be synchronized to the implant core unit area through the body surface positioning contour, and the optimal implantation needle track is planned according to the spatial area formed on the body surface positioning contour synchronously with the treatment contour. The implantation needle track calculated through information matching can completely cover the treatment area, avoiding judgment errors caused by the operator's subjective experience and skills; sending movement instructions to the implantation structure, the implantation part of the implantation structure moves to each implantation needle position planned by the computer for positioning guidance, and the implantation is carried out through the positioning guidance of the implantation structure, which makes the implantation positioning of the implantation needle more accurate, avoiding repeated insertions caused by inaccurate implantation positions.

[0016] Preferably, the implantation needle track includes a plurality of implantation points, the number and distribution of the implantation points are determined according to the shape of the treatment area, the implantation needle track completely covers the treatment area, and the implantation points are marked by a computer.

[0017] The second aspect of the present invention aims to solve the technical problem of poor visualization in the prior art where the operator directly performs acupuncture according to the treatment area of ​​the CT device through experience and skills. Furthermore, the computer is connected to a display, and the display is used to display the treatment area and the insertion point of the insertion needle channel, and the insertion point is displayed with direction and depth. This solution displays the calculation and planning structure of the computer through the display, so that the operator can accurately perform the insertion according to the insertion position and insertion depth during the insertion process.

[0018] The third aspect of the present invention aims to solve the technical problem that it is difficult to achieve accurate needle insertion when the implantation part acts on a three-dimensional irregular treatment area. Furthermore, the implantation structure includes a robotic arm and an implantation part, the robotic arm is a multi-degree-of-freedom adjustment structure, the robotic arm is connected to the implantation part by transmission, and the implantation part includes a push-needle guide assembly, the push-needle guide assembly accommodates the implantation needle, and the push-needle guide assembly is used to guide the insertion process of the implantation needle. The push-needle guide assembly guides the movement of the implantation needle inserted into the treatment area, so that the implantation needle can be inserted stably, reducing the error of the needle insertion, and through the adjustment of the robotic arm, the needle insertion angle output by the push-needle guide assembly to the treatment area is controlled, and the implantation part can adapt to the needle insertion on the irregular surface of the treatment area, so that the implantation part can insert the needle vertically.

[0019] The fourth aspect of the present invention aims to solve the technical problem of inaccurate positioning of the insertion position of the implant needle. Furthermore, the implantation part also includes a positioning component installed on the push-pin guide component, the positioning component includes a laser generator and a laser guide, the laser emitter emits a laser beam to the laser guide, the laser guide is used to deflect the laser beam, and the laser guide outputs an incident laser, and the position where the incident laser intersects with the axis of the implant needle is the implantation point. This scheme installs the positioning component on the push-pin guide component, so that the positioning component can perform synchronous movement and synchronous angle adjustment with the push-pin guide component, and the incident laser intersects with the axis of the implant needle after deflection by the laser guide, and the intersection position coincides with the implantation point, so that when the incident laser acts on the implantation point, the laser distribution position can be used to locate the insertion position of the implant needle, thereby improving the accuracy of the insertion position.

[0020] Preferably, the laser guide includes a photoelectric deflection assembly and a ranging assembly. The photoelectric deflection assembly adjusts the angle of laser beam emission, and the ranging assembly measures the length of the incident laser. The length of the incident laser is adjusted by a mechanical arm. According to the values ​​recognized by the photoelectric deflection assembly and the ranging assembly, the intersection point of the incident laser and the implantation needle is calculated as the implantation point, so that the laser beam acts on the implantation point and can be inserted by the implantation needle.

[0021] Preferably, the implant core unit area also includes an ultrasonic probe, which generates an ultrasonic signal to radiate to the treatment area, and then receives an echo signal reflected from the treatment area, and obtains an image of the implant needle located inside the treatment area according to the echo signal. The ultrasonic signal is used to confirm whether the implant needle has been inserted to the planned position, and the direction and depth of the implant needle insertion are reviewed, and the latest position information of the implant needle is synchronized.

[0022] Preferably, the implant needle is connected to the isotope source stepper via a pipeline, and the isotope source stepper inputs the isotope into the treatment area via the implant needle.

[0023] Preferably, a TPS processing module is also included. The processing module is used to formulate a radiotherapy plan, use several algorithms to calculate the dose of the isotope source required to be absorbed by each implantation point, and formulate an isotope source residence time plan. The TPS processing module is used to design a reverse radiotherapy plan. The TPS processing module establishes a human dose model and repeatedly calls dose calculations, selects the best result obtained by calculation, and realizes precise radiotherapy.

