Semi-automatic particle implantation system capable of pulling needle manually and use method thereof

Abstract

The invention discloses a semi-automatic particle implantation system with a manual needle withdrawal function and a use method thereof.An implantation mechanism conveys a radioactive source to a preset position along a hollow channel, entering a puncture needle, of a conveying catheter, the conveying catheter comprises an inner tube and an outer tube, the inner tube is sleeved with the outer tube, and the front end of the inner tube is connected with the puncture needle inserted into a target object; the front end of the outer tube abuts against or is connected with a target object, and implantation channels of the implantation mechanism are switched manually or automatically; the needle withdrawing mechanism is provided with a needle withdrawing driving position, and different needle withdrawing driving heads along with the tube are manually mounted at the needle withdrawing driving position so as to withdraw different puncture needles; or the needle pulling mechanism is manually controlled to directly apply pushing force or pulling force to the inner tube or the outer tube, so that the inner tube and the outer tube are driven to move relatively, the inner tube pulls the puncture needle to be pulled out of the target object, an operator completes implantation and needle pulling operation at the position away from the radioactive source, and the radiation influence of the radioactive source on the operator is effectively reduced.

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 manual needle removal 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 solutions:

[0008] A semi-automatic particle implantation system with manual needle removal, comprising:

[0009] Implantation mechanism: The radiation source is transported to a preset position along a delivery catheter into the hollow channel of the puncture needle. 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 is abutted against or connected to the target object. The implantation channel switching of the implantation mechanism is manual switching or automatic switching.

[0010] Needle extraction mechanism: includes a needle extraction drive mechanism, under the action of which the inner tube and the outer tube can move relative to each other, so that the puncture needle moves away from the target object and the puncture needle is extracted from the target object.

[0011] The needle extraction mechanism adopts manual needle extraction, and the needle extraction mechanism is provided with a needle extraction drive position, and different puncture needles are extracted by manually installing different needle extraction drive heads with tubes to the needle extraction drive position.

[0012] Alternatively, the needle extraction mechanism is manually controlled to directly apply a pushing force or pulling force to the inner tube or the outer tube, thereby driving the inner tube and the outer tube to move relative to each other, so that the inner tube pulls the puncture needle out of the target object.

[0013] Preferably, when different on-tube needle extraction drive heads are manually installed in the needle extraction drive position to extract different puncture needles, the needle extraction drive mechanism is a on-tube drive mode, including an on-tube needle extraction assembly, and the on-tube needle extraction drive head drives the on-tube needle extraction assembly, and the needle extraction group of the on-tube needle extraction assembly is arranged on the inner tube or the outer tube.

[0014] The needle extraction group of the tube needle extraction assembly is connected to the power source of the needle extraction drive mechanism through a sleeve. The power source of the needle extraction drive mechanism drives the needle extraction group of the tube needle extraction assembly through a drive wire, liquid, and compressed gas in the sleeve. The driving mode is selective pushing, or pushing / pulling after selective clamping, or selective array friction. The power source is manually driven.

[0015] When the driving method adopts selective pushing, the needle removal group includes a pushing piece, and the needle removal driving mechanism drives the pushing pieces of different needle removal groups. The pushing piece pushes the inner tube or the outer tube, thereby driving the inner tube and the outer tube to move relative to each other to achieve needle removal.

[0016] When the driving method adopts selective clamping and then pushing / pulling, the needle removal group includes a clamping piece, and the needle removal driving mechanism drives the clamping pieces of different needle removal groups to clamp the inner tube or the outer tube and move at the same time, generating a thrust / pull on the inner tube or the outer tube, thereby driving the inner tube and the outer tube to move relative to each other to achieve needle removal.

[0017] When the driving method adopts the selective array friction type, the needle pulling group includes a friction wheel or a friction belt, and there are two friction wheels or friction belts. The circumferential surfaces of the two friction wheels or the two friction belts can press the inner tube or the outer tube under the action of the clamping mechanism. The needle pulling drive mechanism drives the friction wheels of different needle pulling groups to rotate or the friction belts to transmit, thereby driving the inner tube and the outer tube to move relative to each other to achieve needle pulling.

[0018] Preferably, it also includes an implantation output interface for connecting to a delivery catheter, and the implantation output interface is docked with the delivery catheter to form an implantation channel.

[0019] Preferably, a first channel switching component is further included, on which a plurality of implant output interfaces are arranged, each of which can be respectively installed with a delivery catheter, and the first channel switching component automatically switches the implant channel.

[0020] Alternatively, the implant output interface is provided with one, and different delivery catheters can be manually installed with the implant output interface, thereby realizing manual switching of implant channels.

[0021] 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.

[0022] 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 target object, 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 trumpet arrangement feeding mechanism, a V-groove arrangement feeding mechanism, and a vibration disk feeding mechanism.

[0023] Preferably, the first channel switching component is a first motion platform, or the first channel switching component realizes switching and conducting of multiple implant channels by switching different reversing pipelines or rotating the reversing pipelines around the inlet axis.

[0024] When the first channel switching component is a first motion platform, a connector is installed on the first motion platform, and a plurality of connection holes are provided on the connector. One end of the connection hole is connected to the radiation source output channel of the implant mechanism, and the other end of the connection hole is an implant output interface for installing a plurality of delivery catheters. The first motion platform controls the relative movement of the connector and the radiation source output channel as follows:

[0025] A. The connector moves, and one end of the radiation source output channel is stationary;

[0026] B. The connector is stationary, and one end of the radiation source output channel moves;

[0027] C. The connector moves, and one end of the radiation source output channel moves;

[0028] The first motion platform includes a plane displacement mechanism and a front-to-back docking mechanism. The implant mechanism is installed on the front-to-back docking mechanism. The plane displacement mechanism drives the implant mechanism to move on a plane to select a corresponding connection hole. The front-to-back docking mechanism moves back and forth in a direction perpendicular to the direction to drive the implant mechanism to dock or move away from the connection hole.

[0029] The plane displacement mechanism is a single-joint rotational motion mechanism, which also includes a rotating arm and a radial linear motion mechanism. The single-joint rotational motion mechanism drives the rotating arm to rotate within a plane, the radial linear motion mechanism is arranged on the rotating arm, and drives the slider arranged on the rotating arm to move radially along the rotating arm, and the front and rear docking mechanism is arranged on the side of the slider.

