Semi-automatic particle implantation system capable of manually switching needle withdrawing pipeline and use method of semi-automatic particle implantation system

Abstract

The semi-automatic particle implantation system comprises a conveying catheter which comprises an inner tube and an outer tube, the inner tube is sleeved with the outer tube, the front end of the inner tube is connected with a puncture needle inserted into a target object, and the front end of the outer tube abuts against or is connected with the target object; the implanting mechanism is used for conveying the radioactive source to a preset position along a hollow channel of the conveying catheter and the puncture needle; the needle withdrawing mechanism is provided with a needle withdrawing driving position, and different puncture needles are withdrawn by manually mounting different conveying catheters or along-catheter needle withdrawing driving heads to the needle withdrawing driving position, so that the manual switching of needle withdrawing channels is realized; the needle pulling mechanism further comprises a needle pulling driving mechanism, and the inner tube and the outer tube can move relatively under the action of the needle pulling driving mechanism, so that the puncture needle moves in the direction away from the target object, and the puncture needle is pulled out of the target object.

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 needle removal channels and a use method thereof. 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 then pushes multiple particles into the tumor according to the preoperative plan through the channel established by the puncture needle to complete the operation.

[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 is always rigidly connected to the puncture needle during the operation, which can easily scratch the patient. Moreover, 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. This greatly increases the number of CT scans for patients and exposes them to greater radiation. 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 object, the present invention provides the following technical solution: a semi-automatic particle implantation system with manually switched needle removal pipeline, comprising:

[0008] 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 abutted against or connected to the target object;

[0009] Implantation mechanism: The radioactive source is delivered to the preset position along the hollow channel of the delivery catheter and the puncture needle;

[0010] Needle extraction mechanism: a needle extraction drive position is provided, and different puncture needles can be extracted by manually installing different delivery catheters or needle extraction drive heads with the tube to the needle extraction drive position, thereby realizing manual switching of the needle extraction channel;

[0011] The needle extraction mechanism also includes a needle extraction drive mechanism. The inner tube and the outer tube can move relative to each other under the action of the needle extraction drive mechanism, so that the puncture needle moves away from the target object and the puncture needle is extracted from the target object.

[0012] Preferably, when different delivery catheters are manually installed to the needle removal drive position, the front end of the outer tube abuts against or connects with the target object, and the needle removal mechanism directly pushes and pulls, clamps, frictionally drives or engages the outer tube or the inner tube to achieve needle removal of the puncture needle.

[0013] Preferably, when the needle extraction mechanism adopts a push-pull drive mode, it includes a telescopic push rod. When the delivery catheter is installed with the needle extraction drive position, the telescopic push rod can be extended 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.

[0014] When the needle extraction mechanism is friction driven, it includes a friction wheel or a friction belt, which is arranged outside the outer tube or the inner tube, and drives the friction wheel to rotate or the friction belt to run. The outer cylindrical surface of the friction wheel or the friction belt squeezes the inner tube or the outer tube, thereby driving the inner tube and the outer tube to move relative to each other through friction force, thereby achieving needle extraction;

[0015] When the needle extraction mechanism is driven by meshing, it includes a rack connected to the inner tube or the outer tube. The rack is driven to move by the rotation of the gear or the worm, and the rack drives the inner tube or the outer tube to move, driving the inner tube and the outer tube to move relative to each other, thereby realizing needle extraction.

[0016] When the needle extraction mechanism is driven by clamping, the outer tube or the inner tube is clamped by a clamping mechanism, and the clamping mechanism is driven to move, so that the outer tube or the inner tube is driven to move relative to the outer tube, thereby realizing needle extraction.

[0017] As a preference; when different tube-mounted needle-pulling drive heads are manually installed to the needle-pulling drive position, the needle-pulling mechanism adopts a tube-mounted needle-pulling assembly, the tube-mounted needle-pulling drive head drives the tube-mounted needle-pulling assembly, and the needle-pulling group of the tube-mounted needle-pulling assembly is arranged on the inner tube or the outer tube;

[0018] The needle removal group of the tube-mounted needle removal assembly is connected to the power source of the needle removal drive mechanism through a sleeve. The power source of the needle removal drive mechanism drives the needle removal group of the tube-mounted needle removal assembly to perform the needle removal action through the driving wire, liquid, and gas in the sleeve. The needle removal group drives the inner and outer tubes to slide relative to each other through push-pull drive, clamping drive, friction drive, and meshing drive.