[0024] Preferably, a method for planning a close-range needle tract comprises the following steps:

[0025] S1. The CT device collects detailed images of the patient through layer-by-layer scanning. The operator uses the CT device to outline the treatment area that needs treatment layer by layer on the detailed image;

[0026] S2, transmitting the DICOM format file of the detailed image outlining the treatment area to the implant core working unit, and the implant core working unit processes the image and information through a computer;

[0027] S3, scanning the patient through an infrared body surface acquisition device, sending the body surface positioning contour formed after the scan to a computer, and the computer matching the body surface positioning contour with the CT image contour, so that the body surface positioning contour is synchronized with the treatment area position;

[0028] S4. Based on the spatial area formed by the positioning contour of the treatment area on the body surface, the computer plans the optimal needle insertion path for the treatment area, and the needle insertion path is synchronized to the patient's body surface through an infrared body surface acquisition device.

[0029] The beneficial effects of the present invention are as follows: the computer performs contour matching on the CT image acquired by the CT device and the body surface positioning contour, and the treatment area of ​​the CT device can also be synchronized to the body surface positioning contour through contour matching; the computer plans the insertion needle path, and the insertion needle path calculated by information matching can completely cover the treatment area, avoiding misjudgment caused by the subjective experience and skills of the operator; the computer sends a motion instruction to the insertion structure, and the insertion part of the insertion structure moves to the insertion needle path for positioning guidance, so that the insertion position of the insertion needle is more accurate, avoiding repeated insertions caused by inaccurate insertion positions. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of the present invention.

[0031] Figure 2 It is a schematic diagram of the structure of the isotope source stepper of the present invention.

[0032] Figure 3 It is a structural schematic diagram of the implanting part of the present invention.

[0033] Figure 4 It is a schematic diagram of the implant needle channel structure of the present invention.

[0034] Figure 5 It is the work flow chart of the present invention.

[0035] The reference numerals include: 1. CT equipment; 2. computer; 3. infrared body surface acquisition device; 4. implantation structure; 5. implantation part; 51. guide assembly; 52. positioning assembly; 521. laser generator; 522. photoelectric deflection assembly; 6. implantation needle; 7. display; 8. robotic arm; 9. ultrasound probe; 10. isotope source stepper. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the embodiments more clear, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are only examples of devices and methods consistent with some aspects of the present disclosure as detailed in the attached claims.

[0037] It should be noted that all actions to obtain signals, information or data in this application are carried out in compliance with the relevant data protection laws and policies of the country where they are located, and with the authorization given by the owner of the corresponding device.

[0038] In the present disclosure, unless otherwise stated, the directional words used, such as "inside" and "outside", are defined according to the corresponding parts' own contours. The terms used in the present disclosure, such as "first" and "second", etc., are used to distinguish one element from another element and do not have order and importance.

[0039] Embodiment 1:

[0040] Basically as attached Figure 1 To Attachment Figure 2 As shown,

[0041] A close-range implantation system, comprising a CT device 1 and an implantation core unit area, wherein the implantation core unit area is used to receive a detailed image of a patient's body formed by the CT device 1 scanning the patient layer by layer, wherein the detailed image formed by the CT device 1 includes a CT image and a treatment area;

[0042] The implant core unit area includes a computer 2, an infrared body surface acquisition device 3 and an implant structure 4;

[0043] The infrared body surface acquisition device 3 is used to scan the whole body of the patient to construct a body surface positioning contour, and the infrared body surface acquisition device 3 sends the scanned body surface positioning contour to the computer 2;

[0044] Computer 2 receives the detailed image sent by CT device 1, performs contour matching between the CT image and the body surface positioning contour, synchronizes the treatment area to the body surface positioning contour, and plans the needle insertion path for the treatment area;

[0045] The infrared body surface acquisition device 3 is also used to project the implantation needle path onto the patient's body surface through a light source, and display the actual insertion position of the implantation needle path on the patient's body surface through the body surface positioning contour;

[0046] The implantation structure receives the movement instruction of the implantation needle track planned by the computer 2 . The implantation structure includes an implantation part 5 and an implantation needle 6 . The implantation part 5 positions the implantation needle 6 .

