Semi-automatic particle implantation system capable of manually switching implantation pipelines and use method of semi-automatic particle implantation system

Abstract

The invention discloses a semi-automatic particle implantation system capable of manually switching implantation pipelines and a use method thereof. The semi-automatic particle implantation system comprises a conveying catheter, a particle injection pipe, a particle injection pipe, a particle injection pipe and a particle injection pipe, wherein one end of the conveying catheter is connected with a puncture needle; the number of the implantation output interface is one, and different conveying catheters and the implantation output interface can be manually mounted, so that implantation channels can be manually switched; the implantation mechanism is used for pushing out the radioactive source from an implantation output interface, butt-joint installation is carried out through the conveying catheters and the implantation output interface, the radioactive source enters a focus of focus along different conveying catheters and puncture needles through the implantation mechanism, flexible connection between the implantation mechanism and the puncture needles is guaranteed, and the situation that a patient is scratched by pulling the puncture needles is avoided; implantation and core pulling channels are manually switched, the problem of selective implantation of a plurality of needles is solved, and a radioactive source can enter a focus along different conveying catheters and puncture needles after core pulling.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to a semi-automatic particle implantation system with manually switched implantation channels and a method for using the system. Background Art

[0002] Radioactive particle implantation surgery is a local radiotherapy in which many radioactive particles are implanted directly into the tumor through puncture. This surgery has a wide range of indications, including lung cancer, liver cancer, breast cancer, prostate cancer, etc., and it has small incisions, little bleeding, and relatively few surgical complications, but it can effectively inhibit tumor growth.

[0003] The basic process of this operation is to first take a preoperative CT scan, determine the puncture path and particle layout plan in the TPS system, and then insert many puncture needles into the tumor according to the plan. This process can be completed with the help of a puncture guide template to ensure that the spacing and direction between each needle are consistent with the preoperative plan. After confirming through CT that all puncture needles have reached the target position, the doctor pushes multiple particles into the tumor according to the preoperative plan through the channel established by the puncture needle to complete the operation. In addition, in order to avoid the needle sheath being blocked by blood clotting in the puncture needle, a needle core needs to be set in the puncture needle to fill the space in the needle, and the needle core needs to be pulled out before implantation to establish an implantation channel.

[0004] However, this type of surgery currently takes a long time, and doctors need to be in close contact with the particles during the implantation process, which causes great radiation damage, which greatly limits the application and promotion of this type of surgery. Therefore, a radioactive source implantation robot system has emerged, such as the particle implantation surgical robot proposed in Chinese patent CN201910714054.7. The robot system has an automatic particle implantation gun installed at the end of the robot, which can complete puncture and particle implantation with high precision.

[0005] However, the particle implantation gun and the puncture needle are always rigidly connected during the operation, which can easily scratch the patient. In addition, the particle implantation is performed immediately after the puncture is completed, which changes the process of traditional manual surgery and requires CT verification to be performed immediately after each puncture, which greatly increases the number of CT scans for patients and exposes them to greater radiation. Moreover, the device cannot solve the problem of implanting multiple puncture needles. Summary of the invention

[0006] The purpose of the present invention is to provide a method to solve the existing technical defects and unattainable technical requirements.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a semi-automatic particle implantation system with manually switched implantation channels, comprising: a delivery catheter: one end of which is connected to a puncture needle, and the other end of which is docked with an implantation output interface; an implantation output interface: provided with one, and different delivery catheters can be manually installed with the implantation output interface, thereby realizing manual switching of implantation channels; an implantation mechanism: after the radiation source is pushed out of the implantation output interface, and the delivery catheter is installed with the implantation output interface, the radiation source can be transported to a preset position along the hollow channel of the delivery catheter and the puncture needle.

[0008] Preferably, the delivery catheter is connected to the implant output interface via a quick-connect structure, and the quick-connect structure is a snap-on structure or a threaded structure.

[0009] Preferably, it also includes a core pulling mechanism for pulling out the needle core in the delivery catheter. The needle pulling mechanism is docked with the tail of the needle core to pull out the puncture needle and the needle core in the delivery catheter, thereby forming a hollow implantation channel. The core pulling mechanism is one or a combination of a friction core pulling mechanism, a reciprocating clamping core pulling mechanism, and a winding core pulling mechanism.

[0010] Alternatively, in addition to the implant output interface, a core extraction interface is also included, one side of the core extraction interface is aligned with the core extraction mechanism, and the delivery catheter can be manually docked with the other side of the core extraction interface, thereby realizing the switching of core extraction of different delivery catheters;

[0011] Alternatively, the implant output interface is a core extraction interface, and further includes a channel switching component, which is used to switch the core extraction mechanism and the implant mechanism to be connected to the implant output interface respectively; the channel switching component is a motion platform.

[0012] Preferably, the motion platform includes a reciprocating mechanism and a front-to-back docking mechanism, wherein the reciprocating mechanism controls the core pulling mechanism and the implanting mechanism to move back and forth or rotate left and right, and drives the core pulling mechanism or the implanting mechanism to align with the implant output interface respectively, and the front-to-back docking mechanism drives the core pulling mechanism or the implanting mechanism to move forward and backward, controls the distance between the core pulling mechanism or the implanting mechanism and the implant output interface, and controls the core pulling mechanism or the implanting mechanism to dock with the implant output interface.

[0013] Preferably, the implantation mechanism comprises a push rod, a push rod driving mechanism and a radiation source feeding mechanism, the push rod driving mechanism drives the push rod to move forward and backward, and when the push rod moves forward, the radiation source arranged in front of the push rod by the radiation source feeding mechanism is pushed out, and the radiation source is pushed out of the puncture needle by pushing the radiation source into the implantation output interface, and implanted into the biological tissue, the radiation source feeding mechanism is one or a combination of a particle clip, a particle chain feeding mechanism, and a particle arrangement feeding mechanism, and the particle arrangement feeding mechanism is one or a combination of a grabbing feeding mechanism, a notch arrangement feeding mechanism, a V-groove arrangement feeding mechanism, and a vibration disk feeding mechanism.

[0014] As a preferred embodiment, it also includes a needle removal mechanism;

[0015] The needle extraction mechanism is configured with only one needle extraction drive position, and different puncture needles can be extracted by manually installing different delivery catheters or needle extraction drive heads accompanying the catheter to the needle extraction drive position;

[0016] Alternatively, the needle removal mechanism is configured with multiple needle removal drive positions, multiple delivery catheters or needle removal drive heads are installed at multiple different needle removal drive positions, and different puncture needles are removed through an automatic needle removal channel switching mechanism, or each needle removal drive position is respectively provided with a needle removal unit, and different needle removal units can be selectively controlled to perform needle removal actions.

