Particle implantation device with straightening mechanism

Abstract

The invention discloses a particle implantation device with a straightening mechanism, which comprises a particle implantation gun, a flexible connection section and the straightening mechanism, the particle implantation gun comprises a gun body, a push rod, a push rod driving mechanism and a particle feeding mechanism, one end of a push rod output channel is connected with the push rod driving mechanism, the other end of the push rod output channel is connected with the flexible connection section, and the flexible connection section is connected with the straightening mechanism. The front end of the flexible connecting section is connected with the tail end of an external puncture needle, and when the flexible connecting section is in butt joint with the external puncture needle, the straightening mechanism can make the flexible connecting section in an upright state; and after the flexible connecting section is connected with the external puncture needle, the straightening mechanism can enable the flexible connecting section to recover to a flexible state. The straightening mechanism is used for achieving straightening operation, rigidity needed by butt joint is provided for the flexible connecting section, the flexible connecting section provides flexible connection for the particle implantation gun, the operation module can do follow-up motion when a patient slightly shakes due to breathing and the like, and secondary injury to the patient caused by a puncture needle is avoided.

Description

Technical Field

[0001] The invention relates to a medical tool, in particular to a particle implantation device with a straightening mechanism. Background Art

[0002] Radioactive particle implantation is a procedure that uses puncture to directly implant a large number of radioactive particles into the tumor for local radiotherapy. This type of surgery has a wide range of indications, including lung cancer, liver cancer, breast cancer, prostate cancer, etc., and it has small incisions, less bleeding, and relatively few surgical complications, but it can effectively inhibit tumor growth. The particle gun that inputs radioactive particles needs to be docked with the puncture needle first. At this time, the spatial position of the front end of the particle implantation gun and the docking mechanism needs to be adjusted, and a certain rigidity needs to be met to ensure accurate connection. During the operation, the puncture needle drifts due to the patient's breathing and other actions, and a certain flexible connection is required to prevent harm to the patient.

[0003] For example, Chinese patent authorization CN210384581U, authorization date April 24, 2020, patent name "A puncture needle positioning device for a particle implanter", the patent discloses a puncture needle positioning device for a particle implanter, the positioning device includes a mounting base plate, a first limiting portion and a second limiting portion; the first limiting portion is arranged on the mounting base plate, the first limiting portion has a puncture needle groove, and the puncture needle groove can be slidably connected with the needle body of the puncture needle; the second limiting portion is arranged on the mounting base plate, when the puncture needle cooperates with the puncture needle groove of the first limiting portion, the needle seat of the puncture needle is located between the first limiting portion and the second limiting portion; the second limiting portion is provided with a particle implantation channel for particles and push needles to pass through; the first limiting portion and the second limiting portion can move toward each other to fix the needle seat of the puncture needle. Although the patent can ensure that the depth of the puncture needle remains unchanged during the operation, the device can be automatically controlled, and it is convenient to dock and evacuate the puncture needle from the puncture needle array, but the damage caused by radial changes caused by patient shaking cannot be avoided. Summary of the invention

[0004] In order to overcome the problem in the prior art that the particle implantation gun needs to be connected with rigidity, but excessive rigidity can easily cause injury due to the shaking of the patient, the present invention provides a particle implantation device with a straightening mechanism, aiming to provide a device that can provide sufficient rigidity for the connection between the puncture needle and the flexible connecting section, and can restore the flexibility of the flexible connecting section after the connection is completed, so as to avoid secondary injury to the patient.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: comprising a particle implantation gun, a flexible connection section and a straightening mechanism, wherein the flexible connection section is a flexible rod or a flexible pipe, the particle implantation gun is connected to an external puncture needle through the flexible connection section, the particle implantation gun comprises a gun body, a push rod, a push rod driving mechanism and a particle feeding mechanism, the push rod driving mechanism is arranged on the gun body, a push rod output channel is arranged on the gun body, the push rod output channel can be used to guide the push rod to move forward and backward, one end of the push rod output channel is connected to the push rod driving mechanism, and the other end of the push rod output channel is connected to the flexible connection section The front end of the flexible connection section is connected to the rear end of the external puncture needle or is provided with a docking mechanism connected to the rear end of the external puncture needle. The particle feeding mechanism is used to set particles at the front end of the push rod. When the push rod driving mechanism drives the push rod to move forward, the push rod can push the particles along the flexible connection section and the external puncture needle and implant them into the target position. When the flexible connection section is docked with the external puncture needle, the straightening mechanism can make the flexible connection section in an upright state; after the flexible connection section is docked with the external puncture needle, the straightening mechanism can restore the flexible connection section to a flexible state.

[0006] Preferably, the straightening mechanism comprises a support sleeve and a linear motion component, wherein the support sleeve is sleeved outside the flexible connection section, and the linear motion component can drive the support sleeve to perform forward and backward telescopic movement. When the support sleeve moves forward, the flexible connection section can be straightened to be in an upright state; when the support sleeve moves backward, the flexible connection section can be restored to a flexible state;

[0007] Alternatively, the straightening mechanism includes at least one capsule, which is arranged on the outside of the flexible connecting segment along the length direction of the flexible connecting segment. The capsule can be filled with or discharged with a medium through an external filling device. When the capsule is filled with a medium and is in a filled state, it can support the flexible connecting segment to keep it in an upright state; when the capsule is discharged with a medium and is in a deflated and flexible state, the flexible connecting segment loses its supporting function and returns to a flexible state.

[0008] Preferably, the support sleeve is connected to the linear motion assembly via a support rod, the support rod is a rigid structure, the axial direction of the support rod is arranged along the front-rear direction, the support sleeve is mounted on the support rod, and the linear motion assembly drives the support rod to slide forward and backward, thereby driving the support sleeve to move forward and backward;

[0009] Alternatively, the support sleeve is in the shape of a hollow circular sleeve, and the linear motion component directly acts on the support sleeve and drives the support sleeve to move forward and backward.

