A close-range implant system and implant needle path planning method

Abstract

The present application relates to a kind of close-range implantation system and implantation needle path planning method, including CT device for collecting CT image and treatment area and implantation core unit area, body surface positioning contour is constructed by infrared body surface acquisition device, CT image is matched with body surface positioning contour by computer, implantation needle path is planned to treatment area, and infrared body surface acquisition device is projected to patient body surface, and the actual needle entry position of implantation needle path on patient body surface is shown;Implantation structure receives the motion instruction of implantation needle path planned by computer.The present application is matched with body surface positioning contour by computer to the CT image of CT device, and the treatment area of CT device can also be matched with body surface positioning contour simultaneously, computer plans implantation needle path and sends motion instruction to implantation structure, and implantation needle path is positioned and guided by implantation structure, so that the implantation position of implantation needle is more accurate, and repeated multiple implantation can be avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a brachytherapy implant system and an implant needle path planning method. BACKGROUND

[0002] The treatment of tumors is mainly based on surgery, radiotherapy and chemotherapy. At present, most malignant tumors are solid tumors, which need to be observed by imaging methods inside the body, including common lung cancer, nasopharyngeal carcinoma, cervical cancer, breast cancer, gastric cancer, liver cancer, rectal cancer, pancreatic cancer, etc. Imaging methods mainly include CT, MRI, ultrasound, etc.

[0003] Brachytherapy is one of the means of radiotherapy. The technical feature is to put the radioactive source into the tumor through various methods, and to give the prescribed dose and then choose to take it out or not. The method of not taking it out is commonly known as particle implantation treatment, which usually puts iodine-131 into the tumor through a needle path similar to injection. In addition to iodine-131, some isotopes 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 a period of treatment (usually several minutes), the radioactive source needs to be taken out.

[0004] This treatment method usually has two types. One is the afterloading treatment using natural cavities, such as cervical cancer and nasopharyngeal carcinoma, which is called afterloading treatment. The other is the more individualized treatment of tumors through the human body, such as cervical cancer, lung cancer and liver cancer, which is also called implantation treatment. Implantation treatment can individualize the distribution of isotopes according to the shape of the tumor, and adjust the residence time of each inserted "needle path" to achieve the effect of shaping the dose to the tumor.

[0005] Implantation treatment requires planning of the needle path during CT acquisition, so that the patient can be inserted with the implantation needle under general anesthesia. However, the needle path planning is completely based on the experience and skills of the operator, and there is a risk of repeated insertion of the implantation needle for the patient.

[0006] The TPS planning system calculates the residence time of the isotope source for each needle path after implantation, forming a region of dose distribution. Ideally, the operator inserts the implantation needle according to the tumor position, and forms a good needle path layout. If the operator has a deviation in the implantation of the needle path, and tolerates the deviation, it will lead to difficulties in later planning optimization, and normal tissues may be subjected to high doses in order to cover the treatment area.

[0007] The main implementation of the current implantation treatment is to collect the image of the treatment area of the patient by CT, and the operator plans the implantation needle path that can cover the treatment area by experience skill, and inserts the implantation needle under the condition that the patient is in general anesthesia. However, since the implantation needle path planning is completely based on the subjective experience skill of the operator, and the needle insertion position cannot be accurately found when the needle path is planned and inserted into the patient's body surface, there is a risk that the treatment area cannot be accurately covered due to the double reasons of inaccurate needle path planning and inaccurate needle insertion by the operator, which leads to the need for repeated implantation. SUMMARY

[0008] The purpose of the present application is to solve the technical problem that the existing needle path planning mainly relies on the experience skill of the operator, the needle insertion is inaccurate and cannot completely cover the treatment area, resulting in repeated implantation. A close-range implantation system is provided, which receives the image file to be treated sent by the CT device through the core working unit, and can match the position of the detailed image of the CT device with the external body surface positioning contour collected by the infrared body surface collection device. After the optimal needle path is planned, the implantation structure is positioned, which can improve the accuracy of implantation positioning, and the main idea is:

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

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

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

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

[0013] The infrared body surface collection device is also used for implanting the needle path through the light source to the patient's body surface, and displaying the actual needle 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 motion instruction of the implantation needle path planned by the computer, and the implantation structure includes an implantation part for positioning the implantation needle.