[0047] This solution is to send the detailed image of the patient acquired by the CT device 1 to the computer 2 in the core unit area of ​​the implantation, and then use the infrared body surface acquisition device 3 to scan the patient to construct a body surface positioning contour, and match the CT image of the patient's detailed image with the body surface positioning contour. When the CT image and the body surface positioning contour are matched, the treatment area of ​​the detailed image can also be synchronized to the core unit area of ​​the implantation through the body surface positioning contour, so that the computer 2 plans the implantation needle track, and the implantation needle track calculated after information matching can completely cover the treatment area, avoiding misjudgment caused by the subjective experience and skills of the operator; send movement instructions to the implantation structure, and the implantation part 5 of the implantation structure moves to each implantation needle position planned by the computer 2 for positioning guidance. The positioning guidance of the implantation structure makes the implantation positioning of the implantation needle 6 more accurate during implantation, avoiding repeated implantations caused by inaccurate insertion positions.

[0048] During use, the operator uses the CT device 1 to outline the scanned detailed image, and outlines the area that needs to be treated in the detailed image to form a treatment area. Since the detailed image is a three-dimensional image formed by scanning layer by layer by the CT device, the CT image is also an image with a contour shape composed of multiple layers of scanned images. When outlining the treatment area, the operator also needs to outline it layer by layer, so that the formed treatment area is also a three-dimensional structure.

[0049] Preferably, the detailed image of the CT device 1 is a file in DICOM format, and the file in DICOM format is transmitted to the implant core unit area. The DICOM format supports a high dynamic range of up to 16 bits, making the image details and contrast richer, and the DICOM format can ensure the compatibility and consistency of images and data between different devices when storing images in the medical field. When the DICOM format image formed by the CT device 1 is transmitted to the implant core unit area, the consistency of the image and data can also be guaranteed, avoiding the formation of data errors between different devices due to the scanning graphics and affecting the implantation.

[0050] The infrared body surface acquisition device 3 can match the scanned body surface positioning contour with the CT image. The body surface positioning contour acquires the image of the patient's body surface skin layer, and the infrared body surface acquisition device is arranged opposite to the operating table. When the infrared body surface acquisition device 3 can match the insertion needle channel that matches the patient's body surface positioning contour to the patient's body surface skin layer through the light source emission function, the actual insertion position of the insertion needle channel during insertion can be clearly seen during the acupuncture process.

[0051] Preferably, the implantation needle track includes a plurality of implantation points, the number and distribution of the implantation points are determined according to the shape of the treatment area, the implantation needle track completely covers the treatment area, and the implantation points are marked by a computer.

[0052] In this embodiment, the computer sends a signal and movement instruction of the planned needle track on the treatment area to the implantation structure, and a three-dimensional coordinate map of the outlined treatment area is constructed in the computer. The implantation sequence of each implantation point is calculated based on the optimal planned needle track.

[0053] The computer 2 of this embodiment is connected to the display 7, which is used to display the treatment area and the insertion point of the insertion needle channel, and the insertion point is displayed with the direction and depth. This solution displays the calculation and planning structure of the computer 2 through the display 7, so that the operator can accurately perform the insertion according to the insertion position and insertion depth during the insertion process.

[0054] Embodiment 2:

[0055] As shown in the figure, the implantation structure of this embodiment includes a mechanical arm 8 and an implantation part 5. The mechanical arm 8 is a multi-degree-of-freedom adjustment structure. The mechanical arm 8 is connected to the implantation part 5 by transmission. The implantation part 5 includes a push needle guide assembly 51. The push needle guide assembly 51 accommodates the implantation needle 6. The push needle guide assembly 51 is used to guide the insertion process of the implantation needle 6. The push needle guide assembly 51 guides the movement of the implantation needle 6 into the treatment area, so that the implantation needle 6 can be inserted stably, reducing the error of the needle insertion, and through the adjustment of the mechanical arm 8, the needle insertion angle output by the push needle guide assembly 51 to the treatment area is controlled, and the implantation part 5 can adapt to the needle insertion of the irregular surface on the treatment area, so that the implantation part 5 can be inserted vertically.

[0056] The push needle guide assembly 51 of this embodiment is provided with a guide part capable of accommodating the implantation needle 6, and the guide part is provided with a guide cavity, and the guide cavity is slidably matched with the implantation needle 6, and the implantation needle 6 is stably output to the implantation point along the guide cavity. In order to enable the implantation needle to push the top of the needle guide assembly 51, a push needle part is provided, and the push needle part can act on the top of the implantation needle in the guide cavity of the inserted guide part. The operator pushes the push needle part to act on the implantation needle 6, so that the implantation needle 6 is output to the implantation point along the guide assembly 51 for needle application.

[0057] The push rod of the needle pushing part can also be provided with scale lines, and the outer wall of the shell of the needle sleeve is provided with a transparent window along the axial direction, and the scale lines are provided on one side of the transparent window. The needle pushing part is used for the operator to apply a force on the needle pushing part so that the implant needle is output to the outside of the needle sleeve under the action of the needle pushing part, and is inserted into the patient's body under the action of the pushing force applied by the needle pushing part.