[0019] Preferably, the needle extraction group adopts a push-pull drive, and when driven by a driving wire, it includes a needle extraction control assembly, a needle extraction quick connector and a driving wire. The needle extraction control assembly is provided with a needle extraction hole, and the different needle extraction driving head with tube can be manually and selectively installed at one end of the needle extraction hole. The needle extraction driving head with tube includes a handle and a needle extraction driving shaft. The handle is automatically or manually controlled by the needle extraction control assembly to drive the end of the needle extraction driving shaft away from the handle to slide back and forth in the handle. The needle extraction driving shaft is connected to the needle extraction mechanism by a driving wire, and a sleeve is disposed on the driving wire. The driving wire and the sleeve move relative to each other, and the needle extraction driving shaft moves back and forth. The driving wire controls the needle extraction group to move back and forth through the reciprocating movement of the needle extraction driving shaft. The needle extraction group directly applies thrust or pulling force to the end face of the inner tube or the outer tube, or to the step surface or the connecting part arranged on the inner tube or the outer tube, thereby driving the inner tube or the outer tube to make relative sliding movement, so as to realize the extraction of the puncture needle.

[0020] Preferably, the needle extraction mechanism comprises a manual needle extraction drive mechanism or an automatic needle extraction drive mechanism;

[0021] When the needle pulling mechanism is an automatic needle pulling drive mechanism, the needle pulling mechanism is provided with a needle pulling power source.

[0022] Preferably, when the needle extraction mechanism is a manual needle extraction drive mechanism, 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 or the gear to rotate, and the friction wheel or the gear rack mechanism indirectly drives 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, thereby driving the relative displacement between the inner and outer tubes to realize the needle extraction action.

[0023] Preferably, the implantation mechanism comprises an implantation output interface, a push rod, a push rod driving mechanism and a radiation source feeding mechanism. The implantation output interface is connected to the delivery catheter. 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, and the radiation source is pushed into the delivery catheter through the implantation output interface, and then the radiation source is pushed out of the puncture needle 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, a trumpet arrangement feeding mechanism, and a vibration disk feeding mechanism.

[0024] Preferably, the length of the inner tube and the outer tube is greater than 300 mm, the outer tube is made of a flexible, bendable and deformable material, and the material is one or more combinations of plastic, rubber, latex, and silicone. The inner tube is made of a flexible, bendable and deformable material, and the material is one or more combinations of plastic, rubber, latex, and silicone. The inner diameter of the inner tube is 0.5-1.5 mm, and the outer diameter is 1.5-5 mm. The inner diameter of the outer tube is greater than the outer diameter of the inner tube, and the outer tube is made of a transparent material.

[0025] Or the outer tube and / or the inner tube is made of a bendable and formable pipe, so that the operator can bend it into different shapes to adapt to different surgical scenarios. Specifically, the bendable and formable pipe is made of a bendable and formable metal, or the bendable and formable pipe is a multi-lumen tube, and the multi-lumen tube includes a main lumen for delivering a radiation source and a secondary lumen for filling a bending wire, and the bending wire is made of a bendable and formable metal.

[0026] A method for using a semi-automatic particle implantation system with manually switching a needle removal channel, characterized in that it comprises the following steps:

[0027] Step 1: insert multiple puncture needles into the target object according to the planned needle insertion route;

[0028] Step 2: Connect the tails of all puncture needles to a delivery catheter respectively, or always connect the tails of the puncture needles to a delivery catheter, and then manually install one of the delivery catheters to the needle removal drive position, or install a needle removal group on each delivery catheter, and then manually install the needle removal drive head of one of the delivery catheters to the needle removal drive position;

[0029] Step 3: docking the delivery catheter with the implantation mechanism, the push rod driving mechanism of the implantation mechanism drives the push rod to move forward and backward, and 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 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;

[0030] Step 4: Manually detach the inner tube of the delivery catheter from the needle removal drive position, or manually remove the needle removal drive head at the needle removal drive position, and then switch to another delivery catheter and puncture needle to repeat steps 2 to 4 until all puncture needles have been implanted, thereby completing the semi-automatic particle implantation with manual switching of the needle removal pipeline.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. By manually switching the needle removal channel and the implantation channel, the operator can complete all operations away from the radiation source, effectively reducing the radiation impact of the radiation source on the operator;

[0033] 2. The delivery catheter is set through the inner and outer tubes, and the inner and outer tubes are driven to move relative to each other through the needle removal mechanism to control the removal of the puncture needle;

[0034] 3. By manually installing different delivery catheters or needle extraction drive heads attached to the needle extraction drive position, different puncture needles can be extracted, so that one needle extraction mechanism can extract all puncture needles, which can effectively reduce equipment costs and make manual operation safer and more reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the present invention;