[0017] Preferably, the needle extraction mechanism adopts a direct pushing method, the delivery catheter comprises an inner tube and an outer tube, the outer tube is placed outside the inner tube, the front end of the inner tube is connected to the puncture needle inserted into the target object, and the front end of the outer tube is abutted against or connected to the target object; the inner tube and the outer tube can move relative to each other under the action of the needle extraction mechanism, so that the puncture needle moves in a direction away from the target object, and the puncture needle is pulled out from the target object;

[0018] The needle extraction mechanism is a telescopic push rod. When the needle extraction mechanism is configured with only one needle extraction drive position, the needle extraction drive position is set near the output interface. After the inner tube of the delivery catheter is installed with the implanted output interface, the telescopic push rod can extend from the needle extraction drive position and push the outer tube, so that the outer tube can move forward relative to the inner tube and extract the puncture needle from the target object.

[0019] Preferably, the needle removal mechanism adopts a tube-mounted needle removal assembly, and the needle removal group of the tube-mounted needle removal assembly is arranged on the inner tube or the outer tube;

[0020] The needle extraction group of the needle extraction assembly with tube is connected to the needle extraction drive mechanism or power source at the needle extraction drive position through the sleeve. The needle extraction drive mechanism or power source drives the needle extraction group of the needle extraction assembly with tube to move through the drive wire, liquid, and gas in the sleeve. The driving mode is selective pushing, or pushing / pulling after selective clamping, or selective array friction, or selective injection of liquid or gas.

[0021] A method for using a semi-automatic particle implantation system with manually switched implantation channels comprises the following steps:

[0022] Step 1: insert multiple puncture needles into the target object according to the planned needle insertion route;

[0023] Step 2: Connect the tail of one of the puncture needles to the delivery catheter, manually insert the inner tube of the delivery catheter into the core extraction interface, or connect the tails of all the puncture needles to a delivery catheter respectively, or the tails of the puncture needles are always connected to the delivery catheter, and then manually insert the inner tube of one of the delivery catheters into the core extraction interface, and adjust the outer tube sleeved outside the inner tube so that one end of the outer tube is pressed against or connected to the target object;

[0024] Step 3: The motion platform drives the core pulling mechanism to dock with the inner tube inserted in the core pulling interface, or the core pulling mechanism has docked with the inner tube of the core pulling interface, and a portion of the flexible needle core exposed outside the inner tube is just inserted into the core pulling mechanism, and then the core pulling mechanism extracts the flexible needle core from the delivery catheter and stores it in the storage device;

[0025] Step 4: After the needle core is completely pulled out, the implant quick connector is manually pulled out or removed from the core extraction interface, and then docked with the implant output interface corresponding to the implant mechanism, or the core extraction mechanism is automatically controlled to be moved away from the implant output interface by the channel switching component, and then the implant mechanism is automatically controlled to dock with the implant output interface, so that the implant output interface is docked with the delivery catheter to form an implant channel;

[0026] Step 5: The push rod driving mechanism of the implantation mechanism drives the push rod to move forward and backward. When the push rod moves forward, the radioactive source arranged in front of the push rod by the radioactive source feeding mechanism is pushed out, and the radioactive source is pushed into the implantation output interface, and is pushed along the delivery catheter to the front end of the puncture needle. At this time, under the action of the needle removal mechanism, a force is applied to the inner tube and / or the outer tube, so that the inner tube and the outer tube move relative to each other, and the needle removal action is realized, so as to adjust the implantation depth of the radioactive source according to the treatment requirements; then the push rod driving mechanism of the implantation mechanism drives the push rod to reset;

[0027] Step 6: Manually detach the inner tube of the delivery catheter from the implantation output interface, and then switch to another puncture needle to repeat steps 2 to 5 until all puncture needles have been implanted, thus completing the particle implantation of the semi-automatic particle implantation system with manual switching of the implantation pipeline.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. The delivery catheter is docked with the implant output interface for installation, and the radiation source is introduced into the lesion through the implant mechanism along different delivery catheters and puncture needles to ensure the flexible connection between the implant mechanism and the puncture needle to avoid pulling the puncture needle to scratch the patient;

[0030] 2. The needle removal mechanism adopts the inner and outer tube settings, and controls the relative movement between the inner and outer tubes through automatic or manual needle removal to control the removal of the puncture needle to adjust the implantation depth of the radioactive source. This allows the operator to complete all operations away from the radioactive source, effectively reducing the radiation impact of the radioactive source on the operator;

[0031] 3. The manual switching of implantation and core removal channels solves the problem of selective implantation of multiple needles. The radiation source can enter the lesion along different delivery catheters and puncture needles after core removal. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0033] Figure 2 This is a schematic diagram of the structure of the needle removal mechanism according to Embodiment 1 of the present invention;

[0034] Figure 3 This is an exploded view of the needle removal control box structure of Example 1 of the present invention;

[0035] Figure 4 It is a side sectional view of the needle removal drive shaft of Example 1 of the present invention;

[0036] Figure 5 This is a schematic diagram of the overall structure of Embodiment 2 of the present invention;

[0037] Figure 6 This is a schematic diagram of the internal structure of Embodiment 2 of the present invention;

[0038] Figure 7 This is a schematic structural diagram of a second core pulling mechanism according to Embodiment 2 of the present invention;

[0039] Figure 8 A side sectional view of a second core pulling mechanism according to Embodiment 2 of the present invention;

[0040] Fig. 9 It is a side sectional view of a particle chain conveying device according to Embodiment 2 of the present invention;

[0041] Fig.10 A cross-sectional view of the second inner tube and the second outer tube structure of Example 2 of the present invention;

[0042] Fig.11 This is an overall structural diagram of a manual needle removal and implantation machine according to Embodiment 3 of the present invention;

[0043] Fig.12 A side view of a manual needle removal and implantation machine according to Embodiment 3 of the present invention;

[0044] Fig.13 This is a structural schematic diagram of the implant output interface of Example 4 of the present invention when it is a core extraction interface;

[0045] Fig.14 It is a front view of embodiment 4 of the present invention;