[0058] Embodiment 3:

[0059] As shown in the figure, the implantation part 5 of this embodiment also includes a positioning component 52 installed on the push needle guide component 51. The positioning component 52 includes a laser generator 521 and a laser guide. The laser emitter 521 emits a laser beam to the laser guide. The laser guide is used to deflect the laser beam. The laser guide outputs an incident laser. The position where the incident laser intersects with the axis of the implantation needle is the implantation point. This solution installs the positioning component 52 on the push needle guide component 51, so that the positioning component 52 can perform synchronous movement and synchronous angle adjustment with the push needle guide component 51. After deflection by the laser guide, the incident laser intersects with the axis of the implantation needle, and the intersection position coincides with the implantation point. When the incident laser acts on the implantation point, the laser distribution position can locate the insertion position of the implantation needle, thereby improving the accuracy of the insertion position.

[0060] The laser guide includes a photoelectric deflection component 522 and a ranging component. The photoelectric deflection component 522 adjusts the angle of the laser beam emission, and the ranging component measures the length of the incident laser. The length of the incident laser is adjusted by the mechanical arm 8. According to the values ​​recognized by the photoelectric deflection component 522 and the ranging component, the intersection point of the incident laser and the implantation needle is calculated as the implantation point, so that the laser beam acts on the implantation point and can be inserted by the implantation needle.

[0061] Embodiment 4:

[0062] The implant core unit area of ​​this embodiment also includes an ultrasonic probe 9, which generates an ultrasonic signal and radiates it to the treatment area. The ultrasonic probe 9 then receives the echo signal reflected from the treatment area, and obtains an image of the implant needle 6 located inside the treatment area based on the echo signal. The ultrasonic signal is used to confirm whether the implant needle is inserted to the planned position, and the insertion direction and depth of the implant needle 6 are reviewed, and the latest position information of the implant needle 6 is synchronized.

[0063] After confirming that the implantation needle 6 is accurately inserted into the implantation needle channel, the isotope source is injected into the patient.

[0064] The implantation needle 6 is connected to the isotope source stepper 10 through a pipeline, and the isotope source stepper 10 inputs isotopes into the treatment area through the implantation needle 6 .

[0065] This embodiment also includes a TPS processing module, which is used to formulate a radiotherapy plan, use several algorithms to calculate the dose of the isotope source required to be absorbed by each implantation point, and formulate an isotope source residence time plan. The TPS processing module is used to design a reverse radiotherapy plan. The TPS processing module establishes a human dose model and repeatedly calls dose calculations, selects the best result obtained by calculation, and realizes precise radiotherapy.

[0066] like Figure 5 As shown, the present invention provides a needle track planning method for a close-range implantation system, comprising the following steps:

[0067] S1, the CT device 1 collects detailed images of the patient by scanning layer by layer, and the operator uses the CT device 1 to outline the treatment area that needs treatment layer by layer on the detailed image;

[0068] S2, transmitting the DICOM format file of the detailed image outlining the treatment area to the implant core working unit, and the implant core working unit processes the image and information through computer 2;

[0069] S3, scanning the patient through the infrared body surface acquisition device 3, sending the body surface positioning contour formed after the scanning to the computer 2, and the computer 2 matching the body surface positioning contour with the CT image, so that the body surface positioning contour is synchronized with the position of the treatment area;

[0070] S4. According to the spatial area of ​​the contour of the treatment area positioned synchronously on the body surface, the computer 2 plans the optimal needle insertion path for the treatment area.

[0071] like Figure 5 As shown, further, the operation method of the implantation mechanism of the present invention comprises the following steps:

[0072] After the position of the treatment area is synchronized, the computer 2 transmits the position, direction and depth information of the optimal insertion needle channel to the insertion mechanism, and can control the mechanical arm 8 to move to the insertion point of the treatment area; the display 7 displays the insertion angle and insertion depth of each insertion point, and the insertion needle 6 is inserted according to the insertion structure on the mechanical arm 8. After positioning and guiding according to the insertion part 5, the operator performs the insertion;

[0073] After the implantation is completed, the implantation position of the implantation needle 6 is verified by the ultrasonic probe 9, and the latest position information of the implantation needle 6 is synchronized. The latest position information and prescription are calculated by the TPS system to make a radiotherapy plan.

[0074] The isotope source stepper 10 is connected to the implantation needle 6 to implement treatment.