[0030] When the first channel switching component realizes the switching and connection of multiple implant channels by switching different reversing pipelines or rotating the reversing pipelines around the inlet axis, the first channel switching component includes a switching component, the switching component includes a connecting piece, a rotating group arranged on one side of the connecting piece, and a docking elbow driven by the rotating group, and a plurality of docking ports are arranged in a circumferential array on the connecting piece, the docking elbow is connected with the docking port, and the docking elbow can be connected with different docking ports by driving the rotating group to rotate; the delivery catheter is connected with the docking elbow through the switching component; the switching component also includes a forward and backward motion module for driving the connecting piece and the docking elbow to move toward each other, so as to realize the docking of the docking elbow with the docking port, thereby ensuring the airtightness and continuity of the pipeline; the rotating group adopts at least one of a gear transmission mechanism, a belt transmission mechanism, a worm gear mechanism, and a chain transmission mechanism.

[0031] When the rotating group adopts a gear transmission mechanism, the gear transmission mechanism includes a housing, a driving gear and a driven gear arranged inside the housing, the driving gear is driven by the second rotating motor, a through hole is arranged at the shaft core of the driven gear, one end of the butt elbow is fixed on the driven gear and communicated with the through hole, and the conveying conduit is communicated with the butt elbow through the through hole;

[0032] The needle extraction drive unit of the needle extraction mechanism is arranged on the reversing pipeline. After the reversing pipeline is connected with different implantation channels, the needle extraction drive unit can pass through the needle extraction port next to the implantation output interface, push the tube-attached needle extraction drive head, and the tube-attached needle extraction drive head then drives the tube-attached needle extraction assembly, so that the inner and outer tubes undergo relative sliding motion to realize needle extraction.

[0033] Preferably, a core pulling mechanism is provided, which is docked with the tail of the needle core to pull out the needle core in the puncture needle, thereby forming a hollow implantation channel. The core pulling mechanism adopts at least one of a friction core pulling mechanism, a reciprocating clamping core pulling mechanism, and a winding core pulling mechanism.

[0034] When the core pulling mechanism adopts a friction core pulling mechanism, a part of the friction core pulling mechanism is pressed against the needle core, and the needle core is pulled out by the friction force generated by the pressing. The friction core pulling mechanism is one or a combination of a friction wheel and a friction belt.

[0035] When the core pulling mechanism adopts a reciprocating clamping core pulling mechanism, it includes a clamping component and a reciprocating motion component. The clamping component controls the clamping and loosening of the needle core, and the reciprocating motion component controls the reciprocating movement of the clamping component. When the reciprocating motion component drives the clamping component to move outward, the clamping component clamps the needle core to pull it out. When the reciprocating motion component drives the clamping component to move inward, the clamping component loosens the needle core.

[0036] When the core pulling mechanism adopts a winding core pulling mechanism, it includes a core winding wheel, the tail of the needle core is directly fixed to the core winding wheel or the needle core is clamped by a passive clamping part, and then the core is pulled out by rotating the core winding wheel.

[0037] When an implant output interface is provided, in addition to the implant output interface, it also includes a core pulling interface. One side of the core pulling interface is aligned with the core pulling mechanism, and the delivery catheter can be manually docked with the other side of the core pulling interface, thereby realizing the switching of core pulling of different delivery catheters.

[0038] Alternatively, the implant output interface is a core extraction interface, and further includes a second channel switching component, the second channel switching component is used to switch the core extraction mechanism and the implant mechanism to dock with the implant output interface respectively, and the second channel switching component is a second motion platform.

[0039] The second 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 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.

[0040] Preferably, the first channel switching assembly also includes a third motion platform, which is the first motion platform, so that the core pulling mechanism and the implanting mechanism are installed on the same motion platform. The first motion platform is provided with a first front-to-back motion mechanism and a second front-to-back motion mechanism, which are respectively used for the front-to-back docking movement of the core pulling mechanism and one end of the radiation source output channel. First, the core pulling mechanism is docked with the tail of a needle core in an implant output interface, and the needle core is pulled out. After the core pulling is completed, a new implantation channel is established. Under the drive of the first motion platform, the radiation source output channel is docked and connected with the implant output interface, and then implantation is performed through the newly established implantation channel.

[0041] Preferably, the power source includes a manual needle extraction drive mechanism, which drives the tube-mounted needle extraction assembly to move, and then the tube-mounted needle extraction assembly drives the inner and outer tubes to slide relative to each other through push-pull drive, clamping drive, friction drive, and meshing drive; the needle extraction group of the tube-mounted needle extraction assembly is powered by a drive wire, liquid, or gas, and a measuring element for detecting the drive displacement of the drive wire, liquid, or gas is also provided in the power source.

[0042] The measuring element may adopt a displacement measuring device, wherein the displacement measuring device is one or a combination of a rotary encoder and a linear displacement sensor.

[0043] The manual needle extraction drive mechanism includes a needle extraction control assembly and an operating handle. The needle extraction control assembly is provided with a needle extraction hole. The in-tube needle extraction drive head can be selectively installed at one end of the needle extraction hole. The operating handle will dock with the in-tube needle extraction drive head. The operator drives the in-tube needle extraction drive head by sliding or rotating the operating handle. The in-tube needle extraction drive head will drive the drive wire, liquid, and gas to move relative to the sleeve of the in-tube needle extraction assembly, thereby providing power to the needle extraction group at the other end of the sleeve.

[0044] Preferably, when the needle removal mechanism is manually controlled to directly apply a thrust or a pull to the inner tube or the outer tube to drive the inner tube and the outer tube to move relative to each other, so that the inner tube pulls the puncture needle out of the target object to remove different puncture needles, the needle removal 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 handwheel to rotate, and the handwheel 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 inner and outer tubes to have a relative displacement to realize the needle removal action.