[0010] Preferably, the capsule is covered with the flexible connecting section, a through hole is provided in the capsule, and the flexible connecting section passes through the through hole;

[0011] Alternatively, the side edge of the capsule is arranged outside the flexible connecting section and is relatively fixed to the flexible connecting section;

[0012] Alternatively, a guide portion is provided on the side of the capsule, and the flexible connecting section passes through the guide portion, and the guide portion is at least one of a guide tube, a guide ring, and a guide groove.

[0013] Preferably, the tail of the support sleeve is further connected with a support assembly, and the support assembly can be telescopic and used to limit the flexible connection section to a fixed axial direction; the support assembly includes at least one of a telescopic tube assembly, a guide ring assembly, a bellows assembly, and a C-shaped tube assembly;

[0014] When the support assembly is a telescopic tube assembly, the telescopic tube assembly includes a telescopic sleeve group, each sleeve of the sleeve group is outer-circuited on the flexible connection section, the sleeve at the front end of the sleeve group is connected to the rear end of the support sleeve, and the sleeve at the rear end of the sleeve group is fixedly arranged, when the support sleeve moves forward, the sleeves in the sleeve group are extended to each other; when the support sleeve moves backward, the sleeves in the sleeve group are retracted to each other;

[0015] When the support assembly is a guide ring assembly, the guide ring assembly includes a guide ring group, each guide ring of the guide ring group is sleeved on the flexible connection section, each guide ring is set on the external guide rail or guide groove for guiding sliding, each guide ring is connected by an elastic element, the guide ring at the front end of the guide ring group is connected to the rear end of the support sleeve, when the support sleeve moves forward, each guide ring of the guide ring group is separated from each other under the action of the elastic element; when the support sleeve moves backward, each guide ring of the guide ring group squeezes the elastic element and gathers together;

[0016] When the support assembly is a bellows assembly, the bellows assembly includes a bellows, the bellows sleeve is wrapped around the flexible connection section, the front end of the bellows is connected to the rear end of the support sleeve, the rear end of the bellows is fixed, and when the support sleeve moves forward, the bellows is stretched; when the support sleeve moves backward, the bellows is squeezed and retracted;

[0017] When the support assembly is a C-shaped tube assembly, the C-shaped tube assembly includes a C-shaped tube that can be flexibly deformed and a spreading seat. The C-shaped tube is located on one side of the flexible connecting section. The front end of the C-shaped tube is connected to the rear end of the support sleeve, and the rear end of the C-shaped tube is connected to the linear motion assembly. The linear motion assembly drives the front end and the rear end of the C-shaped tube to move synchronously. The C-shaped tube is provided with a slot along its length. The slot on the C-shaped tube is closed in the initial state. The slot of the C-shaped tube can open a small opening under the action of the spreading seat so that the flexible connecting section can enter the C-shaped tube, so that the C-shaped tube is sleeved on the flexible connecting section. When the support sleeve moves forward, the C-shaped tube is gradually sleeved on the flexible connecting section from front to back, thereby limiting the flexible connecting section to a fixed axial direction; when the support sleeve moves backward, the C-shaped tube gradually separates from the flexible connecting section from back to front, thereby restoring the flexible connecting section to a free deformation state.

[0018] Preferably, the linear motion assembly is a friction motion assembly, a gear rack motion assembly, a screw nut motion assembly or a belt drive assembly;

[0019] The friction motion assembly includes at least one friction wheel or friction belt, which presses against the support rod or support sleeve and drives the support rod or support sleeve to move forward and backward through friction;

[0020] The gear rack motion assembly includes a gear and a rack portion, the rack portion is fixedly arranged on the support rod or the support sleeve along the axial direction of the support rod or the support sleeve, the gear is meshed with the rack portion, and the rotation of the gear can drive the rack portion to move forward and backward to realize the forward and backward movement of the support rod or the support sleeve;

[0021] The screw-nut motion assembly includes a screw and a nut seat, the screw and the nut seat are threadedly matched, the nut seat is connected to the support rod or the support sleeve, the axial direction of the screw is parallel to the axial direction of the support rod or the support sleeve, the nut seat can perform guided sliding motion along the axial direction of the support rod or the support sleeve, and the rotation of the screw can drive the nut seat to move forward and backward to realize the forward and backward movement of the support rod or the support sleeve;

[0022] The belt drive assembly includes a transmission belt and a transmission block. The transmission belt transmits in the front-to-back direction. The transmission belt is fixedly connected to the transmission block. The transmission block is fixedly connected to the support rod or support sleeve. The transmission belt can drive the transmission block to move forward and backward to realize the forward and backward movement of the support rod or support sleeve. The transmission belt can be replaced by a drive wire.

[0023] Preferably, the capsule is made of a material with certain flexibility and toughness, including one or a combination of plastic, rubber, silicone, and latex, and the medium is gas or liquid; the capsule fits the flexible connecting section;

[0024] When the capsule is covered with the flexible connecting section, a cavity is provided in the capsule, and the length of the cavity matches the length of the flexible connecting section;

[0025] When the side of the capsule is arranged outside the flexible connecting section, a plurality of capsules are provided and are arranged around the flexible connecting section in a symmetrical structure, and each capsule is fixedly connected to the flexible connecting section by bonding or bundling.