[0015] The scheme sends the detailed image of the patient collected by the CT device to the computer in the implanting core unit area, constructs the body surface positioning contour by scanning the patient through the infrared body surface acquisition device, matches the CT image of the detailed image with the body surface positioning contour, and when the CT image and the body surface positioning contour are matched in position, the treatment area of the detailed image can also be synchronized to the implanting core unit area through the body surface positioning contour, the optimal implanting needle path is planned according to the space area formed on the body surface positioning contour by treatment contour synchronization, the implanting needle path calculated through information matching can completely cover the treatment area, and the determination error caused by the subjective experience skill of the operator is avoided; the motion instruction is sent to the implanting structure, the implanting part of the implanting structure is moved to each implanting needle position planned by the computer for positioning and guiding, the implanting positioning of the implanting needle is more accurate through the positioning and guiding of the implanting structure during implanting, and repeated implanting caused by inaccurate implanting position is avoided.

[0016] Preferably, the implanting needle path comprises a plurality of implanting point positions, the number and distribution of the implanting point positions are confirmed according to the shape of the treatment area, the implanting needle path completely covers the treatment area, and the implanting point positions are marked by the computer.

[0017] The second aspect of the application aims to solve the technical problem that the operator directly implants the needle according to the treatment area of the CT device by experience skill, and the visualization degree is poor. Further, the computer is connected with a display, and the display is used for displaying the treatment area and the implanting point positions of the implanting needle path, and the implanting point positions are displayed with azimuth and depth. The structure calculated and planned by the computer is displayed through the display, so that the operator can accurately implant the needle according to the implanting position and the implanting depth during implanting.

[0018] The third aspect of the application aims to solve the technical problem that it is difficult to accurately implant the needle when the implanting part acts on the three-dimensional irregular treatment area. Further, the implanting structure comprises a mechanical arm and an implanting part, the mechanical arm is a multi-degree-of-freedom adjusting structure, the mechanical arm is drivingly connected with the implanting part, the implanting part comprises a needle pushing guide assembly, the needle pushing guide assembly contains the implanting needle, and the needle pushing guide assembly is used for guiding the implanting process of the implanting needle. The needle pushing guide assembly guides the movement of the implanting needle inserted into the treatment area, so that the implanting needle can be stably inserted, the error of the implanting needle is reduced, the implanting angle of the needle pushing guide assembly output to the treatment area is controlled through the adjustment of the mechanical arm, the implanting part can adapt to the irregular surface of the treatment area for implanting the needle, and the implanting part can vertically implant the needle.

[0019] The fourth aspect of the present application aims to solve the technical problem of inaccurate positioning of the insertion position of the implant needle. Further, the implanting part further comprises a positioning assembly installed on the push needle guide assembly, the positioning assembly comprising a laser generator and a laser guide, the laser generator emitting a laser beam to the laser guide, the laser guide being used for deflecting the laser beam, and the laser guide outputting incident laser, the intersection position of the axis of the implant needle and the incident laser being the implant point. The positioning assembly is installed on the push needle guide assembly, so that the positioning assembly can move synchronously and adjust the angle synchronously with the push needle guide assembly. The incident laser is deflected by the laser guide and intersects with the axis of the implant needle. The intersection position coincides with the implant point. When the incident laser acts on the implant point, the laser distribution position can position the insertion position of the implant needle, thereby improving the accuracy of the insertion position.