[0036] Figure 2 This is a schematic diagram of the structure of the needle removal mechanism according to Embodiment 1 of the present invention;

[0037] Figure 3 This is an exploded view of the needle removal control box structure of Example 1 of the present invention;

[0038] Figure 4 It is a side sectional view of the needle removal drive shaft of Example 1 of the present invention;

[0039] Figure 5 This is a schematic diagram of the structure of Embodiment 2 of the present invention;

[0040] Figure 6 This is a schematic diagram of the structure of Embodiment 3 of the present invention;

[0041] Figure 7 This is a schematic diagram of the internal structure of Embodiment 3 of the present invention;

[0042] Figure 8 This is a schematic structural diagram of a core pulling mechanism according to Embodiment 3 of the present invention;

[0043] Fig. 9 It is a side sectional view of the core pulling mechanism of Example 3 of the present invention;

[0044] Fig.10 This is a schematic structural diagram of a particle chain conveying device according to Embodiment 3 of the present invention;

[0045] Fig.11 This is a cross-sectional view of the puncture needle structure of Example 3 of the present invention;

[0046] Fig.12 This is a schematic diagram of the structure of Embodiment 4 of the present invention;

[0047] Fig.13 This is a side structural diagram of embodiment 4 of the present invention. DETAILED DESCRIPTION

[0048] 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.

[0049] Example 1

[0050] A semi-automatic particle implantation system with manually switched needle removal channel, characterized in that it comprises:

[0051] The delivery catheter comprises an inner tube 8111109 and an outer tube, wherein the outer tube is placed outside the inner tube, the front end of the inner tube is connected to a puncture needle inserted into the target object, and the front end of the outer tube abuts against or is connected to the target object;

[0052] The implantation mechanism (such as the radiation source implantation device 8111102 of the present embodiment): transports the radiation source along the hollow channel of the delivery catheter and the puncture needle to a preset position;

[0053] Needle extraction mechanism: a needle extraction drive position is provided, and different puncture needles can be extracted by manually installing different delivery catheters or needle extraction drive heads with the tube to the needle extraction drive position, thereby realizing manual switching of the needle extraction channel;

[0054] The needle extraction mechanism also includes a needle extraction drive mechanism. The inner tube and the outer tube can move relative to each other under the action of the needle extraction drive mechanism, so that the puncture needle moves away from the target object and the puncture needle is extracted from the target object.

[0055] When different delivery catheters are manually installed to the needle removal drive position, the front end of the outer tube abuts against or connects with the target object, and the needle removal mechanism directly pushes and pulls, clamps, frictionally drives or engages the outer tube or the inner tube to remove the puncture needle.

[0056] When the needle extraction mechanism adopts a push-pull drive mode, it includes a telescopic push rod. When the delivery catheter is installed with the needle extraction drive position, the telescopic push rod can be extended 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;

[0057] When the needle extraction mechanism is friction driven, it includes a friction wheel or a friction belt, which is arranged outside the outer tube or the inner tube, and drives the friction wheel to rotate or the friction belt to run. The outer cylindrical surface of the friction wheel or the friction belt squeezes the inner tube or the outer tube, thereby driving the inner tube and the outer tube to move relative to each other through friction force, thereby achieving needle extraction;

[0058] When the needle extraction mechanism is driven by meshing, it includes a rack connected to the inner tube or the outer tube. The rack is driven to move by the rotation of the gear or the worm, and the rack drives the inner tube or the outer tube to move, driving the inner tube and the outer tube to move relative to each other, thereby realizing needle extraction.

[0059] When the needle extraction mechanism is driven by clamping, the outer tube or the inner tube is clamped by a clamping mechanism, and the clamping mechanism is driven to move, so that the outer tube or the inner tube is driven to move relative to the outer tube, thereby realizing needle extraction.

[0060] When different tube-mounted needle-pulling drive heads are manually installed to the needle-pulling drive position, the needle-pulling mechanism adopts a tube-mounted needle-pulling assembly, and the tube-mounted needle-pulling drive head drives the tube-mounted needle-pulling assembly, and the needle-pulling group of the tube-mounted needle-pulling assembly is arranged on the inner tube or the outer tube;

[0061] The needle removal group of the tube-mounted needle removal assembly is connected to the power source of the needle removal drive mechanism through a sleeve. The power source of the needle removal drive mechanism drives the needle removal group of the tube-mounted needle removal assembly to perform the needle removal action through the driving wire, liquid, and gas in the sleeve. The needle removal group drives the inner and outer tubes to slide relative to each other through push-pull drive, clamping drive, friction drive, and meshing drive.