[0026] Preferably, when the linear motion component drives the support sleeve through the support rod, one end of the support rod is connected to the linear motion component, and the other end of the support rod is connected to the support sleeve, the support rod is parallel to the flexible connection section in an upright state, the end face of the support sleeve is perpendicular to the length direction of the support rod, and the length of the support rod is adapted to the length of the flexible connection section, so that the flexible connection section is straightened when the support rod is fully extended; a plurality of guide mechanisms are provided on the gun body, the guide mechanisms are used to guide the support rod to make forward and backward linear motion, and the guide mechanism is provided with a guide part at the front end of the gun body, and the guide part is one or more combinations of through holes, through grooves, slide grooves, guide rods, and guide blocks;

[0027] When the linear motion assembly directly drives the support sleeve, the support sleeve is parallel to the flexible connecting section in an upright state, and the length of the support sleeve is adapted to the length of the flexible connecting section, so that the flexible connecting section is straightened when the support sleeve is fully extended.

[0028] Preferably, the flexible connecting section has a length greater than 100 mm and an outer diameter less than 5 mm, and is made of a flexible deformable material, including one or a combination of plastic, latex, silicone, rubber, and nickel-titanium alloy.

[0029] Preferably, a mounting seat is connected below the particle implantation gun, the linear motion assembly is mounted on the mounting seat or the gun body, the mounting seat is mounted at the end of a mechanical arm, and the mechanical arm can control the position of the particle implantation gun in space.

[0030] Preferably, the end of the flexible connection section is provided with a docking mechanism connected to the external puncture needle, and the docking mechanism adopts a connection method of one or more combinations of magnetic attraction, thread, lock, hook, and clamping; when the docking mechanism adopts a clamping connection method, the docking mechanism includes a centering part and a claw assembly, and the centering part is provided with a magnet for quickly attracting the puncture needle during docking, and realizing rapid centering and pre-connection, so as to facilitate the clamping and connection of the puncture needle with the claw assembly later;

[0031] When the straightening mechanism is a support sleeve, the support sleeve can move between the docking mechanism and the gun body, or a part or all of the support sleeve can extend out of or retract into the gun body;

[0032] When the straightening mechanism is a capsule, the capsule is arranged between the docking mechanism and the gun body.

[0033] Therefore, the present invention has the following beneficial effects: the straightening mechanism is used to realize the straightening operation of the flexible pipe, and the rigidity required for the operation is provided to the flexible connecting section, so that the flexible connecting section and the puncture needle can be docked and connected; after the docking operation is completed, the straightening mechanism is withdrawn, and the flexible connection between the flexible connecting section and the puncture needle is restored, so that the puncture needle can move with the slight shaking of the patient's breathing, etc., thereby avoiding secondary damage to the patient caused by the puncture needle and reducing the patient's pain. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a schematic structural diagram of the linear motion assembly in Example 1 driving the support sleeve via the support rod;

[0035] Figure 2 The structure of the particle implantation gun in Example 1 is shown in FIG. Figure 1 ;

[0036] Figure 3 is a schematic diagram of the matching structure of the support sleeve and the support rod in Example 1;

[0037] Figure 4 is a schematic diagram of a conveyor belt motion component in the linear motion component of Example 1;

[0038] Figure 5 This is a schematic diagram of the structure in which the linear motion assembly in Embodiment 1 directly drives the support sleeve;

[0039] Figure 6 yes Figure 5 A schematic diagram of the enlarged structure of part A;

[0040] Figure 7 The particle implantation gun and the robot arm of Example 1 are assembled. Figure 1 ;

[0041] Figure 8 This is a schematic diagram of the first installation structure of the capsule in Example 1;

[0042] Fig. 9 The structure of the particle implantation gun in Example 1 is shown in FIG. Figure 2 ;

[0043] Fig.10 yes Figure 8 A schematic diagram of a partial cross section along the axial direction of the capsule;

[0044] Fig.11 is a schematic diagram of a second installation structure of the capsule in Example 1;

[0045] Fig.12 The particle implantation gun and the robot arm of Example 1 are assembled. Figure 2 ;

[0046] Fig.13 is a schematic diagram of the flexible connecting section in the upright state in Example 2;

[0047] Fig.14 is a schematic diagram of the flexible connecting section in Example 2 in a flexible state;

[0048] Fig.15 is a schematic diagram of the flexible connecting section in the upright state in Example 3;

[0049] Fig.16 is a schematic diagram of the flexible connecting section in Example 3 in a flexible state;

[0050] Fig.17 is a schematic diagram of the flexible connecting section in Example 4 in an upright state;

[0051] Fig.18 is a schematic diagram of the flexible connecting section in Example 4 in a flexible state;

[0052] Fig.19 is a schematic diagram of the flexible connecting section in Example 5 in an upright state;

[0053] Fig. 20 is a schematic diagram of the flexible connecting section in Example 5 in a flexible state;

[0054] Fig.21 is a schematic diagram of the structure of the C-shaped tube in Example 5;

[0055] Fig. 22 It is a schematic diagram of the expansion seat expanding the C-shaped tube in Example 5.

[0056] In the figure: 1. flexible connecting section; 2. particle implantation gun; 21. gun body; 211. guide part; 22. push rod; 23. push rod driving mechanism; 24. particle feeding mechanism; 25. winding wheel; 26. push rod output channel; 3. puncture needle; 41. support sleeve; 42. support rod; 43. screw rod; 44. nut seat; 45. conveyor belt; 46. transmission block; 47. friction wheel; 5. capsule; 51. cavity body; 6. mounting seat; 7. mechanical arm; 8. docking mechanism; 91. capsule shell; 92. pneumatic joint; 93. air pipe; 101. sleeve; 102. guide ring; 103. guide rail; 104. spring; 105. bellows; 106. C-shaped tube; 1061. notch; 1062. mounting groove; 107. support seat; 108. connecting rod. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical scheme and advantages of the technical solution embodiments of the present invention clearer, the present invention is further described below in conjunction with the accompanying drawings and specific implementation methods, but the following embodiments are only preferred embodiments of the present invention, rather than all embodiments. Based on the embodiments in the implementation methods, other embodiments obtained by those skilled in the art without making creative work are all within the scope of protection of the present invention.