[0046] Fig.15 It is a structural schematic diagram of a needle-pulling drive mechanism according to Embodiment 4 of the present invention;

[0047] Fig.16 This is a schematic diagram of the structure of the particle cartridge after clamping according to Embodiment 4 of the present invention;

[0048] Fig.17 This is a schematic diagram of the structure during implantation and needle removal of Example 4 of the present invention. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] Example 1

[0051] A semi-automatic particle implantation system with manually switched implantation channels, comprising:

[0052] The delivery catheter (such as the first inner tube 8111109 in this embodiment): one end is connected to the puncture needle, and the other end is connected to the implant output interface;

[0053] An implant output interface (such as the first implant output interface 8111126 of the present embodiment): one is provided, and different delivery catheters can be manually installed with the implant output interface, thereby realizing manual switching of implant channels;

[0054] Implantation mechanism (such as the radiation source implantation device 8111102 of the present embodiment): after the radiation source is pushed out from the implantation output interface and the delivery catheter is installed with the implantation output interface, the radiation source can be delivered to a preset position along the hollow channel of the delivery catheter and the puncture needle.

[0055] The delivery catheter is connected to the implant output interface via a quick-connect structure (such as the implant quick connector 81112102 in this embodiment), and the quick-connect structure is a snap-on structure or a threaded structure.

[0056] It also includes a core pulling mechanism (such as the first core pulling mechanism 8111103 in the present embodiment), which is used to pull out the needle core in the delivery catheter. The needle pulling mechanism is docked with the tail of the needle core to pull out the puncture needle and the needle core in the delivery catheter, thereby forming a hollow implantation channel. The core pulling mechanism is one or a combination of a friction core pulling mechanism, a reciprocating clamping core pulling mechanism, and a winding core pulling mechanism.

[0057] In addition to the implant output interface, there is also a core extraction interface (such as 8111127 in this embodiment). One side of the core extraction interface is aligned with the core extraction mechanism, and the delivery catheter can be manually docked with the other side of the core extraction interface, thereby realizing the switching of core extraction of different delivery catheters;

[0058] Alternatively, the implant output interface is a core extraction interface, and further includes a channel switching component, which is used to switch the core extraction mechanism and the implant mechanism to be connected to the implant output interface respectively; the channel switching component is a motion platform.

[0059] The motion platform includes a reciprocating mechanism and a front-to-back docking mechanism. The reciprocating mechanism controls the core pulling mechanism and the implanting mechanism to move back and forth or rotate left and right, and drives the core pulling mechanism or the implanting mechanism to align with the implant output interface respectively. The front-to-back docking mechanism drives the core pulling mechanism or the implanting mechanism to move forward and backward, controls the distance between the core pulling mechanism or the implanting mechanism and the implant output interface, and controls the core pulling mechanism or the implanting mechanism to dock with the implant output interface.

[0060] The implantation mechanism comprises a push rod, a push rod driving mechanism and a radiation source feeding mechanism. The push rod driving mechanism drives the push rod to move forward and backward. When the push rod moves forward, the radiation source arranged in front of the push rod by the radiation source feeding mechanism is pushed out. The radiation source is pushed out of the puncture needle by pushing the radiation source into the implantation output interface and implanted into the biological tissue. The radiation source feeding mechanism is one or a combination of a particle clip, a particle chain feeding mechanism, and a particle arrangement feeding mechanism. The particle arrangement feeding mechanism is one or a combination of a grabbing feeding mechanism, a notch arrangement feeding mechanism, a V-groove arrangement feeding mechanism, and a vibration disk feeding mechanism.

[0061] Also includes a needle extraction mechanism;

[0062] The needle extraction mechanism is configured with only one needle extraction drive position, and different puncture needles can be extracted by manually installing different delivery catheters or needle extraction drive heads accompanying the catheter to the needle extraction drive position;

[0063] Alternatively, the needle removal mechanism is configured with multiple needle removal drive positions, multiple delivery catheters or needle removal drive heads are installed at multiple different needle removal drive positions, and different puncture needles are removed through an automatic needle removal channel switching mechanism, or each needle removal drive position is respectively provided with a needle removal unit, and different needle removal units can be selectively controlled to perform needle removal actions.

[0064] The needle extraction mechanism adopts a direct pushing method, and the delivery catheter includes an inner tube and an outer tube. The outer tube is placed outside the inner tube, and the front end of the inner tube is connected to the puncture needle inserted into the target object, and the front end of the outer tube is abutted against or connected to the target object; the inner tube and the outer tube can move relative to each other under the action of the needle extraction mechanism, so that the puncture needle moves in a direction away from the target object and the puncture needle is pulled out from the target object.

[0065] The needle extraction mechanism is a telescopic push rod. When the needle extraction mechanism is configured with only one needle extraction drive position, the needle extraction drive position is set near the output interface. After the inner tube of the delivery catheter is installed with the implanted output interface, the telescopic push rod can extend from the needle extraction drive position and push the outer tube, so that the outer tube can move forward relative to the inner tube and extract the puncture needle from the target object.

[0066] The needle extraction mechanism adopts a tube-mounted needle extraction assembly, and the needle extraction group of the tube-mounted needle extraction assembly is arranged on the inner tube or the outer tube;

[0067] The needle extraction group of the needle extraction assembly with tube is connected to the needle extraction drive mechanism or power source at the needle extraction drive position through the sleeve. The needle extraction drive mechanism or power source drives the needle extraction group of the needle extraction assembly with tube to move through the drive wire, liquid, and gas in the sleeve. The driving mode is selective pushing, or pushing / pulling after selective clamping, or selective array friction, or selective injection of liquid or gas.

[0068] Specific as Figures 1 to 4 In this embodiment, a single core extraction interface 8111127 and a single first implant output interface 8111126 are provided. The delivery catheter is manually connected to the core extraction interface. The radiation source implantation device 8111102 and the first core extraction mechanism 8111103 are respectively fixed to the fixed plate 81112101, and the fixed plate 81112101 is fixed to the tripod 81112104. One end of the first inner tube 8111109 is fixed to the implantation quick connector 81112102. The implantation quick connector 81112102 can be quickly connected to the first implantation output interface 8111126 and the core extraction interface 8111127 on the fixed plate 81112101. The other end passes through the needle extraction mechanism 8111107 and is connected to the puncture needle (not shown in the figure). The puncture needle passes through the hole on the human body template 8111105 until it reaches the lesion. The needle core 81112103 is located in the first inner tube 8111109 and extends to the needle tip of the puncture needle, thereby filling the space in the puncture needle to prevent blood from rushing in and clotting and causing blockage, and the first outer tube 8111106 is put on the outside of the first inner tube 8111109. At this time, one end of the first outer tube 8111106 abuts against the human body template 8111105, and the other end abuts against one side of the needle removal mechanism 8111107 (the needle removal mechanism 8111107 can slide relatively on the first inner tube 8111109).