[0062] The needle extraction group adopts a push-pull drive, and when driven by a driving wire, it includes a needle extraction control assembly, a needle extraction quick connector and a driving wire. The needle extraction control assembly is provided with a needle extraction hole, and the different needle extraction drive head with tube can be manually and selectively installed at one end of the needle extraction hole. The needle extraction drive head with tube includes a handle and a needle extraction drive shaft. The handle is automatically or manually controlled by the needle extraction control assembly to drive the end of the needle extraction drive shaft away from the handle to slide back and forth in the handle. The needle extraction drive shaft is connected to the needle extraction mechanism by a driving wire. A sleeve is disposed on the driving wire. The driving wire moves relative to the sleeve. The needle extraction drive shaft moves back and forth, and the driving wire controls the needle extraction group to move back and forth. The needle extraction group directly applies thrust or pulling force to the end face of the inner tube or the outer tube, or to the step surface or the connecting part arranged on the inner tube or the outer tube, thereby driving the inner tube or the outer tube to make relative sliding motion, so as to realize the extraction of the puncture needle.

[0063] The needle extraction mechanism includes a manual needle extraction drive mechanism or an automatic needle extraction drive mechanism;

[0064] When the needle pulling mechanism is an automatic needle pulling drive mechanism, the needle pulling mechanism is provided with a needle pulling power source.

[0065] When the needle extraction mechanism is a manual needle extraction drive mechanism, 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 or the gear to rotate, and the friction wheel or the gear rack mechanism indirectly drives 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, thereby driving the relative displacement between the inner and outer tubes to realize the needle extraction action.

[0066] The implantation mechanism comprises an implantation output interface, a push rod, a push rod driving mechanism and a radiation source feeding mechanism. The implantation output interface is connected to the delivery catheter. 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, and the radiation source is pushed into the delivery catheter through the implantation output interface, and then the radiation source is pushed out of the puncture needle 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, a trumpet arrangement feeding mechanism, and a vibration disk feeding mechanism.

[0067] The length of the inner tube and the outer tube is greater than 300mm, the outer tube is made of a flexible, bendable and deformable material, and the material is one or more combinations of plastic, rubber, latex, and silicone. The inner tube is made of a flexible, bendable and deformable material, and the material is one or more combinations of plastic, rubber, latex, and silicone. The inner diameter of the inner tube is 0.5-1.5mm, and the outer diameter is 1.5-5mm. The inner diameter of the outer tube is greater than the outer diameter of the inner tube, and the outer tube is made of a transparent material;

[0068] Or the outer tube and / or the inner tube is made of a bendable and formable pipe, so that the operator can bend it into different shapes to adapt to different surgical scenarios. Specifically, the bendable and formable pipe is made of a bendable and formable metal, or the bendable and formable pipe is a multi-lumen tube, and the multi-lumen tube includes a main lumen for delivering a radiation source and a secondary lumen for filling a bending wire, and the bending wire is made of a bendable and formable metal.

[0069] Specific as Figures 1 to 4 , this embodiment is a single needle pull drive position, such as Figure 1-Figure 3 As shown: the needle extraction mechanism includes a needle extraction drive shaft 8111113, 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), 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 8111117 are locked together, and can be used together to extract the needle. The needle removal control box 8111112 slides in the hole. A pair of friction wheels 8111118 are provided on the surface of the needle removal control box 8111112. 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 distance of manual needle removal, which is convenient for the device to implant particles or particle chains into biological tissues at the same implantation rate as the needle removal rate, and display the information on the screen, so as to observe the progress of needle removal.

[0070] like Figure 1 and Figure 2One 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] The rotary arm hole selection mechanism 8111101 (equivalent to the first channel switching component being the first motion platform) has two degrees of freedom: rotation + translation. The radiation source implantation device 8111102 and the core extraction mechanism 8111103 are respectively located on both sides of the rotary arm hole selection mechanism 8111101, so that the outlet of the radiation source implantation device 8111102 and the inlet of the core extraction mechanism 8111103 can be automatically aligned with any hole on the implantation docking plate 8111104. One end of the inner tube 8111109 is matched with the hole on the implantation docking plate 8111104, and the other end passes through the needle extraction mechanism 8111107 to connect with the puncture needle (not shown in the figure), and the puncture needle passes through the hole on the guide template 8111105 until it reaches the lesion. Before the puncture needle passes through the guide template 8111105, the needle core (not shown in the figure) is located in the inner tube 8111109 and extends to the needle tip of the puncture needle, and the outer tube 8111106 is sleeved on the outside of the inner tube 8111109. At this time, one end of the outer tube 8111106 abuts against the guide template 8111105, and the other end abuts against one side of the needle withdrawal mechanism 8111107 (the needle withdrawal mechanism 8111107 can slide relatively on the inner tube 8111109). One end of the needle withdrawal drive tube 8111111 is fixed to the outside of the needle withdrawal mechanism 8111107, and the other end is fixed to the needle withdrawal quick connector 8111108. One end of the metal drive wire 8111123 is fixed to the paddle in the needle withdrawal mechanism 8111107 and then passes through the needle withdrawal drive tube 8111111 and the wire locking shaft in the needle withdrawal quick connector 8111108.