[0045] A method for using a semi-automatic particle implantation system with manual needle removal comprises the following steps;

[0046] (1) inserting multiple puncture needles into the target object according to the planned needle insertion route;

[0047] (2) Connecting the tail of one of the puncture needles to the delivery catheter, manually inserting the inner tube of the delivery catheter into the core extraction interface of the core extraction mechanism, or connecting 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 docking one of the delivery catheters to a single implantation output interface corresponding to the implantation mechanism, or manually docking multiple delivery catheters to multiple implantation output interfaces corresponding to the implantation mechanism, and controlling the implantation mechanism to dock with one of the implantation output interfaces through the first channel switching component, so that the implantation output interface and the delivery catheter are docked to form an implantation channel; adjusting 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;

[0048] (3) The push rod driving mechanism of the implantation mechanism drives the push rod to move forward and backward. When the push rod moves forward, it pushes out the radioactive source arranged in front of the push rod by the radioactive source feeding mechanism, pushes the radioactive source into the implantation output interface, and pushes it along the delivery catheter to the front end of the puncture needle; at the same time, the operator manually drives the needle removal mechanism according to the treatment needs, thereby driving the inner tube and the outer tube to move relative to each other through the needle removal mechanism to realize the needle removal action; the displacement sensor detects the manual needle removal distance, so that the push rod driving mechanism can synchronously implant the radioactive source into the biological tissue at the same implantation rate as the needle removal rate, and adjust the implantation depth of the radioactive source according to the treatment needs; then the push rod driving mechanism of the implantation mechanism drives the flexible push rod to reset;

[0049] (4) In the case where the implant mechanism has only a single implant output interface, the operator needs to manually connect another delivery catheter to the implant output interface and repeat the above process; in the case where the implant mechanism has multiple implant output interfaces, the implant mechanism is controlled to connect to other implant output interfaces through the first channel switching component and the above process is repeated; until all puncture needles have been implanted, the particle implantation of the semi-automatic particle implantation system with manual needle removal can be completed.

[0050] Compared with the prior art, the present invention has the following beneficial effects:

[0051] 1. The implantation channel is switched manually or automatically. The implantation mechanism is controlled to select different implantation channels, and the radioactive source is inserted into the lesion along different puncture needles. After the implantation is completed, the puncture needle is manually pulled out. The operator can judge whether the puncture needle has started to be pulled out based on the feel. At this time, the needle pulling depth can be determined more accurately, which improves the implantation accuracy of the radioactive source and allows the operator to complete the implantation and needle pulling operations away from the radioactive source, effectively reducing the radiation impact of the radioactive source on the operator;

[0052] 2. The needle removal mechanism adopts an inner and outer tube setting, and controls the relative movement between the inner and outer tubes by manually pulling out the needle so that the inner tube pulls the puncture needle out of the target object, avoiding the rigid connection between the puncture needle and the equipment, thereby improving the safety of the operation;

[0053] 3. The switching of implantation channel and core extraction channel adopts motion platform. The motion platform can freely select different channels for core extraction and implantation through rotation and translation, thus improving the efficiency of surgery;

[0054] 4. A needle core is set in the delivery catheter and the puncture needle to prevent the liquid in the biological tissue from flowing into the puncture needle and blocking it. During the operation, the needle core is pulled out of the delivery catheter and the puncture needle by the core extraction mechanism to form a hollow radioactive source implantation channel. The radioactive source is then implanted into the biological tissue along the delivery catheter and the puncture needle by the implantation mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 This is a schematic structural diagram of a semi-automatic particle implantation system with manual needle removal according to Example 1 of the present invention;

[0056] Figure 2 It is a structural schematic diagram of a paddle in the needle extraction mechanism of the present invention;

[0057] Figure 3 It is a structural schematic diagram of the needle extraction drive shaft, the needle extraction quick connector and the needle extraction control box of the needle extraction mechanism of the present invention;

[0058] Figure 4 It is an internal cross-sectional view of the needle removal quick connector of the present invention;

[0059] Figure 5 This is a schematic structural diagram of a semi-automatic particle implantation system with manual needle removal according to Example 2 of the present invention;

[0060] Figure 6 This is a schematic structural diagram of manually switching the core-pulling channel and the needle-pulling channel according to Embodiment 3 of the present invention;

[0061] Figure 7 It is a structural schematic diagram of a channel switching component according to Embodiment 4 of the present invention;

[0062] Figure 8 It is a structural schematic diagram of a semi-automatic particle implantation system with manual needle removal according to Example 5 of the present invention;

[0063] Fig. 9 This is a front view of a semi-automatic particle implantation system with manual needle removal according to Example 5 of the present invention. DETAILED DESCRIPTION

[0064] 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.

[0065] Example 1

[0066] A semi-automatic particle implantation system with manual needle removal, comprising

[0067] Implantation mechanism (such as the particle chain implantation device 8111102 of the present embodiment): the radiation source is transported to a preset position along a delivery catheter (such as the inner tube 8111109 of the present embodiment) into the hollow channel of the puncture needle, the delivery catheter comprises an inner tube (such as the inner tube 8111109 of the present embodiment) and an outer tube (such as the outer tube 8111106 of the present embodiment), the outer tube is outermostly disposed on the inner tube, the front end of the inner tube is connected to the puncture needle inserted into the target object (such as the guide template 8111105 of the present embodiment), the front end of the outer tube is abutted against or connected to the target object, the implantation channel switching of the implantation mechanism adopts manual switching or automatic switching; the implantation channel switching of the implantation mechanism of the present embodiment adopts automatic switching.

[0068] The needle-pulling mechanism (such as the needle-pulling mechanism 8111107 of the present embodiment) comprises a needle-pulling driving mechanism, wherein the inner tube and the outer tube can move relative to each other under the action of the needle-pulling driving mechanism, so as to move the puncture needle away from the target object and pull the puncture needle out of the target object;

[0069] The needle extraction mechanism adopts manual needle extraction, and the needle extraction mechanism is provided with a needle extraction drive position, and different needle extraction drive heads with tubes (such as the needle extraction quick connector 8111108 of this embodiment) are manually installed to the needle extraction drive position to extract different puncture needles;

[0070] Preferably, when different tube-mounted needle-pulling drive heads are manually installed at the needle-pulling drive position to pull out different puncture needles, the needle-pulling drive mechanism is a tube-mounted drive mode, including 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;