[0069] like Figure 3 and Figure 4 The needle extraction mechanism includes a needle extraction drive shaft 8111113, and the needle extraction drive shaft 8111113 and the needle extraction quick connector 8111108 are inserted into the hole from the rear side of the needle extraction control box 8111112 (equivalent to the needle extraction control assembly). The pull ring shaft 8111117 is fixedly connected with a movable pull ring 8111110, and the pull ring shaft 8111117 is inserted into the hole from the front side of the needle extraction control box 8111112. At this time, the pull ring shaft 8111117 is rotated 90 degrees, and the needle extraction drive shaft 8111113 and the pull ring shaft 811111 7 are locked together and can slide together in the hole of the needle extraction control box 8111112. The surface of the needle extraction control box 8111112 has a pair of friction wheels 8111118. The sliding of the pull ring shaft 8111117 can drive the friction wheel 8111118 to rotate. The rotary encoder 8111119 detects the rotation of the friction wheel 8111118 in real time, thereby calculating the manual needle extraction distance, which is convenient for the device to implant particles or particle chains into the biological tissue at the same implantation rate as the needle extraction rate, and display it on the screen, so as to observe the progress of the needle extraction.

[0070] like Figure 1 and Figure 2 One end of the needle extraction drive tube 8111111 is fixed to the handle 8111121, and the other end is fixed to the outer shell of the needle extraction mechanism 8111107. One end of the metal drive wire 8111123 is fixed to the paddle 8111125 in the needle extraction mechanism 8111107, and the other end is fixed to the wire locking shaft 8111124. The wire locking shaft 8111124 is inserted into the guide shaft 8111122 from one side of the guide shaft 8111122 and can slide in the shaft. One end of the guide shaft 8111122 is provided with a stop step to prevent the wire locking shaft 8111124 from passing through completely. The guide shaft 8111122 is fixed to the handle 8111121, and the needle extraction drive shaft 8111113 is connected to the wire locking shaft 8111124.

[0071] Pull the pull ring 8111110, the needle pulling drive shaft 8111113 is pulled, and then the paddle in the needle pulling mechanism 8111107 is pulled, so that the first inner tube 8111109 connected to the puncture needle is pulled, so that the needle is pulled out. Before pulling out the needle, manually dock the implantation quick connector 81112102 with the hole corresponding to the entrance of the first core pulling mechanism 8111103, and then the first core pulling mechanism 8111103 automatically pulls out the needle core 81112103 in the first inner tube 8111109 into the wire collecting wheel of the first core pulling mechanism 8111103. After the needle core 81112103 is completely pulled out, manually dock the implantation quick connector 81112102 with the outlet of the radiation source implantation device 8111102. The radiation source implantation device 8111102 pushes the radiation source along the first inner tube 8111109 to the lesion through the push rod. The push of the particle chain is detected by the encoder and accurately controlled by the implantation drive motor 8111114. At the same time, the rotary encoder 8111119 arranged on the needle removal control box 8111112 can also detect the displacement of the pull ring 8111110, and reflect this information on the display screen on the needle removal control box 8111112. To facilitate the operator to synchronously withdraw the needle, because when the radiation source is about to be pushed out, the puncture needle also needs to be synchronously withdrawn at the same rate, and the puncture needle itself will be affected by the elastic traction of human tissue, and there are gaps in the needle withdrawal mechanism 8111107 and the needle withdrawal drive tube 8111111, so the starting point of the needle withdrawal cannot be accurately controlled by the equipment, so the needle withdrawal is driven manually by the operator (but because the needle withdrawal drive tube 8111111 is longer at this time, the radiation source implantation device 8111102 and the radiation source in the patient's body cause less radiation damage to the operator), and the starting point of the needle withdrawal is judged by the operator's feel. When the operator senses that the puncture needle is being pulled out, the operator can press the control button (not shown in the figure), and take the position of the pull ring 8111110 at this time as the zero position, and control the implantation drive motor 8111114 of the radiation source based on the displacement detected by the rotary encoder set on the needle withdrawal control box 8111112 to synchronously push the radiation source with higher synchronization accuracy to push the radiation source out. In order to remove and implant different puncture needles, the operator needs to manually connect different implantation quick connectors 81112102 with the corresponding holes on the fixing plate 81112101, and after the needle core is retracted, connect it with the hole corresponding to the outlet of the radiation source implantation device 8111102, and repeat the above process. When a certain needle removal quick connector 8111108 and implantation quick connector 81112102 are in use, other needle removal quick connectors 8111108 and implantation quick connectors 81112102 can be hung on the flat bracket 81112105.

[0072] Example 2

[0073] The needle extraction mechanism adopts a direct pushing method. The delivery catheter includes an inner tube and an outer tube. The outer tube is placed outside the inner tube. The front end of the inner tube is connected to the puncture needle inserted into the target object, and the front end of the outer tube is against or connected to the target object. The inner tube and the outer tube can move relative to each other under the action of the needle extraction mechanism, so that the puncture needle moves away from the target object and the puncture needle is pulled out from the target object.

[0074] like Figures 5 to 10 As shown, a single implant output interface is arranged near the position of the needle extraction drive mechanism, the protective shell A81211101 is mounted on the tripod 81211104, the protective shell B81211103 is mounted on the protective shell A81211101, the second core extraction mechanism 181222101 is fixed to the protective shell B81211103, and the core extraction storage wheel 81211106 is fixed to the second core extraction mechanism 181222101. The particle chain conveying device 18122103 is fixed to the protective shell B81211103, the push rod drive device 81211105 is fixed to the particle chain conveying device 18122103, and the storage box 18122106 is fixed to the particle chain conveying device 18122103.