[0072] 8111124 is fixed, the needle extraction drive shaft 8111113 can slide relatively in the needle extraction quick connector 8111108, the needle extraction quick connector 8111108 can be connected with the needle extraction control box 8111112, the pull ring 8111110 on the needle extraction control box 8111112 can be connected with the needle extraction drive shaft 8111113, and the pull ring 8111110 is pulled, and the needle extraction drive shaft 8111113 is pulled, and then the paddle in the needle extraction mechanism 8111107 is pulled, so that the inner tube 8111109 connected to the puncture needle is pulled, so that the needle is extracted. Before removing the needle, the core-pulling mechanism 8111103 automatically pulls out the needle core in the inner tube 8111109 into the wire collecting wheel of the core-pulling mechanism 8111103, and the radioactive source implanting device 8111102 pushes the radioactive source to the lesion through the inner tube 8111109. The pushing of the particle chain is detected by the encoder and precisely controlled by the implanting drive motor 8111114. At the same time, the rotary encoder 8111119 arranged on the needle-pulling control box 8111112 can also detect the displacement of the pull ring 8111110, and reflect this information on the display screen on the needle-pulling control box 8111112, so as to facilitate the operator to pull out the needle synchronously. When the particle chain is about to be pushed out, the puncture needle also needs to be pulled out synchronously at the same rate, and the puncture needle itself will be pulled by the elasticity of the human tissue, and the needle-pulling mechanism 8111107 and the needle-pulling drive tube 811 There is a gap in 1111, so the actual starting point of needle withdrawal cannot be accurately controlled by the equipment, so the needle withdrawal is driven manually by the operator (but since the needle withdrawal drive tube 8111111 is longer at this time, the distance between the radiation source implantation device 8111102 and the patient and the operator is relatively far, the radiation damage to the operator caused by the particle chain of the radiation source implantation device 8111102 and the patient's body is relatively small). The actual starting point of 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 in the needle withdrawal control box 8111112 to synchronously push the radiation source with high synchronization accuracy to push the radiation source out. In order to remove and implant different puncture needles, the operator needs to manually connect different needle removal quick connectors 8111108 to the needle removal control box 8111112, and repeat the above process until all puncture needles are implanted. When a certain needle removal quick connector 8111108 is in use, other needle removal quick connectors 8111108 can be hung on the simple bracket 8111115 in front of the needle removal control box 8111112.

[0073] In the above scheme, the rotary arm hole selection mechanism 8111101 can also have only one degree of freedom: rotation, then one end of all the inner tubes 8111109 are connected to the docking plate 8111104 in a circular array; the particle chain feeding mechanism can also be replaced by a particle magazine. At this time, the radiation source becomes a particle rather than a particle chain. When pushing out, multiple particles can be pushed out of the magazine in turn, and then pushed together to the front end of the puncture needle, and then discharged in turn (pulling and implanting at the same time, so as to achieve interval implantation), or multiple particles can be pushed out of the magazine in turn, and only one particle is pushed to the front end of the puncture needle for discharge each time.

[0074] Example 2

[0075] The embodiments of the present invention are further improvements on other embodiments. Some of the same contents refer to other embodiment 1, and this embodiment will not be described in detail.