[0058] Example 1

[0059] like Figure 1-Figure 12In the illustrated embodiment, in order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a particle implantation device with a straightening mechanism, comprising a particle implantation gun 2, a flexible connection section 1 and a straightening mechanism, wherein the flexible connection section 1 is a flexible rod or a flexible pipe, the particle implantation gun 2 is connected to an external puncture needle 3 via the flexible connection section 1, the particle implantation gun 2 comprises a gun body 21, a push rod 22, a push rod driving mechanism 23 and a particle feeding mechanism 24, the push rod 22 is a flexible push rod, the flexible push rod is an elastic flexible filament, which can be bent under the action of an external force and can return to a straight state after the external force is removed, the material of the flexible push rod is one or more combinations of nickel-titanium alloy, spring steel, elastomeric material, and composite material, the push rod 22 can be wound on a winding wheel 25, the push rod driving mechanism 23 is arranged on the gun body 21, and the push rod driving mechanism 23 drives the push rod 22 to move forward and backward by a second friction wheel or a second friction belt or a reciprocating clamping method, wherein as Figure 2 and Fig. 9 The push rod driving mechanism 23 shown in the figure is driven by the second friction wheel, and a push rod output channel 26 is provided on the gun body 21. The push rod output channel 26 can be used to guide the push rod 22 to move forward and backward. One end of the push rod output channel 26 is connected to the push rod driving mechanism 23, and the other end of the push rod output channel 26 is connected to the flexible connection section 1. The front end of the flexible connection section 1 is connected to the tail end of the external puncture needle 3 or is provided with a docking mechanism 8 connected to the tail end of the external puncture needle 3. The particle feeding mechanism 24 is used to set particles at the front end of the push rod 22. The particle feeding mechanism 24 is a particle clip structure. When the push rod driving mechanism 23 drives the push rod 22 to move forward, the push rod 22 can push the particles along the flexible connection section 1 and the external puncture needle 3 on the docking to the target position. When the flexible connection section 1 is docked with the external puncture needle 3, the straightening mechanism can make the flexible connection section 1 in an upright state; after the flexible connection section 1 is docked with the external puncture needle 3, the straightening mechanism can restore the flexible connection section 1 to a flexible state. Considering that the puncture needle 3 and the flexible connecting section 1 are docked through a docking mechanism, the straightening mechanism is used to straighten the flexible pipe during docking. At this time, the straightening mechanism radially limits the flexible connecting section 1, and can provide the end of the flexible connecting section 1 with the rigidity required for docking by the docking mechanism. After the docking is completed, the straightening mechanism can restore the flexible connecting section 1 to a flexible state, and the flexible connection between the flexible connecting section 1 and the puncture needle 3 is restored, so that the puncture needle 3 can move with the patient's breathing and other slight shaking, which not only ensures the connection needs, but also avoids the puncture needle 3 from causing secondary damage to the patient, thereby reducing the patient's pain.

[0060] The length of the flexible connecting section 1 is greater than 100 mm, and the length of the flexible connecting section 1 can ensure flexibility. The outer diameter of the flexible connecting section 1 is less than 5 mm, and it is made of flexible deformable material, including one or a combination of plastic, latex, silicone, rubber, and nickel-titanium alloy.

[0061] Furthermore, the straightening mechanism has two settings:

[0062] 1. The straightening mechanism includes a support sleeve 41 and a linear motion component. The support sleeve 41 is sleeved on the outside of the flexible connecting section 1. The linear motion component can drive the support sleeve 41 to perform forward and backward telescopic movements. When the support sleeve 41 moves forward, the flexible connecting section 1 can be in an upright state; when the support sleeve 41 moves backward, the flexible connecting section 1 can be restored to a flexible state.

[0063] 2. The straightening mechanism includes at least one capsule 5, which is arranged on the outside of the flexible connecting section 1 along the length direction of the flexible connecting section 1. The capsule 5 can be filled with or discharged with a medium through an external filling device. The capsule 5 is made of a material with certain flexibility and toughness, including one or a combination of plastic, rubber, silicone, and latex. The medium is gas or liquid. The external filling device is a combination of one or more of a syringe, an air pump, an air pump, and a liquid pump. The capsule 5 fits the flexible connecting section 1 to improve the support of the capsule 5 to the flexible connecting section 1. When the capsule 5 is filled with a medium and is in a filled state, it can support the flexible connecting section 1 to keep it in an upright state; when the capsule 5 is discharged with a medium and is in a deflated and flexible state, the flexible connecting section 1 loses its supporting function and returns to a flexible state.

[0064] Furthermore, when the straightening mechanism adopts the support sleeve 41, the support sleeve 41 has two configuration modes:

[0065] 1. If Figure 1 and Figure 3 As shown, the support sleeve 41 is connected to the linear motion component through the support rod 42. The support rod 42 is a rigid structure. The axial direction of the support rod 42 is set along the front-to-back direction. The support sleeve 41 is installed on the support rod 42. The linear motion component drives the support rod 42 to slide back and forth, thereby driving the support sleeve 41 to move back and forth; one end of the support rod 42 is connected to the linear motion component, and the other end of the support rod 42 is connected to the support sleeve 41. The support rod 42 is parallel to the flexible connecting section 1 in an upright state, and the end face of the support sleeve 41 is perpendicular to the length direction of the support rod 42. The length of the flexible connecting section 1 can ensure flexibility, and the length of the support rod 42 is adapted to the length of the flexible connecting section 1, so that the flexible connecting section 1 is straightened when the support rod 42 is fully extended.