[0075] The inner tube joint 18122111 is connected to the second inner tube 18122115, the second inner tube 18122115 is sleeved and installed in the second outer tube 18122116, the core pulling drive device 81211109 is fixed to the second core pulling mechanism 18122101, the core pulling drive wheel A81211110, the core pulling drive wheel B81211111, and the core pulling drive wheel C81211112 are installed on the second core pulling mechanism 181222101, and the wire guide tube 81211107 is installed on the second core pulling mechanism 181222101. The flexible needle core 81211113 is installed on the second inner tube 18122115.

[0076] The particle chain conveying device 18122103 is fixed to the protective shell B81211103, the slitting device 18122108 is fixed to the particle chain conveying device 18122103, the push rod driving device 81211105 is fixed to the particle chain conveying device 18122103, the particle chain storage box 18122106 is fixed to the particle chain conveying device 18122103, the particle chain 18122127 is stored in the particle chain storage box 18122106, the head is installed in the particle chain conveying device 18122103, and the inner pipe joint 18122111 is screwed to the protective shell B81211103. The rack 18122123 is installed on the push rod driving device 81211105.

[0077] When in use, select the corresponding needle tube number according to needs. The first step is to pinch the inner tube joint 18122111 at the tail of the needle tube and insert it into the hole corresponding to the second core pulling mechanism 18122101 on the protective shell B81211103. When the inner tube joint 18122111 is inserted into place, a part of the flexible needle core 81211113 exposed in the second inner tube 18122115 is just rolled up by the core pulling driving wheel A81211110 (friction wheel) rotating clockwise at high speed and extracted from the second inner tube 18122115. The flexible needle core 81211113 is driven by the core pulling driving wheel A81211110, the core pulling driving wheel B81211111 and the core pulling driving wheel C81211112 and is pushed backwards and finally stored along the guide wire tube 81211107 Into the core pulling and wire collecting wheel 81211108, when the flexible needle core 81211113 is completely extracted from the second inner tube 18122115, the core pulling and wire collecting wheel 81211108 is manually toggled to make the flexible needle core 81211113 completely stored in the core pulling and wire collecting wheel 81211108, and the wire guide tube 81211107 is emptied to prepare for the next core pulling; or the flexible needle core 81211113 is not completely transported into the core pulling and wire collecting wheel 81211108 first, in preparation for spitting out the flexible needle core 81211113 or inserting the flexible needle core 81211113 back into the conveying catheter; the second step is to lock the inner tube joint 18122111 to the hole position of the slitting device of the particle chain feeding mechanism on the protective shell B81211103 through a thread. The section of the second inner tube 18122115 close to the inner tube joint 18122111 is a rigid section, which can maintain verticality with the protective shell B81211103, thereby playing a guiding role for the outer tube push seat 81211102. The other end of the second inner tube 18122115 is a flexible section, so that it can better dock with the puncture needle 11 in different positions and adapt to the movement of the patient's body to ensure the safety of the operation. Then move the outer tube push seat 81211102 along the second outer tube 18122116 so that its front end face is close to or attached to the protective shell B81211103, and at the same time adjust the locking knob to press the metal ring to relatively fix the outer tube push seat 81211102 and the second outer tube 18122116. The metal ring 18122114 is used to avoid squeezing the flexible outer tube, thereby preventing the inner tube and the outer tube from moving relative to each other, that is, the needle cannot be removed.The third step is to start the single needle implantation process. The operator should stay away from the device to avoid radiation. Then the protective shell A81211101 can be covered. At this time, the particle chain conveying device 18122103 will drive the particle chain 18122127 forward. When the particle chain 18122127 passes through the cutting device 18122108, the cutting device 18122108 will cut the front section of the particle chain 18122127 into particle chains 18122127 of different lengths according to the setting. The cut particle chain 1 8122127 will be pushed forward in the second inner tube 18122115 by the particle chain 18122127 at the rear. When the particle chain 18122127 reaches the tip of the puncture needle 11, the push rod drive device 81211105 and the particle chain conveying device 18122103 will synchronously drive the rack 18122123 to push the outer tube push seat 81211102 forward to complete the needle removal action and drive the particle chain 18122127 to continue to move forward to complete the implantation action. After the needle removal and the particle chain 18122127 implantation are synchronously completed, the truncated particle chain 18122127 will be retained at the human lesion and the implantation work will be completed. The remaining particle chain 18122127 will be returned to the particle chain conveying device 18122103, waiting for the next implantation. Repeat the above steps to complete the semi-automatic particle implantation.

[0078] The above-mentioned radioactive source implantation method can also use a flexible push rod to push the radioactive source to be implanted into the biological tissue, and the particle chain feeding mechanism can also be replaced by a particle clip. At this time, the radioactive source becomes a particle instead of a particle chain. When pushing out, multiple particles can be pushed out from the clip in sequence first, and then pushed together to the front end of the puncture needle, and then discharged in sequence (pulling and implanting at the same time, thereby achieving interval implantation), or multiple particles can be pushed out from the clip in sequence, and only one particle is pushed to the front end of the puncture needle for discharge each time.

[0079] Example 3

[0080] When the needle extraction mechanism adopts a manual needle extraction drive mechanism to directly push the inner tube and / or the outer tube, the manual needle extraction drive mechanism includes a manual pushing part, and the operator manually pushes the manual pushing part to move along the axial direction of the outer tube, or the operator manually turns the hand wheel to rotate, and the hand wheel drives the friction wheel mechanism or the gear rack mechanism to indirectly drive the manual pushing part to move along the axial direction of the outer tube, and one end of the manual pushing part directly pushes the end face of the outer tube or the step face of the outer tube, and at this time the inner tube has been connected to the implant output interface to form an implant channel, so the manual pushing part will drive the relative displacement between the inner and outer tubes to realize the needle extraction action.

[0081] like Fig.11 and Fig.12The needle extraction drive mechanism of this embodiment is manually driven. When the feed switch 1081220208 is pressed, the manual needle extraction implanter 10812202 starts to operate, and controls the flexible push rod (not shown in the figure) in the storage device 1081220201 to be pushed out, and the particles placed in the particle magazine 1081220202 are pushed into the lesion along the delivery catheter and the puncture needle, and then the flexible push rod is reset;

[0082] According to treatment needs, the manual push plate 1081220204 is pushed, and the outer tube is pushed forward by the manual push plate 1081220204, so that the inner tube and the outer tube are controlled to move relative to each other, and the needle pulling action is realized, wherein when the manual push plate 1081220204 is pushed, the thrust rod 1081220207 is driven to move forward, and the thrust rod 1081220207 drives the distance measuring friction wheel 1081220209 to rotate while the movement, and the displacement measuring device A1081220206 detects the corresponding angle change through the rotation of the distance measuring friction wheel 1081220209, so as to calculate the pulling distance (or use a linear displacement sensor instead), so as to implant particles or particle chains at the same rate;

[0083] Push the manual push plate 1081220204 so that its concave push head cooperates with the third outer tube 1081220303 of the delivery catheter 10812203, and its end face abuts against the push rod seat 1081220301 of the delivery catheter 10812203.