[0071] The needle extraction group of the needle extraction assembly with tube is connected to the power source of the needle extraction drive mechanism through a sleeve (such as the needle extraction drive tube 8111111 in this embodiment). The power source of the needle extraction drive mechanism drives the needle extraction group of the needle extraction assembly with tube through the drive wire, liquid, and compressed gas in the sleeve. The driving mode is selective pushing, or selective clamping and pushing / pulling, or selective array friction. The power source is manually driven;

[0072] When the driving mode adopts selective pushing, the needle removal group includes a pushing member, and the needle removal driving mechanism drives the pushing members of different needle removal groups, and the pushing members push the inner tube or the outer tube, thereby driving the inner tube and the outer tube to move relative to each other to realize needle removal;

[0073] When the driving mode adopts selective clamping followed by pushing / pulling, the needle extraction group includes a clamping member, and the needle extraction driving mechanism drives the clamping members of different needle extraction groups to clamp the inner tube or the outer tube and move simultaneously, generating a thrust / pull force on the inner tube or the outer tube, thereby driving the inner tube and the outer tube to move relative to each other, thereby realizing needle extraction;

[0074] When the driving method adopts the selective array friction type, the needle pulling group includes a friction wheel or a friction belt, and there are two friction wheels or friction belts. The circumferential surfaces of the two friction wheels or the two friction belts can press the inner tube or the outer tube under the action of the clamping mechanism. The needle pulling drive mechanism drives the friction wheels of different needle pulling groups to rotate or the friction belts to transmit, thereby driving the inner tube and the outer tube to move relative to each other to achieve needle pulling.

[0075] Preferably, it also includes an implantation output interface for connecting to a delivery catheter, a hollow puncture needle is connected to the front end of the delivery catheter, and the implantation output interface is connected to the delivery catheter to form an implantation channel.

[0076] Preferably, it further comprises a first channel switching component, on which a plurality of implant output interfaces are arranged, each implant output interface can be respectively installed with a delivery catheter, and the first channel switching component automatically switches the implant channel;

[0077] 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.

[0078] 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 target object, 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 trumpet arrangement feeding mechanism, a V-groove arrangement feeding mechanism, and a vibration disk feeding mechanism.

[0079] Preferably, the first channel switching component is a first motion platform (such as the rotary arm hole selection mechanism 8111101 of the present embodiment), or the first channel switching component realizes the switching and conducting of multiple implantation channels by switching different reversing pipelines or rotating the reversing pipelines around the inlet axis;

[0080] When the first channel switching component is the first motion platform, a connector (such as the implant docking plate 8111104 in this embodiment) is installed on the first motion platform, and a plurality of connection holes are provided on the connector, one end of which is docked with the radiation source output channel of the implant mechanism, and the other end of the connection hole is an implant output interface for installing multiple delivery catheters. The first motion platform controls the relative movement of the connector and the radiation source output channel as follows:

[0081] A. The connector moves, and one end of the radiation source output channel is stationary;

[0082] B. The connector is stationary, and one end of the radiation source output channel moves;

[0083] C. The connector moves, and one end of the radiation source output channel moves;

[0084] The first motion platform includes a plane displacement mechanism and a front-to-back docking mechanism, the implant mechanism is installed on the front-to-back docking mechanism, and the plane displacement mechanism drives the implant mechanism to move on a plane to select a corresponding connection hole, and the front-to-back docking mechanism moves back and forth in a direction perpendicular to the direction to drive the implant mechanism to dock or move away from the connection hole;

[0085] The plane displacement mechanism is a single-joint rotational motion mechanism, and the plane displacement mechanism also includes a rotation arm and a radial linear motion mechanism. The single-joint rotational motion mechanism drives the rotation arm to rotate in a plane, the radial linear motion mechanism is arranged on the rotation arm, and drives the slider arranged on the rotation arm to move radially along the rotation arm, and the front and rear docking mechanism is arranged on the side of the slider;

[0086] Preferably, a core pulling mechanism (such as the core pulling mechanism 8111103 of the present embodiment) is further provided, the core pulling mechanism docks with the tail of the needle core, pulls out the needle core in the delivery catheter and the puncture needle, thereby forming a hollow implantation channel, and the core pulling mechanism adopts one or a combination of a friction core pulling mechanism, a reciprocating clamping core pulling mechanism, and a winding core pulling mechanism;

[0087] When the core pulling mechanism adopts a friction core pulling mechanism, a part of the friction core pulling mechanism is pressed against the needle core, and the needle core is pulled out by the friction force generated by the pressing, and the friction core pulling mechanism is one or a combination of a friction wheel and a friction belt;

[0088] When the core pulling mechanism adopts a reciprocating clamping core pulling mechanism, it includes a clamping component and a reciprocating motion component. The clamping component controls the clamping and loosening of the needle core, and the reciprocating motion component controls the reciprocating movement of the clamping component. When the reciprocating motion component drives the clamping component to move outward, the clamping component clamps the needle core to realize outward pulling. When the reciprocating motion component drives the clamping component to move inward, the clamping component loosens the needle core.

[0089] When the core pulling mechanism adopts a winding core pulling mechanism, it includes a core winding wheel, the tail of the needle core is directly fixed to the core winding wheel or the needle core is clamped by a passive clamping part, and then the core is pulled out by rotating the core winding wheel;

[0090] The implant output interface is a core extraction interface, and further includes a second channel switching component, the second channel switching component is used to switch the core extraction mechanism and the implant mechanism to be connected to the implant output interface respectively, and the second channel switching component is a second motion platform;

[0091] The second 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 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.

[0092] Preferably, the first channel switching assembly also includes a third motion platform, which is the first motion platform, so that the core pulling mechanism and the implanting mechanism are installed on the same motion platform. The first motion platform is provided with a first front-to-back motion mechanism and a second front-to-back motion mechanism, which are respectively used for the front-to-back docking movement of the core pulling mechanism and one end of the radiation source output channel. First, the core pulling mechanism is docked with the tail of a needle core in an implant output interface, and the needle core is pulled out. After the core pulling is completed, a new implantation channel is established. Under the drive of the first motion platform, the radiation source output channel is docked and connected with the implant output interface, and then implantation is performed through the newly established implantation channel.