[0020] Preferably, the laser guide comprises a photoelectric deflection assembly and a distance measuring assembly. The photoelectric deflection assembly adjusts the angle of the laser beam. The distance measuring assembly measures the length of the incident laser. The length of the incident laser is adjusted by the mechanical arm. According to the values recognized by the photoelectric deflection assembly and the distance measuring assembly, the intersection point of the incident laser and the implant needle is calculated as the implant point. When the laser beam acts on the implant point, it can be inserted by the implant needle.

[0021] Preferably, the implant core unit area further comprises an ultrasonic probe. The ultrasonic probe generates ultrasonic signals and radiates them to the treatment area. The ultrasonic probe receives echo signals reflected from the treatment area. According to the echo signals, an image of the part of the implant needle inside the treatment area is obtained. The insertion of the implant needle into the planned position is confirmed by the ultrasonic signals. The direction and depth of the implant needle insertion are reviewed. The latest position information of the implant needle is synchronized.

[0022] Preferably, the implant needle is connected to an isotope source stepper through a pipeline. The isotope source stepper inputs isotopes to the treatment area through the implant needle.

[0023] Preferably, a TPS processing module is further included. The processing module is used to develop a radiotherapy plan. A number of algorithms are used to calculate the dose of the isotope source required to be absorbed by each implant point. The isotope source residence time plan is developed. A reverse radiotherapy scheme is designed using the TPS processing module. The TPS processing module establishes a human dose model and repeatedly calls the dose calculation. The best result is selected to achieve precise radiotherapy.

[0024] Preferably, a method for planning a brachytherapy needle path comprises the following steps:

[0025] S1, a CT device acquires detailed images of a patient by layer-by-layer scanning. An operator outlines a treatment area that needs to be treated on the detailed images layer by layer through the CT device;

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

[0027] S3. Scan the patient using an infrared body surface acquisition device, and send the body surface positioning contour formed after the scan to a computer. The computer matches the body surface positioning contour with the CT image to synchronize the body surface positioning contour 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 surface acquisition device.

[0029] The beneficial effects of the present invention are as follows: the computer performs contour matching on the CT image collected 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 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 This is a schematic diagram of the implant needle channel structure of the present invention.

[0034] Figure 5 It is the workflow diagram of the present invention.

[0035] The accompanying drawings include: 1. CT equipment; 2. Computer; 3. Infrared 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] To make the objectives, technical solutions, and advantages of the embodiments more clearly understood, 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, identical numerals in different drawings represent identical or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Rather, they are merely examples of devices and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0037] It should be noted that all actions of obtaining 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 this disclosure, unless otherwise specified, directional terms such as "inner" and "outer" are defined based on the contours of the corresponding components. Terms such as "first" and "second" are used in this disclosure to distinguish one element from another and do not convey order or importance.

[0039] Example 1:

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

[0041] A close-range implantation system includes 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 patient's entire body 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 implant needle path onto the patient's body surface through a light source, and to display the actual insertion position of the implant needle path on the patient's body surface through the body surface positioning contour;

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

[0047] The scheme sends the detailed image of the patient collected by the CT device 1 to the computer 2 in the implant core unit area, and then constructs the body surface positioning contour by scanning the patient through the infrared body surface acquisition device 3. The CT image of the detailed image of the patient is matched with the body surface positioning contour. When the CT image and the body surface positioning contour are matched in position, the treatment area of the detailed image can also be synchronized to the implant core unit area through the body surface positioning contour, so that the computer 2 plans the implant needle path. The implant needle path calculated through information matching can completely cover the treatment area, avoiding the determination error caused by the subjective experience skill of the operator. The motion instruction is sent to the implant structure, and the implant part 5 of the implant structure moves to each implant needle position planned by the computer 2 for positioning and guiding. Through the positioning and guiding of the implant structure, the implant positioning of the implant needle 6 is more accurate, and repeated implantation caused by inaccurate implantation position is avoided.