[0084] Example 4

[0085] The same contents of this embodiment refer to those of embodiment 1, and will not be described in detail in this embodiment. The differences are as follows:

[0086] like Figures 13 to 17 As shown, the figure includes: 141321 swing arm mechanism, 141322 particle magazine, 141323 outer tube push seat, 141324 third core extraction mechanism, 1413210 second implant output interface, 141325 docking nozzle, 141326 push rod, 142327 flexible push rod, 142328 push rod drive mechanism, 141329 docking plate, 1423210 wire feed connector, 141321-1 electric push rod A, 1413219 force sensor, 1413220 micro switch A, needle extraction drive position 1413221, 1413218 motor A, 1413212 micro switch B, 1413213 micro switch C, 1413214 roller A, 1413215 roller B, 1413216 guide block, 1413217 spring, 2 particles.

[0087] When the implant output interface (such as the second implant output interface 1413210 of the present embodiment) is a core extraction interface, a channel switching component is also included, and the channel switching component is used to switch the core extraction mechanism and the implant mechanism to be connected to the implant output interface respectively; the channel switching component is a motion platform.

[0088] The motion platform (such as the swing arm mechanism 141321 in the present embodiment) includes a reciprocating mechanism and a front-to-back docking mechanism. The reciprocating mechanism controls the core pulling mechanism and the implanting mechanism to move back and forth or rotate left and right, and drives the core pulling mechanism (such as the third core pulling mechanism 141324 in the present embodiment) or the implanting mechanism to align with the implant output interface respectively. The front-to-back docking mechanism drives the core pulling mechanism or the implanting mechanism to move forward and backward, controls the distance between the core pulling mechanism or the implanting mechanism and the implant output interface, and controls the core pulling mechanism or the implanting mechanism to dock with the implant output interface.

[0089] The implantation mechanism includes a push rod (such as the flexible push rod 142327 of the present embodiment), a push rod driving mechanism (such as the push rod driving mechanism 142328 of the present embodiment) and a radiation source feeding mechanism (such as the particle clip 141322 of the present embodiment). The push rod driving mechanism drives the push rod to move forward and backward. When the push rod moves forward, the radiation source provided in front of the push rod by the radiation source feeding mechanism is pushed out. The radiation source is pushed out of the puncture needle by pushing the radiation source into the implantation output interface and implanted into the biological tissue. The radiation source feeding mechanism is one or a combination of a particle clip, a particle chain feeding mechanism, and a particle arrangement feeding mechanism. The particle arrangement feeding mechanism is one or a combination of a grabbing feeding mechanism, a notch arrangement feeding mechanism, a V-groove arrangement feeding mechanism, and a vibration disk feeding mechanism. The radiation source feeding mechanism of the present embodiment is a particle clip.

[0090] The needle extraction mechanism is configured with only one needle extraction drive position 1413221, and different puncture needles can be extracted by manually installing different delivery catheters or needle extraction drive heads accompanying the tube to the needle extraction drive position; the needle extraction drive position is set near the implant output interface.

[0091] The needle extraction mechanism adopts a direct pushing method, and the delivery catheter includes an inner tube and an outer tube. The outer tube is placed outside the inner tube, and the front end of the inner tube is connected to the puncture needle inserted into the target object, and the front end of the outer tube is abutted against or connected to the target object; the inner tube and the outer tube can move relative to each other under the action of the needle extraction mechanism, so that the puncture needle moves in a direction away from the target object and the puncture needle is pulled out from the target object.

[0092] The needle extraction mechanism is a telescopic push rod. When the needle extraction mechanism is configured with only one needle extraction drive position, the needle extraction drive position is set near the output interface. After the inner tube of the delivery catheter is installed with the implanted output interface, the telescopic push rod can extend from the needle extraction drive position and push the outer tube, so that the outer tube can move forward relative to the inner tube and extract the puncture needle from the target object.

[0093] like Figures 13 to 17 As shown, in this embodiment, the motion platform is a rotary arm mechanism, the implant output interface is the core extraction interface, the needle extraction drive position is set below the implant output interface, the radiation source feeding mechanism is a particle magazine feeding, and the needle extraction drive mechanism drives the inner tube or outer tube of the needle extraction accessory to perform relative sliding motion by directly pushing and pulling.

[0094] The workflow of this embodiment is as follows:

[0095] 1. Insert multiple puncture needles into the target object according to the planned needle insertion route; connect the tail of one of the puncture needles to the delivery catheter, manually insert the inner tube of the delivery catheter into the core extraction interface of the core extraction mechanism, or connect the tails of all puncture needles to a delivery catheter respectively, or the tails of the puncture needles are always connected to the delivery catheter, and adjust the outer tube sleeved outside the inner tube so that one end of the outer tube is pressed against or connected to the target object;

[0096] 2. The orifice of the third core-pulling mechanism 141324 can be aligned with the second implant output interface 1413210 of the docking plate 141329 through the rotation of the rotary arm mechanism 141321 and the cooperation of the front and rear docking mechanisms; then the inner tube of one of the delivery catheters is manually plugged into the core-pulling interface of the core-pulling mechanism; when the inner tube and the core-pulling interface are plugged into each other, a portion of the flexible needle core exposed outside the inner tube is just inserted into the core-pulling friction wheel in the core-pulling mechanism;

[0097] 3. Then the third core-pulling mechanism 141324 drives the core-pulling friction wheel to rotate so that the flexible needle core can be pulled out from the delivery catheter and stored in the storage device;

[0098] 4. After the core extraction is completed, the rotary arm mechanism 141321 moves to send the docking nozzle 141325 to the hole on the docking plate 141329 for alignment; since the second implant output interface 1413210 is the core extraction interface, the second implant output interface 1413210 and the delivery catheter are the implantation channel; then the electric push rod A 14132-1 drives the docking nozzle 141325 forward to complete the docking with the docking plate 141329;