[0066] 2. Figure 5 and Figure 6 As shown, the support sleeve 41 is in the shape of a hollow circular sleeve, and the linear motion component directly acts on the support sleeve 41 and drives the support sleeve 41 to move forward and backward; the support sleeve 41 is parallel to the flexible connecting section 1 in an upright state, and the length of the support sleeve 41 is adapted to the length of the flexible connecting section 1, so that the flexible connecting section 1 is straightened when the support sleeve 41 is fully extended.

[0067] Furthermore, when the straightening mechanism adopts the capsule 5, the capsule 5 has the following two configuration modes:

[0068] 1. If Figure 8 and Fig.10 As shown: the sac 5 is externally mounted on the flexible connecting section 1, a through hole is provided in the sac 5, and the flexible connecting section 1 passes through the through hole. When the sac 5 is externally mounted on the flexible connecting section 1, a cavity 51 is provided in the sac 5, and the length of the cavity 51 is adapted to the length of the flexible pipe.

[0069] 2. Fig.11 As shown: the side of the capsule 5 is arranged outside the flexible connecting section 1 and is relatively fixed to the flexible pipe 5. When the side of the capsule 5 is arranged outside the flexible connecting section 1, a plurality of capsules 5 are provided and are arranged around the flexible connecting section 1 in a symmetrical structure. Each capsule 5 is fixedly connected to the flexible connecting section 1 by bonding or bundling.

[0070] 3. A guide portion (not shown in the figure) is provided on the side of the capsule 4, and the flexible connecting section 1 passes through the guide portion, and the guide portion is at least one of a guide tube, a guide ring, and a guide groove.

[0071] Further, the linear motion assembly is a friction motion assembly, a gear rack motion assembly, a screw nut motion assembly or a belt drive assembly;

[0072] like Figure 5 and Figure 6 As shown: when the linear motion component is a friction motion component and the linear motion component directly acts on the support sleeve 41, the friction motion component includes at least one friction wheel 47 or friction belt, the friction wheel 47 or friction belt is pressed against the support sleeve 41, and the support sleeve 41 is driven to move forward and backward by friction, specifically at least one friction wheel group, each friction wheel group includes two friction wheels 47, the two friction wheels 47 clamp the support sleeve 41, one friction wheel is the driving wheel, the other friction wheel is the driven wheel, or both friction wheels are driving wheels, the driving wheel is driven to rotate by an external driving source (such as a motor), so that the support sleeve 41 is driven to move forward and backward by the cooperation of the two friction wheels 47. Of course, the above-mentioned friction motion component can also act on the support rod 42, and the support sleeve 41 is driven to move forward and backward by the support rod 42.

[0073] When the linear motion component is a gear rack motion component, and the linear motion component directly acts on the support sleeve or drives the support sleeve through the support rod, the gear rack motion component (not shown in the figure) includes a gear and a rack part, and the rack part is fixedly arranged on the support rod or the support sleeve along the axial direction of the support rod or the support sleeve, and the gear is meshed with the rack part. The rotation of the gear can drive the rack part to move forward and backward to realize the forward and backward movement of the support rod or the support sleeve.

[0074] like Figure 1 and Figure 3As shown: when the linear motion assembly is a screw-nut motion assembly and the linear motion assembly drives the support sleeve 41 through the support rod 42, the screw-nut motion assembly includes a screw 43 and a nut seat 44, the screw 43 and the nut seat 44 are threadedly matched, the nut seat 44 is connected to the support rod 42, the axial direction of the screw 43 is parallel to the axial direction of the support rod 42, the nut seat 44 can make a guided sliding motion along the axial direction of the support rod 42, the power source drives the screw 43 to rotate, and the rotation of the screw 43 can drive the nut seat 44 to move forward and backward to realize the forward and backward movement of the support rod 42. Of course, the above-mentioned screw-nut motion assembly can also directly act on the support sleeve and drive the support sleeve to move forward and backward.

[0075] like Figure 4 As shown: when the linear motion component is a belt drive component and the linear motion component drives the support sleeve 41 through the support rod 42, the belt drive component includes a transmission belt 45 and a transmission block 46, the transmission belt 45 transmits along the front-back direction, the transmission belt 45 is fixedly connected to the transmission block 46, the transmission block 46 is directly or indirectly fixedly connected to the support rod 42, the power source drives the transmission belt 45 to transmit, the transmission of the transmission belt 45 can drive the transmission block 46 to move forward and backward, so as to realize the front-back movement of the support rod 42, and the transmission belt can be replaced by a drive wire. Of course, the above-mentioned conveyor belt motion component can also directly act on the support sleeve and drive the support sleeve to move forward and backward.

[0076] Furthermore, when the straightening mechanism adopts the support sleeve 41 and drives the support sleeve 41 through the support rod 42, a plurality of guide mechanisms are provided on the gun body 21. The guide mechanisms are used to guide the support rod 42 to make forward and backward linear motion. The guide mechanism is provided with a guide portion 211 at the front end of the gun body 21. The guide portion 211 is one or more combinations of through holes, through grooves, slide grooves, guide rods, and guide blocks, which can improve the support rigidity.

[0077] Furthermore, a mounting seat 6 is connected below the particle implantation gun 2, and the linear motion assembly is installed on the connecting seat 6 or the gun body 21. The mounting seat 6 is installed at the end of a mechanical arm 7, and the mechanical arm 6 can control the position of the particle implantation gun 2 in space.

[0078] Furthermore, the end of the flexible connecting section 1 is provided with a docking mechanism 8 connected to the external puncture needle 3, and the docking mechanism 8 adopts a connection method of one or more combinations of magnetic attraction, thread, lock, hook, and snap connection; when the docking mechanism 8 adopts a snap connection method, the docking mechanism 8 includes a centering part and a claw assembly, and a magnet is provided on the centering part for quickly attracting the puncture needle 3 during docking, and realizing rapid centering and pre-connection, so that the puncture needle 3 can be clamped and connected with the claw assembly later.