[0093] Preferably, the power source comprises a manual needle-pulling drive mechanism, which drives the tube-mounted needle-pulling assembly to move, and then the tube-mounted needle-pulling assembly drives the inner and outer tubes to slide relative to each other through a push-pull drive, a clamping drive, a friction drive, or a meshing drive; the needle-pulling group of the tube-mounted needle-pulling assembly is powered by a drive wire, a liquid, or a gas, and a measuring element for detecting the driving displacement of the drive wire, the liquid, or the gas is also provided in the power source;

[0094] The measuring element may adopt a displacement measuring device, wherein the displacement measuring device is one or a combination of a rotary encoder (such as the rotary encoder 8111119 in this embodiment) and a linear displacement sensor;

[0095] The manual needle extraction drive mechanism includes a needle extraction control assembly and an operating handle. The needle extraction control assembly is provided with a needle extraction hole. The in-tube needle extraction drive head can be selectively installed at one end of the needle extraction hole. The operating handle will dock with the in-tube needle extraction drive head. The operator drives the in-tube needle extraction drive head by sliding or rotating the operating handle. The in-tube needle extraction drive head will drive the drive wire, liquid, and gas to move relative to the sleeve of the in-tube needle extraction assembly, thereby providing power to the needle extraction group at the other end of the sleeve.

[0096] like Figures 1 to 4 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 and translation. The particle chain 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 particle chain 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 of the inner tube passes through the needle extraction mechanism 8111107 and is connected to the puncture needle (not shown in the figure), and the puncture needle passes through the hole on the guide template 8111105 until the lesion.

[0097] The needle extraction mechanism 8111107 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. The needle extraction drive shaft 8111113 can slide relatively in the needle extraction quick connector 8111108, and the needle extraction quick connector 8111108 can be connected with the needle extraction control box 8111112. The pull ring shaft 8111117 is inserted into the hole from the front side of the needle extraction control box 8111112. The pull ring 8111110 on 112 can be connected with the needle extraction drive shaft 8111113. 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 slide together in the hole of the needle extraction control box 8111112. Pull the pull ring 8111110, 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, thereby realizing needle extraction. A pair of friction wheels 8111118 are installed on the outer side of the needle removal control box 8111112 through the wheel axle 8111120. 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 removal distance, 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 it on the screen, so as to observe the progress of needle removal.

[0098] 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 completely through. 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.

[0099] Before the puncture needle passes through the guide template 8111105, the needle core is located in the inner tube 8111109 and extends to the tip of the puncture needle, thereby filling the space inside the puncture needle to prevent blood from rushing in and coagulating 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 guide 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 8111123 is fixed to the paddle 8111125 in the needle extraction mechanism 8111107 and then passes through the needle extraction drive tube 8111111 and is fixed to the wire locking shaft 8111124 in the needle extraction quick connector 8111108. The wire locking shaft 8111124 is connected to the needle extraction drive shaft 8111113. The needle extraction drive shaft 8111113 can be moved in the needle extraction quick connector 8111108. The quick connector 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. When the pull ring 8111110 is pulled, the needle removal drive shaft 8111113 is pulled, and then the paddle in the needle removal mechanism 8111107 is pulled. The paddle can clamp the inner tube, so that the inner tube 8111109 connected to the puncture needle is pulled, thereby realizing needle removal.

[0100] The working process of this embodiment is as follows:

[0101] Insert multiple puncture needles into the target object according to the planned needle insertion route; connect the tail ends of all puncture needles to a delivery catheter respectively, manually insert the inner tube of one of the delivery catheters into the core pulling interface of the core pulling mechanism, when the inner tube and the core pulling interface are inserted into each other, a part 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 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; since the implant output interface is the core pulling interface, the implant mechanism and the implant output interface are controlled by the rotary arm hole selection mechanism 8111101 The implant output interface is connected to the delivery catheter to form an implant channel, and the outer tube sleeved outside the inner tube is adjusted so that one end of the outer tube is pressed against or connected to the target object; then the particle chain implantation device 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 implant drive motor 8111114. At the same time, the operator controls the pull ring 8111110 on the needle removal control box 8111112 according to the treatment needs, thereby controlling the relative movement of the inner tube and the outer tube, which is arranged in the needle removal control box 8111112. The rotary encoder 8111119 on 111112 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 remove the needle synchronously. When the particle chain is about to be pushed out, the puncture needle also needs to be removed synchronously at the same rate, and the puncture needle itself will be elastically pulled by the human tissue, and there are gaps in the needle removal mechanism 8111107 and the needle removal drive tube 8111111. Therefore, the actual starting point of the needle removal cannot be accurately controlled by the device. Therefore, the needle removal drive is manually completed by the operator (but because the needle removal drive tube 8111111 is longer at this time , therefore, the distances between the particle chain implantation device 8111102 and the patient and the operator are relatively far, and the particle chain implantation device 8111102 and the particle chain in the patient's body cause less radiation damage to the operator). The actual starting point of needle extraction is determined by the operator's hand feel. When the operator senses that the puncture needle is being extracted, he or she can press the control button (not shown in the figure), and the position of the pull ring 8111110 at this time is taken as the zero position, and based on the displacement detected by the rotary encoder set in the needle extraction control box 8111112, the particle chain implantation drive motor 8111114 is controlled to synchronously push the particle chain with a higher synchronization accuracy, so that the particle chain is pushed out. In order to extract and implant different puncture needles, the operator needs to manually dock different needle extraction quick connectors 8111108 with the needle extraction 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.

[0102] 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.

[0103] Example 2

[0104] 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:

[0105] The implant output interface (such as the implant output interface 8111126 in the present embodiment) and the core extraction interface (such as 8111127 in the present embodiment) are respectively provided with one side of the core extraction interface aligned with the core extraction mechanism, and different delivery catheters can be manually plugged into the implant output interface or the core extraction interface, thereby realizing manual switching of the implantation channel or the core extraction channel; the delivery catheter and the implant output interface, or the delivery catheter and the core extraction interface are connected by a quick-connect structure (such as the implant quick connector 81112102 in the present embodiment), and the quick-connect structure is a snap-on structure or a threaded structure.

[0106] 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 trumpet arrangement feeding mechanism, a V-groove arrangement feeding mechanism, and a vibration disk feeding mechanism.