[0099] 5. Then the motor A 1413218 drives the push rod 141326 and the force sensor 1413219 to move forward through the corresponding hole of the docking plate 141329, and judges whether it passes through the docking plate 141329 smoothly and performs the push operation through the value fed back by the force sensor 1413219 and the rotation angle of the motor A 1413218;

[0100] 6. The flexible push rod 142327 is transported forward by the push rod driving mechanism 142328, and the flexible push rod 142327 enters the particle clip through the wire inlet connector 1423210 on the side of the particle clip 141322, and then pushes the particle 2 at the bottom of the particle clip 141322 to move forward. When the particle 2 touches the roller B 1413215, the roller B 1413215 drives the guide block 1413216 to compress the spring 1413217 due to the action of the spring 1413217, and moves in the direction of the micro switch B 1413212 to trigger the micro switch B. At this time, the push rod driving mechanism 142328 records and controls the pushing length;

[0101] 7. After the flexible push rod 142327 pushes the particle 2 to the predetermined position (the human lesion), the flexible push rod 142327 is recovered by the push rod driving mechanism 142328 to the rear of the roller A 1413214 (the micro switch C 1413213 is not triggered as the arrival signal); at the same time, the motor A 1413218 pushes the push rod 141326 forward, and when the force sensor 1413219 detects pressure, it means that the push rod 141326 touches the push outer tube push seat 141323, and this is recorded as the initial point of needle withdrawal, and then the push rod 141326 continues to move forward, and the distance of the push is the needle withdrawal length; the push rod 141326 moves forward to cause the inner tube and the outer tube to move relative to each other, so that the inner tube pulls the puncture needle to move away from the target object to achieve the needle withdrawal action;

[0102] 8. After the implantation is completed, the push rod retreats to the micro switch A, and the electric push rod A 141321-1 drives the entire device to retreat and reset; at this time, the operator can manually disconnect the inner tube of the delivery catheter from the second implantation output interface 1413210 corresponding to the implantation mechanism, and then switch to another puncture needle until all puncture needles have been implanted, thereby completing the semi-automatic particle implantation of manually switching the core removal channel.

[0103] In this embodiment, when pushing out, the multiple particles can be pushed out from the magazine in sequence first, and then pushed together to the front end of the puncture needle, and then discharged in sequence. At the same time, the push rod 141326 is pushed forward to remove the needle, thereby controlling the implantation depth of different particles.

[0104] Example 5

[0105] A method for using a semi-automatic particle implantation system with manually switched implantation channels comprises the following steps:

[0106] Step 1: insert multiple puncture needles into the target object according to the planned needle insertion route;

[0107] Step 2: Connect the tail of one of the puncture needles to the delivery catheter, manually insert the inner tube of the delivery catheter into the core extraction interface, or connect the tails of all the puncture needles to a delivery catheter respectively, or the tails of the puncture needles are always connected to the delivery catheter, and then manually insert the inner tube of one of the delivery catheters into the core extraction interface, and adjust the outer tube sleeved outside the inner tube so that one end of the outer tube is pressed against or connected to the target object;

[0108] Step 3: The motion platform drives the core pulling mechanism to dock with the inner tube inserted in the core pulling interface, or the core pulling mechanism has docked with the inner tube of the core pulling interface, and a portion of the flexible needle core exposed outside the inner tube is just inserted into the core pulling friction wheel in the core pulling mechanism, and then the core pulling mechanism drives the core pulling friction wheel to rotate to pull the flexible needle core out of the delivery catheter and store it in the storage device;

[0109] Step 4: After the needle core is completely pulled out, the implant quick connector is manually pulled out or removed from the core extraction interface, and then docked with the implant output interface corresponding to the implant mechanism, or the core extraction mechanism is automatically controlled to be moved away from the implant output interface by the channel switching component, and then the implant mechanism is automatically controlled to dock with the implant output interface, so that the implant output interface is docked with the delivery catheter to form an implant channel;

[0110] Step 5: The push rod driving mechanism of the implantation mechanism drives the push rod to move forward and backward. When the push rod moves forward, the radioactive source arranged in front of the push rod by the radioactive source feeding mechanism is pushed out, and the radioactive source is pushed into the implantation output interface, and is pushed along the delivery catheter to the front end of the puncture needle. At this time, under the action of the needle removal mechanism, a force is applied to the inner tube and / or the outer tube, so that the inner tube and the outer tube move relative to each other, and the needle removal action is realized, so as to adjust the implantation depth of the radioactive source according to the treatment requirements; then the push rod driving mechanism of the implantation mechanism drives the push rod to reset;

[0111] Step 6. Manually detach the inner tube of the delivery catheter from the implantation output interface, then switch to another puncture needle and repeat steps 2 to 5 until all puncture needles have been implanted. This completes the particle implantation of the semi-automatic particle implantation system with manual switching of the implantation pipeline.

[0112] 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.

[0113] 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 semi-automatic particle implantation system with manually switched implantation channels, characterized in that: include: Delivery catheter: one end is connected to the puncture needle, and the other end is connected to the implant output interface; Implantation output interface: one is provided, and different delivery catheters can be manually installed with the implantation output interface, so as to realize manual switching of implantation channels; Implantation mechanism: After the radioactive source is pushed out from the implantation output interface and the delivery catheter is installed with the implantation output interface, the radioactive source can be delivered to a preset position along the hollow channel of the delivery catheter and the puncture needle.

2. A semi-automatic particle implantation system with manually switched implantation channels according to claim 1, characterized in that: The delivery catheter is connected to the implant output interface via a quick-connect structure, which is a snap-on structure or a threaded structure.

3. A semi-automatic particle implantation system with manually switched implantation channels according to claim 1, characterized in that: It also includes a core pulling mechanism, which is used to pull out the needle core in the delivery catheter. The needle pulling mechanism is connected to the tail of the needle core, and the puncture needle and the needle core in the delivery catheter are pulled out, thereby forming a hollow implantation channel. The core pulling mechanism is one or a combination of a friction core pulling mechanism, a reciprocating clamping core pulling mechanism, and a winding core pulling mechanism.

4. A semi-automatic particle implantation system with manually switched implantation channels according to claim 3, characterized in that: In addition to the implant output interface, there is also a core extraction interface. One side of the core extraction interface is aligned with the core extraction mechanism, and the delivery catheter can be manually docked with the other side of the core extraction interface, thereby realizing the switching of core extraction of different delivery catheters; Alternatively, the implant output interface is a core extraction interface, and further includes a channel switching component, which is used to switch the core extraction mechanism and the implant mechanism to be connected to the implant output interface respectively; the channel switching component is a motion platform.