[0076] like Figure 5This embodiment is a single needle-pulling driving position. By manually docking the delivery catheter with the core-pulling interface and the implantation output interface, the particle chain implantation device 8111102 and the core-pulling mechanism 8111103 are respectively fixed on the fixed plate 81112101, and the fixed plate 81112101 is fixed on the tripod 81112104. One end of the inner tube 8111109 is fixed to the implantation quick connector 81112102, and the implantation quick connector 81112102 can be quickly docked with the hole on the fixed plate 81112101, and the other end passes through the needle-pulling mechanism 8111107 to connect with the puncture needle (not shown in the figure), and the puncture needle passes through the hole on the human body template 8111105 until the lesion. The needle core 81112103 is located in the 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 outer tube 8111106 is put on the outside of the inner tube 8111109. At this time, one end of the 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 inner tube 8111109). One end of the needle extraction drive tube 8111111 is fixed to the outside of the needle extraction mechanism 8111107, and the other end is fixed to the needle extraction quick connector 8111108. One end of the metal drive wire (not shown in the figure) is fixed to the paddle in the needle extraction mechanism 8111107 and then passes through the needle extraction drive tube 8111111 and is fixed to the wire locking shaft (not shown in the figure) in the needle extraction quick connector 8111108. The wire locking shaft is connected to the needle extraction drive shaft 8111113, and the needle extraction drive shaft 8111113 can be fixed to the needle extraction quick connector The head 8111108 slides relatively inside, and the needle removal quick connector 8111108 can be connected and cooperated with the needle removal control box 8111112. The pull ring 8111110 on the needle removal control box 8111112 can be connected and cooperated with the needle removal drive shaft 8111113. By pulling the pull ring 8111110, the needle removal drive shaft 8111113 is pulled, and then the paddle in the needle removal mechanism 8111107 is pulled, so that the inner tube 8111109 connected to the puncture needle is pulled, thereby realizing needle removal. Before pulling out the needle, manually dock the implantation quick connector 81112102 with the hole corresponding to the entrance of the core pulling mechanism 8111103, and then the core pulling mechanism 8111103 automatically pulls out the needle core 81112103 in the inner tube 8111109 into the wire collecting wheel of the core pulling mechanism 8111103. After the needle core 81112103 is completely pulled out, manually dock the implantation quick connector 81112102 with the hole corresponding to the exit of the particle chain implantation device 8111102, and then the particle chain implantation device

[0077] 8111102 cuts the particle chain into short particle chains of a certain length, and the particle chain pushes the cut short particle chain to the lesion through the inner tube 8111109. The pushing of the particle chain is detected by the encoder and accurately controlled by the implanted drive motor 8111114. At the same time, the rotary encoder (not shown in the figure) 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, so as to facilitate the operator to pull out the needle synchronously. When the particle chain is about to be pushed out, the puncture needle also needs to be pulled out synchronously at the same rate, and the puncture needle itself will be pulled by the elasticity of the human tissue, and the needle removal mechanism 8111107 and the needle removal drive tube 811111 1, so the starting point of needle removal cannot be accurately controlled by the equipment, so the needle removal is driven manually by the operator (but since the needle removal drive tube 8111111 is longer at this time, the operator is farther away from the particle chain implantation device 8111102 and the particle chain in the patient's body, so the radiation damage to the operator is smaller), the starting point of needle removal is judged by the operator's feel, and 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 particle chain implantation drive motor 8111114 based on the displacement detected by the rotary encoder set on the needle removal control box 8111112 to synchronously push the particle chain with higher synchronization accuracy to push the particle chain 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 then connect them with the holes corresponding to the outlet of the particle chain implantation device 8111102 after the wire collection is completed, 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.

[0078] Example 3

[0079] like Figures 6 to 11 As shown, a single needle removal drive position is set near the implant output interface;

[0080] When the needle extraction mechanism adopts meshing drive, it includes a rack connected to the inner tube or the outer tube. The rack is driven to move by the rotation of the gear or the worm, and the rack drives the inner tube or the outer tube to move, driving the inner tube and the outer tube to move relative to each other to achieve needle extraction.

[0081] The protective shell A81211101 is installed on the tripod 81211104, the protective shell B81211103 is installed on the protective shell A81211101, the second core pulling mechanism 181222101 is fixed to the protective shell B81211103, and the core pulling storage wheel 81211106 is fixed to the second core pulling mechanism 181222101. The particle chain conveying device 18122103 is fixed to the protective shell B81211103, the push rod driving 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.

[0082] The inner tube joint 18122111 is connected to the second inner tube 18122115, the second inner tube 18122115 is sleeved and installed in the 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.

[0083] 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.

[0084] 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 of the 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 to be pushed backwards and finally collected along the guide wire tube 81211107 In the core pulling and collecting wheel 81211108, when the flexible needle core 81211113 is completely extracted from the second inner tube 18122115, the core pulling and collecting wheel 81211108 is manually turned to make the flexible needle core 81211113 completely stored in the core pulling and 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 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 guiding 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 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 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.

[0085] 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.

[0086] Example 4

[0087] The embodiments of the present invention are further improvements on other embodiments. Some of the same contents refer to other embodiment 1, and this embodiment will not be described in detail.