[0107] It also includes a fixed plate (such as the fixed plate 81112101 in the present embodiment), and the core extraction mechanism and the implantation mechanism are installed on one side of the fixed plate. The fixed plate is provided with an implantation output interface and a core extraction interface at positions corresponding to the core extraction mechanism and the implantation mechanism. One end of the delivery catheter is fixedly connected to an implantation quick connector, and the other end is connected to the puncture needle. The implantation quick connector can be selectively aligned with, inserted into, or connected to the implantation output interface or the core extraction interface, thereby realizing the switching of the implantation function and the core extraction function.

[0108] like Figure 5In this embodiment, one implant output interface 8111126 and one core extraction interface 8111127 are respectively provided, and the delivery catheter is manually plugged into the core extraction interface.

[0109] The particle chain implantation device 8111102 and the core extraction 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 inserted into the hole on the fixed plate 81112101, and the other end of the inner tube passes through the needle extraction mechanism 8111107 and is connected to the puncture needle (not shown in the figure), and the puncture needle passes through the hole on the human body template 8111105 until it reaches the lesion.

[0110] like Figures 2 to 4 As shown, the needle extraction mechanism 8111107 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, 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 in the needle extraction control box. The needle extraction control box 8111112 slides in the hole of the needle extraction control box 8111112. A pair of friction wheels 8111118 are provided on the surface of the needle extraction 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 extraction, 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 needle extraction.

[0111] 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 completely through. 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.

[0112] 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 8111123 is fixed to the paddle 8111125 in the needle extraction mechanism 8111107 and then passes through the needle extraction drive tube 8111111 and is fixed to the wire locking shaft 8111124 in the needle extraction quick connector 8111108. The wire locking shaft 8111124 is connected to the needle extraction drive shaft 8111113. The needle extraction drive shaft 8111113 can be moved in the needle extraction quick connector 8111108. The quick connector 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. When the pull ring 8111110 is pulled, the needle removal drive shaft 8111113 is pulled, and then the paddle in the needle removal mechanism 8111107 is pulled. The paddle can clamp the inner tube, so that the inner tube 8111109 connected to the puncture needle is pulled, thereby realizing needle removal.

[0113] A method for using a semi-automatic particle implantation system with manual needle removal comprises the following steps;

[0114] (1) inserting multiple puncture needles into the target object according to the planned needle insertion route;

[0115] (2) Connect the tail of one of the puncture needles to the delivery catheter, and manually plug the inner tube of the delivery catheter into the core-pulling interface of the core-pulling mechanism, that is, manually dock the implanted quick connector 81112102 with the hole corresponding to the entrance of the core-pulling mechanism 8111103. 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. Then, the core-pulling mechanism 8111103 drives the core-pulling friction wheel to rotate, so that the flexible needle core 81112103 in the inner tube 8111109 is automatically pulled out of the delivery catheter and stored in the storage device.

[0116] (3) After the needle core 81112103 is completely pulled out, the implantation quick connector 81112102 is manually pulled out from the core extraction interface and docked with the hole position of the implantation output interface corresponding to the outlet of the particle chain implantation device 8111102. The implantation output interface is docked with the delivery catheter to form an implantation channel; the outer tube sleeved outside the inner tube is adjusted so that one end of the outer tube is pressed against or connected to the target object;

[0117] (4) Then the particle chain implantation device 8111102 cuts the particle chain into short particle chains of a certain length, and the particle chain (the particle chain at this time is equivalent to a push rod) 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 implantation drive motor 8111114. At the same time, the operator controls the pull ring 8111110 on the needle removal control box 8111112 according to the treatment needs, thereby controlling the relative movement of the inner tube and the outer tube. 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. The puncture needle itself will be pulled by the elasticity of human tissue, and there are gaps in the needle extraction mechanism 8111107 and the needle extraction drive tube 8111111, so the starting point of needle extraction cannot be accurately controlled by the device, so the needle extraction is driven manually by the operator (but because the needle extraction drive tube 8111111 is longer at this time, the radiation damage to the operator by the particle chain implantation device 8111102 and the particle chain in the patient's body is relatively small). The starting point of needle extraction is judged by the operator's hand 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 particle chain implantation drive motor 8111114 based on the displacement detected by the rotary encoder set on the needle extraction control box 8111112 to synchronously push the particle chain with high synchronization accuracy to push the particle chain out;

[0118] (5) 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 fixed plate 81112101, and after the flexible needle core is collected, it is connected with the hole corresponding to the outlet of the particle chain implantation device 8111102, and the above process is repeated until all puncture needles have been implanted, and the semi-automatic particle implantation of manually switching the core removal channel and manually removing the needle can be completed. 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, and the flat bracket 81112105 is fixed on the front side of the fixed plate 81112101.

[0119] Example 3

[0120] The same contents of this embodiment refer to those of embodiment 2, and this embodiment will not be described in detail. The differences are as follows:

[0121] The implant output interface is a core extraction interface, and also includes a second channel switching component, which is used to switch the core extraction mechanism and the implant mechanism to dock with the implant output interface respectively, and the second channel switching component is a second motion platform.

[0122] like Figure 6 As shown in the figure, it includes: a rotary arm mechanism 141321, a particle clip 141322, an outer tube push seat 141323, a core extraction mechanism 141324, an implant output interface 1413210, a docking nozzle 141325, a push rod 141326, a flexible push rod 142327, a push rod drive mechanism 142328, a docking plate 141329, a wire feed connector 1423210, and a needle extraction drive position 1413221.

[0123] When the implant output interface (such as the implant output interface 1413210 of the present embodiment) is a core extraction interface, different delivery catheters can be manually plugged into the other side of the core extraction interface, thereby realizing manual switching of the core extraction channel and the needle extraction channel of different delivery catheters.

[0124] It also includes a second motion platform (such as the swing arm mechanism 141321 in the present embodiment), which includes a reciprocating mechanism and a front-to-back docking mechanism. The reciprocating mechanism controls the core pulling mechanism (such as the core pulling mechanism 141324 in the present embodiment) and the implanting mechanism to move back and forth, driving the core pulling mechanism or the implanting mechanism to align with the implanting output interface respectively, and the front-to-back docking mechanism drives the core pulling mechanism or the implanting mechanism to move forward and backward, controlling the distance between the core pulling mechanism or the implanting mechanism and the implanting output interface to achieve the docking of the core pulling mechanism or the implanting mechanism with the implanting output interface; the delivery catheter and the implanting output interface are connected by a quick-connect structure, and the quick-connect structure is a snap-on structure or a threaded structure.