[0079] When the straightening mechanism is a support sleeve 41 , the support sleeve 41 can move between the docking mechanism 8 and the gun body 21 , or a part or all of the support sleeve 41 can extend out of or retract into the gun body 21 .

[0080] When the straightening mechanism is a capsule 5, as Fig.10 As shown: the capsule 5 is arranged between the docking mechanism 8 and the gun body 21 .

[0081] It also includes a capsule shell 91, in which the capsule 5 is sealed, and the capsule shell 91 is fixedly connected to the gun body 21, and the fixed connection method is thread, buckle, etc., wherein an inflatable capsule 5 and the capsule 5 are jacketed on the flexible connecting section 1 are taken as an example, the capsule 5 is connected to the air pipe 93 through the pneumatic joint 92, and the air pipe 93 is connected to the external air pump, and the principle of the capsule straightening mechanism is as follows: in the uninflated state, the capsule 5 is in a dry and flexible state, ensuring the flexibility of the flexible connecting section 1 in the capsule 5; when docking is required, the air pipe 93 is used to inflate the hollow body 51 in the capsule 5, so that the capsule 5 expands and hardens, thereby achieving the straightening effect on the flexible connecting section 1. Of course, liquid can also be filled into the capsule through an external liquid pump.

[0082] Example 2

[0083] The similarities between this embodiment and embodiment 1 are not repeated here, and the differences are as follows:

[0084] When the support sleeve 41 is connected to the linear motion assembly through the support rod 42, the tail of the support sleeve 41 is also connected to a support assembly, which can be retracted to limit the flexible connection section 1 to a fixed axial direction;

[0085] like Fig.13 and Fig.14 As shown, the support assembly is a telescopic tube assembly, which includes a telescopic sleeve group, each sleeve 101 of the sleeve group is covered on the flexible connecting section 1, the sleeve 101 at the front end of the sleeve group is connected to the rear end of the support sleeve 41, and the sleeve 101 at the rear end of the sleeve group is fixedly arranged on the gun body 21. The support rod 42 drives the support sleeve 41 to move forward and backward. When the support sleeve 41 moves forward, the sleeves 101 in the sleeve group are extended to each other; when the support sleeve 41 moves backward, the sleeves 101 in the sleeve group are retracted to each other. The sleeve at the front end of the sleeve group is separately connected to the support sleeve, or the sleeve at the front end of the sleeve group is the support sleeve.

[0086] Example 3

[0087] The similarities between this embodiment and embodiment 1 are not repeated here, and the differences are as follows:

[0088] When the support sleeve 41 is connected to the linear motion assembly through the support rod 42, the tail of the support sleeve 41 is also connected to a support assembly, which can be retracted to limit the flexible connection section 1 to a fixed axial direction;

[0089] like Fig.15 and Fig.16As shown, when the support assembly is a guide ring assembly, the guide ring assembly includes a guide ring group, each guide ring 102 of the guide ring group is sleeved on the flexible connecting section 1, each guide ring 102 is set on the external guide rail 103 or guide groove through the guide slide, the external guide rail 103 or guide groove is set on the gun body 21, and each guide ring 102 is connected by an elastic element. The guide ring 102 at the front end of the guide ring group is connected to the tail of the support sleeve 41, and the support rod 42 drives the support sleeve 41 to move forward and backward. When the support sleeve 41 moves forward, the guide rings 102 of the guide ring group are separated from each other under the action of the elastic element; when the support sleeve 41 moves backward, the guide rings 102 of the guide ring group squeeze the elastic element and gather together. The guide ring at the front end of the guide ring group is separately connected to the support sleeve, or the guide ring at the front end of the guide ring group is the support sleeve. The elastic element is a spring 104 or an elastic block.

[0090] Example 4

[0091] The similarities between this embodiment and embodiment 1 are not repeated here, and the differences are as follows:

[0092] When the support sleeve 41 is connected to the linear motion assembly through the support rod 42, the tail of the support sleeve 41 is also connected to a support assembly, which can be retracted to limit the flexible connection section 1 to a fixed axial direction;

[0093] like Fig.17 and Fig.18 As shown, when the support assembly is a bellows assembly, the bellows assembly includes a bellows 105, the bellows 105 is sleeved on the flexible connecting section 1, the front end of the bellows 105 is connected to the rear end of the support sleeve 41, the rear end of the bellows 105 is fixedly arranged on the gun body 21, and the support rod 42 drives the support sleeve 41 to move forward and backward. When the support sleeve 41 moves forward, the bellows 105 is stretched; when the support sleeve 41 moves backward, the bellows 105 is squeezed and retracted.

[0094] Example 5

[0095] The similarities between this embodiment and embodiment 1 are not repeated here, and the differences are as follows:

[0096] When the support sleeve 41 is connected to the linear motion assembly through the support rod 42, the tail of the support sleeve 41 is also connected to a support assembly, which can be retracted to limit the flexible connection section 1 to a fixed axial direction;