[0088] When the needle extraction mechanism is a manual needle extraction drive mechanism, 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 or the gear to rotate, and the friction wheel or the gear rack mechanism indirectly drives 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, thereby driving the relative displacement between the inner and outer tubes to realize the needle extraction action.

[0089] like Fig.12 and Fig.13The 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;

[0090] 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;

[0091] The manual push plate 1081220204 is pushed so that its concave push head cooperates with the outer tube 1081220303 of the delivery conduit 10812203, and its end face abuts against the push rod seat 1081220301 of the delivery conduit 10812203.

[0092] Example 5

[0093] A method for using a semi-automatic particle implantation system with manually switching a needle removal channel comprises the following steps:

[0094] Step 1: insert multiple puncture needles into the target object according to the planned needle insertion route;

[0095] Step 2: Connect the tails of all puncture needles to a delivery catheter respectively, or always connect the tails of the puncture needles to a delivery catheter, and then manually install one of the delivery catheters to the needle removal drive position, or install a needle removal group on each delivery catheter, and then manually install the needle removal drive head of one of the delivery catheters to the needle removal drive position;

[0096] Step 3: docking the delivery catheter with the implantation mechanism, the push rod driving mechanism of the implantation mechanism drives the push rod to move forward and backward, and 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 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;

[0097] Step 4: Manually detach the inner tube of the delivery catheter from the needle removal drive position, or manually remove the needle removal drive head at the needle removal drive position, and then switch to another delivery catheter and puncture needle to repeat steps 2 to 4 until all puncture needles have been implanted, thereby completing the semi-automatic particle implantation with manual switching of the needle removal pipeline.

[0098] 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.

[0099] 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 needle removal channel, characterized in that: include: 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 abutted against or connected to the target object; Implantation mechanism: The radioactive source is delivered to the preset position along the hollow channel of the delivery catheter and the puncture needle; Needle extraction mechanism: a needle extraction drive position is provided, and different puncture needles can be extracted by manually installing different delivery catheters or needle extraction drive heads with the tube to the needle extraction drive position, thereby realizing manual switching of the needle extraction channel; The needle extraction mechanism also includes a needle extraction drive mechanism. The inner tube and the outer tube can move relative to each other under the action of the needle extraction drive mechanism, so that the puncture needle moves away from the target object and the puncture needle is extracted from the target object.

2. A semi-automatic particle implantation system with manually switched needle removal channels according to claim 1, characterized in that: When different delivery catheters are manually installed to the needle removal drive position, the front end of the outer tube abuts against or connects with the target object, and the needle removal mechanism directly pushes and pulls, clamps, frictionally drives or engages the outer tube or the inner tube to remove the puncture needle.

3. A semi-automatic particle implantation system with manually switched needle removal channel according to claim 2, characterized in that: When the needle extraction mechanism adopts a push-pull drive mode, it includes a telescopic push rod. When the delivery catheter is installed with the needle extraction drive position, the telescopic push rod can be extended 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; When the needle extraction mechanism is friction driven, it includes a friction wheel or a friction belt, which is arranged outside the outer tube or the inner tube, and drives the friction wheel to rotate or the friction belt to run. The outer cylindrical surface of the friction wheel or the friction belt squeezes the inner tube or the outer tube, thereby driving the inner tube and the outer tube to move relative to each other through friction force, thereby achieving needle extraction; When the needle extraction mechanism is driven by meshing, it includes a rack connected to the inner tube or the outer tube. The rack is driven to move by the rotation of the gear or the worm, and the rack drives the inner tube or the outer tube to move, driving the inner tube and the outer tube to move relative to each other, thereby realizing needle extraction. When the needle extraction mechanism is driven by clamping, the outer tube or the inner tube is clamped by a clamping mechanism, and the clamping mechanism is driven to move, so that the outer tube or the inner tube is driven to move relative to the outer tube, thereby realizing needle extraction.

4. A semi-automatic particle implantation system with manually switched needle removal channel according to claim 1, characterized in that: When different tube-mounted needle-pulling drive heads are manually installed to the needle-pulling drive position, the needle-pulling mechanism adopts a tube-mounted needle-pulling assembly, and the tube-mounted needle-pulling drive head drives the tube-mounted needle-pulling assembly, and the needle-pulling group of the tube-mounted needle-pulling assembly is arranged on the inner tube or the outer tube; The needle removal group of the tube-mounted needle removal assembly is connected to the power source of the needle removal drive mechanism through a sleeve. The power source of the needle removal drive mechanism drives the needle removal group of the tube-mounted needle removal assembly to perform the needle removal action through the driving wire, liquid, and gas in the sleeve. The needle removal group drives the inner and outer tubes to slide relative to each other through push-pull drive, clamping drive, friction drive, and meshing drive.