[0125] 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 the 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 trumpet 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.

[0126] The needle extraction mechanism is provided with a needle extraction drive position 1413221, and different puncture needles are extracted by manually installing different delivery catheters or needle extraction drive heads accompanying the catheter to the needle extraction drive position; the needle extraction drive position is arranged near the implant output interface.

[0127] The needle-pulling mechanism comprises a needle-pulling drive mechanism and a delivery catheter, the delivery catheter comprises an inner tube and an outer tube, the outer tube is outermostly fitted on 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-pulling drive mechanism, so that the puncture needle moves in a direction away from the target object and the puncture needle is pulled out of the target object; the needle-pulling drive mechanism comprises a manual needle-pulling drive mechanism or an automatic needle-pulling drive mechanism, the manual needle-pulling drive mechanism or the automatic needle-pulling drive mechanism directly drives the inner and outer tubes to slide relative to each other through a push-pull drive, a clamping drive, a friction drive, or a meshing drive, or the manual needle-pulling drive mechanism or the automatic needle-pulling drive mechanism drives the needle-pulling assembly with the tube to move, and then the needle-pulling assembly with the tube drives the inner and outer tubes to slide relative to each other through a push-pull drive, a clamping drive, a friction drive, or a meshing drive, and the manual needle-pulling drive mechanism or the automatic needle-pulling drive mechanism is provided with a measuring element for measuring the amount of needle core movement;

[0128] When the needle extraction drive mechanism directly drives the inner and outer tubes to slide relative to each other through a push-pull drive mode, the push-pull drive adopts a push rod. After the inner tube of the delivery catheter is installed with the implant output interface, the 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. The needle extraction drive mechanism of this embodiment adopts a manual needle extraction drive mechanism.

[0129] like Figure 6As shown, in this embodiment, the second 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 manual direct push and pull.

[0130] The workflow of this embodiment is as follows:

[0131] 1. Insert multiple puncture needles into the target object according to the planned needle insertion route;

[0132] 2. Connect the tail of one of the puncture needles to the delivery catheter, and connect the tails of all the puncture needles to a delivery catheter respectively, and align the orifice of the core-pulling mechanism 141324 with the implantation output interface 1413210 of the docking plate 141329 through the rotation of the swing arm mechanism 141321 and the cooperation of the front and rear docking mechanisms; then manually plug the inner tube of one of the delivery catheters 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 part of the flexible needle core exposed outside the inner tube is just inserted into the core-pulling friction wheel in the core-pulling mechanism; then the core-pulling mechanism 141324 drives the core-pulling friction wheel to rotate so that the flexible needle core can be pulled out of the delivery catheter and stored in the storage device;

[0133] 3. After the core extraction is completed, the rotary arm mechanism 141321 moves to send the docking nozzle 141325 to the docking plate 141329 to align with the implant output interface 1413210; then the docking nozzle 141325 moves forward to complete the docking with the docking plate 141329. Since the implant output interface 1413210 is the core extraction interface, the implant output interface 1413210 and the delivery catheter are the implantation channel at this time. The outer tube sleeved outside the inner tube is adjusted so that one end of the outer tube is pressed against or connected to the target object;

[0134] 4. The push rod driving mechanism 142328 drives the flexible push rod 142327 to be pushed out. The flexible push rod 142327 enters the particle clip 141322 from the wire inlet connector 1423210 on the side of the particle clip 141322, pushes out the particles at the bottom of the particle clip 141322 one by one to the front of the particle clip 141322 for accumulation, and then simultaneously pushes multiple particles along the delivery catheter to the puncture needle tip to wait. At this time, the operator pushes the push rod 141326 according to the treatment needs so that the push rod 141326 passes through the needle withdrawal driving position 1413221. When the force sensor at the front end of the push rod detects pressure, it means that the push rod 141326 touches the outer tube push seat 141323. This is recorded as the initial point of needle withdrawal. Then the push rod 141326 continues to move forward, and the distance of advancement 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 in a direction away from the target object to achieve the needle withdrawal action. The displacement sensor detects the distance of manual needle withdrawal, which is convenient for the push rod driving mechanism to synchronously implant multiple particles into the biological tissue in sequence at the same implantation rate as the needle withdrawal rate, and to increase the distance between the particles according to the treatment needs. After the implantation is completed, the flexible push rod is reset.

[0135] 5. In order to implant and remove different puncture needles, the operator needs to manually connect the implantation quick connectors of different delivery catheters with the core removal interfaces. After the flexible needle core is retracted, the docking nozzle 141325 of the implantation mechanism is controlled by the movement of the rotary arm mechanism 141321 to dock with the implantation output interface 1413210, and the above process is repeated until all puncture needles have been implanted. The particle implantation of the semi-automatic particle implantation system with manual needle removal is completed.

[0136] In this embodiment, when pushing out, the multiple particles can be pushed out from the magazine one by one first, and then pushed together to the front end of the puncture needle, and then ejected one by one (pulling and implanting at the same time, thereby achieving interval implantation), or the multiple particles can be pushed out from the magazine one by one, and only one particle is pushed to the front end of the puncture needle for ejection each time.