[0097] like Figure 19-22As shown, when the support assembly is a C-shaped tube assembly, the C-shaped tube assembly includes a C-shaped tube 106 that can be flexibly deformed and a propping seat 107, the C-shaped tube 106 is located on one side of the flexible connecting section 1, the front end of the C-shaped tube 106 is connected to the rear end of the supporting sleeve 41, and the rear end of the C-shaped tube 106 is connected to the supporting rod 42 through a connecting rod 108, and the linear motion assembly drives the front end and the rear end of the C-shaped tube 106 to move synchronously, the C-shaped tube 106 is provided with a notch 1061 along its length direction, and the C-shaped tube 106 is provided with a mounting groove 1062 that is adapted to the shape of the flexible connecting section 1, and the notch 1061 on the C-shaped tube 106 is closed in the initial state. The notch 1061 of the C-shaped tube 106 can open a small opening under the action of the expansion seat 107, so that the flexible connecting section 1 can enter the C-shaped tube 106, so that the C-shaped tube 106 is sleeved on the flexible connecting section 1, and the expansion seat 107 is fixed on the gun body 21. The support rod 42 drives the support sleeve 41 to move forward and backward. When the support sleeve 41 moves forward, the C-shaped tube 106 is gradually sleeved on the flexible connecting section 1 from front to back, thereby limiting the flexible connecting section 1 to a fixed axial direction; when the support sleeve 41 moves backward, the C-shaped tube 106 gradually separates from the flexible connecting section 1 from back to front, thereby restoring the flexible connecting section 1 to a free deformation state.

[0098] For the convenience of description, the directions mentioned above are defined as follows: the front and back directions mentioned above are Figure 1 The end close to the puncture needle is the front end, and the end away from the puncture needle is the rear end.

[0099] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0100] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A particle implantation device with a straightening mechanism, characterized in that: The invention comprises a particle implanting gun, a flexible connecting section and a straightening mechanism, wherein the flexible connecting section is a flexible rod or a flexible pipe, the particle implanting gun is connected to an external puncture needle through the flexible connecting section, the particle implanting gun comprises a gun body, a push rod, a push rod driving mechanism and a particle feeding mechanism, the push rod driving mechanism is arranged on the gun body, a push rod output channel is arranged on the gun body, the push rod output channel can be used to guide the push rod to move forward and backward, one end of the push rod output channel is connected to the push rod driving mechanism, the other end of the push rod output channel is connected to the flexible connecting section, the front end of the flexible connecting section is connected to the tail end of the external puncture needle or is provided with a docking mechanism connected to the tail end of the external puncture needle, the particle feeding mechanism is used to set particles at the front end of the push rod, when the push rod driving mechanism drives the push rod to move forward, the push rod can push the particles along the flexible connecting section and the external puncture needle to be implanted to the target position, when the flexible connecting section is docked with the external puncture needle, the straightening mechanism can make the flexible connecting section in an upright state; After the flexible connection section is connected to the external puncture needle, the straightening mechanism can restore the flexible connection section to a flexible state.

2. A particle implantation device with a straightening mechanism according to claim 1, characterized in that: The straightening mechanism includes a support sleeve and a linear motion component. The support sleeve is sleeved outside the flexible connection section. The linear motion component can drive the support sleeve to perform forward and backward telescopic movement. When the support sleeve moves forward, the flexible connection section can be straightened to be in an upright state; when the support sleeve moves backward, the flexible connection section can be restored to a flexible state. Alternatively, the straightening mechanism includes at least one capsule, which is arranged outside the flexible connecting section along the length direction of the flexible connecting section, and the capsule can be filled with or discharged with a medium through an external filling device. When the capsule is filled with a medium and is in a filled state, it can support the flexible connecting section to keep it in an upright state; When the bladder is discharged of the medium and is in a deflated and flexible state, the flexible connecting section loses its supporting function and returns to a flexible state.

3. A particle implantation device with a straightening mechanism according to claim 2, characterized in that: The support sleeve is connected to the linear motion assembly through a support rod. The support rod is a rigid structure. The axial direction of the support rod is arranged along the front-back direction. The support sleeve is installed on the support rod. The linear motion assembly drives the support rod to slide forward and backward, thereby driving the support sleeve to move forward and backward. Alternatively, the support sleeve is in the shape of a hollow circular sleeve, and the linear motion component directly acts on the support sleeve and drives the support sleeve to move forward and backward.

4. The particle implantation device with a straightening mechanism according to claim 2, characterized in that: The capsule body is covered with the flexible connecting section, a through hole is provided in the capsule body, and the flexible connecting section passes through the through hole; Alternatively, the side edge of the capsule is arranged outside the flexible connecting section and is relatively fixed to the flexible connecting section; Alternatively, a guide portion is provided on the side of the capsule, and the flexible connecting section passes through the guide portion, and the guide portion is at least one of a guide tube, a guide ring, and a guide groove.

5. The particle implantation device with a straightening mechanism according to claim 2, characterized in that: The tail of the support sleeve is also connected to a support assembly, which can be telescopic and used to limit the flexible connection section to a fixed axial direction; the support assembly includes at least one of a telescopic tube assembly, a guide ring assembly, a bellows assembly, and a C-shaped tube assembly; When the support assembly is a telescopic tube assembly, the telescopic tube assembly includes a telescopic sleeve group, each sleeve of the sleeve group is outer-circuited on the flexible connection section, the sleeve at the front end of the sleeve group is connected to the rear end of the support sleeve, and the sleeve at the rear end of the sleeve group is fixedly arranged, when the support sleeve moves forward, the sleeves in the sleeve group are extended to each other; when the support sleeve moves backward, the sleeves in the sleeve group are retracted to each other; When the support assembly is a guide ring assembly, the guide ring assembly includes a guide ring group, each guide ring of the guide ring group is sleeved on the flexible connection section, each guide ring is set on the external guide rail or guide groove for guiding sliding, each guide ring is connected by an elastic element, the guide ring at the front end of the guide ring group is connected to the rear end of the support sleeve, when the support sleeve moves forward, each guide ring of the guide ring group is separated from each other under the action of the elastic element; when the support sleeve moves backward, each guide ring of the guide ring group squeezes the elastic element and gathers together; When the support assembly is a bellows assembly, the bellows assembly includes a bellows, the bellows sleeve is wrapped around the flexible connection section, the front end of the bellows is connected to the rear end of the support sleeve, the rear end of the bellows is fixed, and when the support sleeve moves forward, the bellows is stretched; when the support sleeve moves backward, the bellows is squeezed and retracted; When the support assembly is a C-shaped tube assembly, the C-shaped tube assembly includes a C-shaped tube that can be flexibly deformed and a spreading seat. The C-shaped tube is located on one side of the flexible connecting section. The front end of the C-shaped tube is connected to the rear end of the support sleeve, and the rear end of the C-shaped tube is connected to the linear motion assembly. The linear motion assembly drives the front end and the rear end of the C-shaped tube to move synchronously. The C-shaped tube is provided with a slot along its length. The slot on the C-shaped tube is closed in the initial state. The slot of the C-shaped tube can open a small opening under the action of the spreading seat so that the flexible connecting section can enter the C-shaped tube, so that the C-shaped tube is sleeved on the flexible connecting section. When the support sleeve moves forward, the C-shaped tube is gradually sleeved on the flexible connecting section from front to back, thereby limiting the flexible connecting section to a fixed axial direction; when the support sleeve moves backward, the C-shaped tube gradually separates from the flexible connecting section from back to front, thereby restoring the flexible connecting section to a free deformation state.