5. A semi-automatic particle implantation system with manually switched needle removal channel according to claim 4, characterized in that: The needle extraction group adopts a push-pull drive, and when driven by a driving wire, it includes a needle extraction control assembly, a needle extraction quick connector and a driving wire. The needle extraction control assembly is provided with a needle extraction hole, and the different needle extraction drive head with tube can be manually and selectively installed at one end of the needle extraction hole. The needle extraction drive head with tube includes a handle and a needle extraction drive shaft. The handle is automatically or manually controlled by the needle extraction control assembly to drive the end of the needle extraction drive shaft away from the handle to slide back and forth in the handle. The needle extraction drive shaft is connected to the needle extraction mechanism by a driving wire. A sleeve is disposed on the driving wire. The driving wire moves relative to the sleeve. The needle extraction drive shaft moves back and forth, and the driving wire controls the needle extraction group to move back and forth. The needle extraction group directly applies thrust or pulling force to the end face of the inner tube or the outer tube, or to the step surface or the connecting part arranged on the inner tube or the outer tube, thereby driving the inner tube or the outer tube to make relative sliding motion, so as to realize the extraction of the puncture needle.

6. A semi-automatic particle implantation system with manually switched needle removal channel according to claim 1, characterized in that: The needle extraction mechanism includes a manual needle extraction drive mechanism or an automatic needle extraction drive mechanism; When the needle pulling mechanism is an automatic needle pulling drive mechanism, the needle pulling mechanism is provided with a needle pulling power source.

7. A semi-automatic particle implantation system with manually switched needle removal channel according to claim 6, characterized in that: When the needle extraction mechanism is a manual needle extraction drive mechanism, 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 or the gear to rotate, and the friction wheel or the gear rack mechanism indirectly drives 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, thereby driving the relative displacement between the inner and outer tubes to realize the needle extraction action.

8. A semi-automatic particle implantation system with manually switched needle removal channel according to claim 1, characterized in that: The implantation mechanism comprises an implantation output interface, a push rod, a push rod driving mechanism and a radiation source feeding mechanism. The implantation output interface is connected to the delivery catheter. 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, and the radiation source is pushed into the delivery catheter through the implantation output interface, and then the radiation source is pushed out of the puncture needle 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, a trumpet arrangement feeding mechanism, and a vibration disk feeding mechanism.

9. A semi-automatic particle implantation system with manually switched needle removal channel according to claim 1, characterized in that: The length of the inner tube and the outer tube is greater than 300mm, the outer tube is made of a flexible, bendable and deformable material, and the material is one or more combinations of plastic, rubber, latex, and silicone. The inner tube is made of a flexible, bendable and deformable material, and the material is one or more combinations of plastic, rubber, latex, and silicone. The inner diameter of the inner tube is 0.5-1.5mm, and the outer diameter is 1.5-5mm. The inner diameter of the outer tube is greater than the outer diameter of the inner tube, and the outer tube is made of a transparent material; Or the outer tube and / or the inner tube is made of a bendable and formable pipe, so that the operator can bend it into different shapes to adapt to different surgical scenarios. Specifically, the bendable and formable pipe is made of a bendable and formable metal, or the bendable and formable pipe is a multi-lumen tube, and the multi-lumen tube includes a main lumen for delivering a radiation source and a secondary lumen for filling a bending wire, and the bending wire is made of a bendable and formable metal.

10. A method for using a semi-automatic particle implantation system with a manually switched needle removal channel, which uses a semi-automatic particle implantation system with a manually switched needle removal channel 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 tails of all puncture needles to a delivery catheter respectively, or always connect the tails of the puncture needles to a delivery catheter, and then manually install one of the delivery catheters to the needle removal drive position, or install a needle removal group on each delivery catheter, and then manually install the needle removal drive head of one of the delivery catheters to the needle removal drive position; Step 3: docking the delivery catheter with the implantation mechanism, the push rod driving mechanism of the implantation mechanism drives the push rod to move forward and backward, and 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 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 4: Manually detach the inner tube of the delivery catheter from the needle removal drive position, or manually remove the needle removal drive head at the needle removal drive position, and then switch to another delivery catheter and puncture needle to repeat steps 2 to 4 until all puncture needles have been implanted, thereby completing the semi-automatic particle implantation with manual switching of the needle removal pipeline.

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