5. A semi-automatic particle implantation system with manually switched implantation channels according to claim 4, characterized in that: The motion platform includes a reciprocating mechanism and a front-to-back docking mechanism. The reciprocating mechanism controls the core pulling mechanism and the implanting mechanism to move back and forth or rotate left and right, and drives the core pulling mechanism or the implanting mechanism to align with the implant output interface respectively. The front-to-back docking mechanism drives the core pulling mechanism or the implanting mechanism to move forward and backward, controls the distance between the core pulling mechanism or the implanting mechanism and the implant output interface, and controls the core pulling mechanism or the implanting mechanism to dock with the implant output interface.

6. A semi-automatic particle implantation system with manually switched implantation channels according to claim 1, characterized in that: The implantation mechanism comprises a push rod, a push rod driving mechanism and a radiation source feeding mechanism. The push rod driving mechanism drives the push rod to move forward and backward. When the push rod moves forward, the radiation source arranged in front of the push rod by the radiation source feeding mechanism is pushed out. The radiation source is pushed out of the puncture needle by pushing the radiation source into the implantation output interface and implanted into the biological tissue. The radiation source feeding mechanism is one or a combination of a particle clip, a particle chain feeding mechanism, and a particle arrangement feeding mechanism. The particle arrangement feeding mechanism is one or a combination of a grabbing feeding mechanism, a notch arrangement feeding mechanism, a V-groove arrangement feeding mechanism, and a vibration disk feeding mechanism.

7. A semi-automatic particle implantation system with manually switched implantation channels according to claim 1, characterized in that: Also includes a needle extraction mechanism; The needle extraction mechanism is configured with only one needle extraction drive position, and different puncture needles can be extracted by manually installing different delivery catheters or needle extraction drive heads accompanying the catheter to the needle extraction drive position; Alternatively, the needle removal mechanism is configured with multiple needle removal drive positions, multiple delivery catheters or needle removal drive heads are installed at multiple different needle removal drive positions, and different puncture needles are removed through an automatic needle removal channel switching mechanism, or each needle removal drive position is respectively provided with a needle removal unit, and different needle removal units can be selectively controlled to perform needle removal actions.

8. A semi-automatic particle implantation system with manually switched implantation channels according to claim 7, characterized in that: The needle extraction mechanism adopts a direct pushing method. The delivery catheter includes an inner tube and an outer tube. The outer tube is placed outside the inner tube. The front end of the inner tube is connected to the puncture needle inserted into the target object. The front end of the outer tube abuts against or connects with the target object. The inner tube and the outer tube can move relative to each other under the action of the needle extraction mechanism, so that the puncture needle moves in a direction away from the target object and the puncture needle is extracted from the target object. The needle extraction mechanism is a telescopic push rod. When the needle extraction mechanism is configured with only one needle extraction drive position, the needle extraction drive position is set near the output interface. After the inner tube of the delivery catheter is installed with the implanted output interface, the telescopic push rod can extend from the needle extraction drive position and push the outer tube, so that the outer tube can move forward relative to the inner tube and extract the puncture needle from the target object.

9. A semi-automatic particle implantation system with manually switched implantation channels according to claim 7, characterized in that: The needle extraction mechanism adopts a tube-mounted needle extraction assembly, and the needle extraction group of the tube-mounted needle extraction assembly is arranged on the inner tube or the outer tube; The needle extraction group of the needle extraction assembly with tube is connected to the needle extraction drive mechanism or power source at the needle extraction drive position through the sleeve. The needle extraction drive mechanism or power source drives the needle extraction group of the needle extraction assembly with tube to move through the drive wire, liquid, and gas in the sleeve. The driving mode is selective pushing, or pushing / pulling after selective clamping, or selective array friction, or selective injection of liquid or gas.

10. A method for using a semi-automatic particle implantation system with manually switched implantation channels, using the semi-automatic particle implantation system with manually switched implantation channels as claimed in any one of claims 1 to 9, characterized in that: The steps include: Step 1: insert multiple puncture needles into the target object according to the planned needle insertion route; Step 2: Connect the tail of one of the puncture needles to the delivery catheter, manually insert the inner tube of the delivery catheter into the core extraction interface, or connect the tails of all the puncture needles to a delivery catheter respectively, or the tails of the puncture needles are always connected to the delivery catheter, and then manually insert the inner tube of one of the delivery catheters into the core extraction interface, and adjust the outer tube sleeved outside the inner tube so that one end of the outer tube is pressed against or connected to the target object; Step 3: The motion platform drives the core pulling mechanism to dock with the inner tube inserted in the core pulling interface, or the core pulling mechanism has docked with the inner tube of the core pulling interface, and a portion of the flexible needle core exposed outside the inner tube is just inserted into the core pulling mechanism, and then the core pulling mechanism extracts the flexible needle core from the delivery catheter and stores it in the storage device; Step 4: After the needle core is completely pulled out, the implant quick connector is manually pulled out or removed from the core extraction interface, and then docked with the implant output interface corresponding to the implant mechanism, or the core extraction mechanism is automatically controlled to be moved away from the implant output interface by the channel switching component, and then the implant mechanism is automatically controlled to dock with the implant output interface, so that the implant output interface is docked with the delivery catheter to form an implant channel; Step 5: The push rod driving mechanism of the implantation mechanism drives the push rod to move forward and backward. When the push rod moves forward, the radioactive source arranged in front of the push rod by the radioactive source feeding mechanism is pushed out, and the radioactive source is pushed into the implantation output interface, and is pushed along the delivery catheter to the front end of the puncture needle. At this time, under the action of the needle removal mechanism, a force is applied to the inner tube and / or the outer tube, so that the inner tube and the outer tube move relative to each other, and the needle removal action is realized, so as to adjust the implantation depth of the radioactive source according to the treatment requirements; then the push rod driving mechanism of the implantation mechanism drives the push rod to reset; Step 6. Manually detach the inner tube of the delivery catheter from the implantation output interface, then switch to another puncture needle and repeat steps 2 to 5 until all puncture needles have been implanted. This completes the particle implantation of the semi-automatic particle implantation system with manual switching of the implantation pipeline.

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