6. The particle implantation device with a straightening mechanism according to claim 3, characterized in that: The linear motion assembly is a friction motion assembly, a gear rack motion assembly, a screw nut motion assembly or a belt drive assembly; The friction motion assembly includes at least one friction wheel or friction belt, which presses against the support rod or support sleeve and drives the support rod or support sleeve to move forward and backward through friction; The gear rack motion assembly includes a gear and a rack portion, the rack portion is fixedly arranged on the support rod or the support sleeve along the axial direction of the support rod or the support sleeve, the gear is meshed with the rack portion, and the rotation of the gear can drive the rack portion to move forward and backward to realize the forward and backward movement of the support rod or the support sleeve; The screw-nut motion assembly includes a screw and a nut seat. The screw and the nut seat are threaded together. The nut seat is connected to the support rod or the support sleeve. The axial direction of the screw is parallel to the axial direction of the support rod or the support sleeve. The nut seat can make guided sliding motion along the axial direction of the support rod or the support sleeve. The rotation of the screw can drive the nut seat to move forward and backward to realize the forward and backward movement of the support rod or the support sleeve; the belt drive assembly includes a transmission belt and a transmission block. The transmission belt transmits along the forward and backward direction. The transmission belt is fixedly connected to the transmission block. The transmission block is fixedly connected to the support rod or the support sleeve. The transmission of the transmission belt can drive the transmission block to move forward and backward to realize the forward and backward movement of the support rod or the support sleeve.

7. The particle implantation device with a straightening mechanism according to claim 4, characterized in that: The capsule is made of a material with certain flexibility and toughness, including one or a combination of plastic, rubber, silicone, and latex, and the medium is gas or liquid; the capsule fits the flexible connecting section; When the capsule is covered with the flexible connecting section, a cavity is provided in the capsule, and the length of the cavity matches the length of the flexible connecting section; When the side of the capsule is arranged outside the flexible connecting section, a plurality of capsules are provided and are arranged around the flexible connecting section in a symmetrical structure, and each capsule is fixedly connected to the flexible connecting section by bonding or bundling.

8. The particle implantation device with a straightening mechanism according to claim 3, characterized in that: When the linear motion component drives the support sleeve through the support rod, one end of the support rod is connected to the linear motion component, and the other end of the support rod is connected to the support sleeve. The support rod is parallel to the flexible connection section in an upright state, and the end face of the support sleeve is perpendicular to the length direction of the support rod. The length of the support rod is adapted to the length of the flexible connection section, so that the flexible connection section is straightened when the support rod is fully extended; a plurality of guide mechanisms are provided on the gun body, and the guide mechanisms are used to guide the support rod to perform forward and backward linear motion. The guide mechanism is provided with a guide part at the front end of the gun body, and the guide part is one or more combinations of a through hole, a through groove, a sliding groove, a guide rod, and a guide block; when the linear motion component directly drives the support sleeve, the support sleeve is parallel to the flexible connection section in an upright state, and the length of the support sleeve is adapted to the length of the flexible connection section, so that the flexible connection section is straightened when the support sleeve is fully extended.

9. The particle implantation device with a straightening mechanism according to claim 1, characterized in that: The length of the flexible connecting section is greater than 100 mm, the outer diameter is less than 5 mm, and it is made of a flexible and deformable material, including one or a combination of plastic, latex, silicone, rubber, and nickel-titanium alloy.

10. The particle implantation device with a straightening mechanism according to claim 2, characterized in that: A mounting seat is connected to the bottom of the particle implantation gun, the linear motion assembly is mounted on the mounting seat or the gun body, the mounting seat is mounted at the end of a mechanical arm, and the mechanical arm can control the position of the particle implantation gun in space; The end of the flexible connection section is provided with a docking mechanism connected to the external puncture needle, and the docking mechanism adopts one or more combined connection methods of magnetic attraction, thread, lock, hook, and clamping; when the docking mechanism adopts the clamping connection method, the docking mechanism includes a centering part and a claw assembly, and the centering part is provided with a magnet for quickly attracting the puncture needle during docking, and realizing rapid centering and pre-connection, so as to facilitate the clamping and connection of the puncture needle with the claw assembly later; When the straightening mechanism is a support sleeve, the support sleeve can move between the docking mechanism and the gun body, or a part or all of the support sleeve can extend out of or retract into the gun body; When the straightening mechanism is a capsule, the capsule is arranged between the docking mechanism and the gun body.

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