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

[0049] Preferably, the detailed image of the CT device 1 is a DICOM format file, and the DICOM format file is transmitted to the implant core unit area. The DICOM format supports up to 16-bit high dynamic range, so that the details and contrast of the image are more abundant, and the DICOM format can ensure the compatibility and consistency of the image 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 ensured, avoiding data errors caused by scanning patterns between different devices and affecting 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 skin layer of the patient, and the infrared body surface acquisition device is arranged opposite to the operating bed. When the infrared body surface acquisition device 3 can match the implant needle path matched with the patient's body surface positioning contour to the skin layer of the patient's body through the light source emission function, the actual needle insertion position of the implant needle path during implantation can be clearly seen during needle insertion.

[0051] Preferably, the implant needle path includes a plurality of implant point positions. The number and distribution of the implant point positions are determined according to the shape of the treatment area. The implant needle path completely covers the treatment area, and the implant point positions are marked by the computer.

[0052] In this embodiment, the computer sends a signal and a motion instruction of the planned needle path on the treatment area to the implanting structure, and the treatment area is drawn in the computer to build a three-dimensional coordinate graph. According to the optimal planned needle path, the implanting sequence of each implanting point is calculated.

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

[0054] Embodiment 2:

[0055] As shown in the figure, the implanting structure of this embodiment includes a mechanical arm 8 and an implanting part 5. The mechanical arm 8 is a multi-degree-of-freedom adjusting structure, and the mechanical arm 8 is drivingly connected to the implanting part 5. The implanting part 5 includes a needle pushing guide assembly 51, which contains the implanting needle 6. The needle pushing guide assembly 51 is used to guide the needle insertion process of the implanting needle 6. The needle pushing guide assembly 51 guides the movement of the implanting needle 6 inserted into the treatment area, so that the implanting needle 6 can be stably inserted, reducing the error of needle insertion. The mechanical arm 8 adjusts the needle insertion angle of the needle pushing guide assembly 51 output to the treatment area, and the implanting part 5 can adapt to the irregular surface of the treatment area for vertical needle insertion.

[0056] The needle pushing guide assembly 51 of this embodiment is provided with a guide part capable of containing the implanting needle 6. The guide part is provided with a guide cavity, and the guide cavity is in sliding fit with the implanting needle 6. The implanting needle 6 is stably output to the implanting point along the guide cavity. In order to make the implanting needle push the needle pushing guide assembly 51, the top of the needle pushing guide assembly 51 is provided with a needle pushing part. The needle pushing part can act on the top of the implanting needle in the guide cavity of the guide part. The operator pushes the needle pushing part to act on the implanting needle 6, so that the implanting needle 6 is output to the implanting point along the guide assembly 51 for needle insertion.

[0057] The push rod of the needle pushing part can also be provided with a scale line, and the outer wall of the shell of the needle sleeve is provided with a transparent window along the axial direction. The scale line is arranged on one side of the transparent window. The needle pushing part is used for the operator to apply force to the needle pushing part so that the implanting needle is output to the outside of the needle sleeve under the action of the needle pushing part, and the implanting needle is inserted into the patient's body under the action of the pushing force of 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 the 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 move and adjust the angle synchronously 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 be used to 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, and the ranging component measures the length of the incident laser. The length of the incident laser is adjusted by the robotic 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] Example 4:

[0062] The implant core unit of this embodiment also includes an ultrasound probe 9, which generates an ultrasonic signal that is radiated into the treatment area. The probe then receives echo signals reflected from the treatment area and uses these echo signals to generate an image of the portion of the implant needle 6 within the treatment area. The ultrasound signal confirms that the implant needle has been inserted into the planned location, verifies the direction and depth of insertion, and synchronizes the latest position information of the implant needle 6.

[0063] After confirming that the implant needle 6 is accurately inserted into the implant needle tract, 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 develop radiotherapy plans. It uses several algorithms to calculate the required isotope dose for each implant site and to plan the isotope residence time. The TPS processing module is used to design inverse radiotherapy plans. The TPS processing module establishes a human dose model and repeatedly invokes dose calculations, selecting the optimal calculated result to achieve precise radiotherapy.