[0075] The above is only an embodiment of the present invention, and the common knowledge such as the known specific structure and characteristics in the scheme is not described in detail here. It should be pointed out that for those skilled in the art, several deformations and improvements can be made without departing from the structure of the present invention, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A close-range implantation system, characterized in that: The implant core unit area includes a data matching area, wherein the implant core unit area is used to receive a detailed image of a patient's body formed by a CT device scanning the patient layer by layer, wherein the detailed image includes a CT image and a treatment area; The implantation core unit area includes a computer, an infrared body surface acquisition device and an implantation structure; The infrared body surface acquisition device is used to scan the whole body of the patient and construct a body surface positioning contour, and the infrared body surface acquisition device sends the constructed body surface positioning contour to the computer; The computer receives the detailed images sent by the CT device, matches the CT images with the body surface positioning contours, and synchronizes the treatment area to the body surface positioning contours. Based on the spatial area of ​​the treatment area on the body surface positioning contours, the computer plans the optimal insertion needle path in the spatial area. The infrared body surface acquisition device is also used to project the implantation needle path onto the patient's body surface through a light source, and display the actual insertion position of the implantation needle path on the patient's body surface through the body surface positioning contour; The implantation structure receives the movement instruction of the implantation needle path planned by the computer. The implantation structure comprises an implantation part and an implantation needle. The implantation part positions the implantation needle.

2. A close distance implantation system according to claim 1, characterized in that: The implantation needle track includes a plurality of implantation points. The number and distribution of the implantation points are determined by the shape of the treatment area. The implantation needle track completely covers the treatment area, and the implantation points are marked by a computer.

3. A close distance implantation system according to claim 1, characterized in that: The computer is connected to a display, and the display is used to display the treatment area and the insertion point of the insertion needle channel, and the insertion point is displayed with direction and depth.

4. The close-distance implantation system according to claim 1, characterized in that: The implantation structure includes a mechanical arm and an implantation part. The mechanical arm is a multi-degree-of-freedom adjustment structure. The mechanical arm is connected to the implantation part through transmission. The implantation part includes a push-pin guide assembly. The push-pin guide assembly accommodates the implantation needle. The push-pin guide assembly is used to guide the insertion process of the implantation needle.

5. A close distance implantation system according to claim 4, characterized in that: The implantation part also includes a positioning assembly installed on the push-pin guide assembly, the positioning assembly includes a laser generator and a laser guide, the laser emitter emits a laser beam to the laser guide, the laser guide is used to deflect the laser beam, and the laser guide outputs an incident laser. The position where the incident laser intersects with the axis of the implantation needle is the implantation point.

6. A close distance implantation system according to claim 5, characterized in that: The laser guide includes a photoelectric deflection component and a distance measuring component. The photoelectric deflection component adjusts the angle of laser beam emission, and the distance measuring component measures the length of the incident laser. The length of the incident laser is adjusted by a mechanical arm. According to the values ​​recognized by the photoelectric deflection component and the distance measuring component, the intersection point of the incident laser and the implantation needle is calculated as the implantation point, so that the laser beam acts on the implantation point and can be inserted by the implantation needle.

7. The close-distance implantation system according to claim 1, characterized in that: The implant core unit area also includes an ultrasonic probe, which generates an ultrasonic signal to radiate to the treatment area, and then receives an echo signal reflected from the treatment area, and obtains an image of the implant needle located inside the treatment area based on the echo signal.

8. The close-distance implantation system according to claim 1, characterized in that: The implant needle is connected to the isotope source stepper through a pipeline, and the isotope source stepper is used to input isotopes into the treatment area through the implant needle.

9. A close distance implantation system according to any one of claims 1 to 8, characterized in that: It also includes a TPS processing module, which is used to formulate a radiotherapy plan, use several algorithms to calculate the dose of the isotope source required to be absorbed by each implantation point, and formulate an isotope source residence time plan.

10. A method for planning an implantation needle track, implemented according to the close-range implantation system of claim 9, comprising the following steps: S1. The CT device collects detailed images of the patient through layer-by-layer scanning. The operator uses the CT device to outline the treatment area that needs treatment layer by layer on the detailed image; S2, transmitting the DICOM format file of the detailed image outlining the treatment area to the implant core working unit, and the implant core working unit processes the image and information through a computer; S3, scanning the patient through an infrared body surface acquisition device, sending the body surface positioning contour formed after the scan to a computer, and the computer matching the body surface positioning contour with the CT image contour, so that the body surface positioning contour is synchronized with the treatment area position; S4. According to the spatial area of ​​the positioning contour of the treatment area synchronously on the body surface, the computer plans the optimal needle insertion path for the treatment area, and the needle insertion path is synchronized to the patient's body surface through an infrared body surface acquisition device.

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