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

[0067] S1, the CT device 1 acquires detailed images of the patient by layer-by-layer scanning, and the operator outlines the treatment area to be treated on the detailed images layer by layer through the CT device 1;

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

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

[0070] S4, according to the treatment area, the computer 2 plans the optimal implant needle path in the space area of the body surface positioning contour.

[0071] As shown in Figure 5 , further, the operation method of the implant mechanism of the present application comprises the following steps:

[0072] After the treatment area position is synchronized, the computer 2 transmits the position, direction and depth information of the optimal implant needle path to the implant mechanism, which can control the mechanical arm 8 to move to the implant point of the treatment area; the implant angle and the implant depth of each implant point are displayed on the display 7, the implant needle 6 is implanted according to the implant structure on the mechanical arm 8, and the operator implants after positioning and guiding according to the implant part 5;

[0073] After implanting, the implant position of the implant needle 6 is reviewed by the ultrasonic probe 9, the latest position information of the implant needle 6 is synchronized, the latest position information and the prescription are calculated by the TPS system, and the radiotherapy plan is made.

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

[0075] The above is only an embodiment of the present application, and the specific structure and characteristics of the scheme are not described in detail. It should be pointed out that for those skilled in the art, without departing from the structure of the present application, a number of modifications and improvements can be made, which should be regarded as the protection scope of the present application, and these will not affect the effect and practicality of the patent. The protection scope claimed in this application should be subject to the content of its claims, and the specific implementation mode and the like recorded in the specification can be used to explain the content of the claims.

Claims

1. A close-range implantation system, characterized by: The implant core unit area includes a data matching area, wherein the implant core unit area is used to receive a detailed image of the 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 implant core unit area includes a computer, an infrared body surface acquisition device and an implant structure; The infrared body surface acquisition device is used to scan the patient's entire body 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, synchronizes the treatment area with the body surface positioning contours, and plans the optimal needle insertion path within the spatial area based on the spatial area of ​​the treatment area on the body surface positioning contours; The infrared body surface acquisition device is also used to project the implant needle path onto the patient's body surface through a light source, and display the actual insertion position of the implant needle path on the patient's body surface through the body surface positioning contour; The implantation structure receives the motion instruction of the implantation needle path planned by the computer. The implantation structure includes an implantation part and an implantation needle. The implantation part positions the implantation needle. 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 through a transmission mechanism. The implantation part includes a push-pin guide assembly. The push-pin guide assembly accommodates the implantation needle and is used to guide the insertion process of the implantation needle. 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. The laser guide outputs an incident laser. The position where the incident laser intersects the axis of the implantation needle is the implantation point. The laser guide includes a photoelectric deflection component and a ranging component. The photoelectric deflection component adjusts the angle of the laser beam, and the ranging component measures the length of the incident laser. The length of the incident laser is adjusted by a robotic arm. According to the values ​​recognized by the photoelectric deflection component 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.

2. The close-range implantation system according to claim 1, characterized in that: The implantation needle track includes several 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. The close-range 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 implantation needle channel, and the implantation point is displayed with direction and depth.

4. The close-range implantation system according to claim 1, characterized in that: The implant core unit area also includes an ultrasound probe, which generates an ultrasound signal and radiates it to the treatment area. The ultrasound probe 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.

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

6. A close-range implantation system according to any one of claims 1 to 5, 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.

7. A method for planning an implantation needle tract, implemented using the close-range implantation system according to claim 6, 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 a DICOM format file of a detailed image outlining the treatment area to the implant core working unit, which processes the image and information through a computer; S3. Scan the patient using an infrared body surface acquisition device, and send the body surface positioning contour formed after the scan to a computer. The computer matches the body surface positioning contour with the CT image to synchronize the body surface positioning contour with the treatment area position; S4. Based on the spatial area of ​​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.

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