[0137] Example 4

[0138] 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:

[0139] When the first channel switching component realizes the switching and conducting of multiple implantation channels by switching different reversing pipelines or rotating the reversing pipelines around the inlet axis, the first channel switching component includes an adapter component, the adapter component includes a connector (such as the connector 54 of the present embodiment), a rotating group (such as the rotating group 57 of the present embodiment) arranged on one side of the connector, and a docking elbow (such as the docking elbow 56 of the present embodiment) driven by the rotating group, a plurality of docking ports (such as the docking port 55 of the present embodiment) are arranged in a circumferential array on the connector, the docking elbow is connected to the docking port, and the docking elbow can be connected to different docking ports by driving the rotating group to rotate; the delivery conduit (such as the push rod output channel 6 of the present embodiment) is connected to the docking elbow through the adapter component; the adapter component also includes a forward and backward motion module for driving the connector and the docking elbow to move toward each other, so as to realize the docking of the docking elbow and the docking port, thereby ensuring the airtightness and continuity of the pipeline; the rotating group adopts at least one of a gear transmission mechanism, a belt transmission mechanism, a worm gear mechanism, and a chain transmission mechanism;

[0140] When the rotating group adopts a gear transmission mechanism, the gear transmission mechanism includes a housing (such as the housing 571 of this embodiment), a driving gear (such as the driving gear 572 of this embodiment) and a driven gear (such as the driven gear 573 of this embodiment) arranged inside the housing, the driving gear is driven by a second rotating motor (such as the second rotating motor 574 of this embodiment), a through hole is arranged at the shaft core of the driven gear, one end of the docking elbow is fixed on the driven gear and communicated with the through hole, and the conveying conduit is communicated with the docking elbow through the through hole;

[0141] The needle extraction drive unit of the needle extraction mechanism is arranged on the reversing pipeline. After the reversing pipeline is connected with different implantation channels, the needle extraction drive unit can pass through the needle extraction port next to the implantation output interface, push the tube-attached needle extraction drive head, and the tube-attached needle extraction drive head then drives the tube-attached needle extraction assembly, so that the inner and outer tubes undergo relative sliding motion to realize needle extraction.

[0142] like Figure 7As shown, the first channel switching assembly includes an adapter bracket, a connecting member 54 arranged on the adapter bracket, a rotating group 57 arranged on the adapter bracket, and a docking elbow 56 driven by the rotating group 57, the connecting member 54 is provided with a plurality of docking ports 55, the docking elbow 56 is driven to rotate by the rotating group 57 and can be connected with different docking ports 55, the radiation source implanter is connected to the docking elbow 56 through a push rod output channel 6; the rotating group 57 includes a housing 571, a driving gear 572 and a driven gear 573 arranged inside the housing 571, the driving gear 572 is driven by a second rotating motor 574, a through hole is arranged at the shaft core of the driven gear 573 The through hole connects the docking elbow 56 and the push rod output channel 6; the docking elbow 56 includes a first straight tube 563, a second straight tube 561 and a transition elbow 562 connecting the first straight tube 563 and the second straight tube 561, the first straight tube 563 is arranged at the through hole, the second straight tube 561 is connected to the docking port 55, and several docking ports 55 are arranged in a circular shape; the flexible push rod pushes the radioactive particles from the radiation source implanter along the push rod output channel 6, the through hole, the docking elbow 56 and the docking port 55 into the first flexible delivery conduit; the rotating group 57 can also be a combination of a synchronous wheel and a synchronous belt, or a turbine worm combination, as long as it can realize the rotation of the docking elbow 56.

[0143] Example 5

[0144] 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:

[0145] A semi-automatic particle implantation system with manual needle removal, comprising:

[0146] The implantation mechanism (such as the manual needle removal implantation machine 10812202 of the present embodiment): the radioactive source is transported to a preset position along a delivery catheter (such as the delivery catheter 10812203 of the present embodiment) into the hollow channel of the puncture needle, the delivery catheter comprises an inner tube and an outer tube (such as the outer tube 1081220303 of the present embodiment), the outer tube is externally disposed on 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 is abutted against or connected to the target object, and the implantation channel switching of the implantation mechanism is manually switched or automatically switched;

[0147] Needle extraction mechanism: comprising a needle extraction drive mechanism, under the action of which the inner tube and the outer tube can move relative to each other, so that the puncture needle moves away from the target object and the puncture needle is extracted from the target object;

[0148] The needle extraction mechanism adopts manual needle extraction, and the needle extraction mechanism is configured with a needle extraction drive position. The needle extraction mechanism is manually controlled to directly apply a thrust or a pull force to the inner tube or the outer tube, thereby driving the inner tube and the outer tube to move relative to each other, so that the inner tube pulls the puncture needle out of the target object.

[0149] When the needle removal mechanism is manually controlled to directly apply a thrust or a pull to the inner tube or the outer tube to drive the inner tube and the outer tube to move relative to each other, so that the inner tube pulls the puncture needle out of the target object to remove different puncture needles, the needle removal drive mechanism includes a manual pushing part (such as the manual pushing plate 1081220204 in this embodiment), 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. At this time, the inner tube has been connected to the implant output interface to form an implant channel. Therefore, the manual pushing part will drive the inner and outer tubes to have a relative displacement to realize the needle removal action.

[0150] like Figure 8 and Fig. 9 As shown, the 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;

[0151] 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;

[0152] 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.

[0153] A method for using a semi-automatic particle implantation system with manual needle removal comprises the following steps;

[0154] (1) inserting multiple puncture needles into the target object according to the planned needle insertion route;

[0155] (2) Connecting the tail of one of the puncture needles to the delivery catheter, manually inserting the inner tube of the delivery catheter into the core extraction interface of the core extraction mechanism, and then driving the core extraction mechanism to automatically extract the flexible needle core in the inner tube from the delivery catheter and store it in the flexible needle core storage device;

[0156] (3) After the needle core is completely removed, the implantation quick connector is manually removed from the core removal interface and docked with the hole position of the implantation output interface corresponding to the outlet of the manual needle removal implantation machine 10812202, and the implantation output interface is docked with the delivery catheter to form an implantation channel; the outer tube sleeved outside the inner tube is adjusted so that one end of the outer tube is pressed against or connected to the target object;

[0157] (4) The push rod driving mechanism drives the flexible push rod to push out the particles placed in the particle magazine 1081220202 one by one to the front of the particle magazine 1081220202 for accumulation, and then simultaneously pushes the multiple particles along the delivery catheter to the puncture needle tip to wait. At this time, the operator pushes the manual push plate 1081220204 according to the treatment needs to control the relative movement of the inner tube and the outer tube to achieve the needle withdrawal action, and judges the actual starting point of the needle withdrawal by the operator's hand feel. When the operator senses that the puncture needle is being withdrawn, the position of the manual push plate 1081220204 at this time is taken as the zero position, and based on the displacement measuring device A1081220206 detecting the distance of the manual needle withdrawal, the flexible push rod in the storage device 1081220201 is controlled to synchronously push the multiple particles with high synchronization accuracy, so that the multiple particles are simultaneously pushed out. , so that the push rod driving mechanism can synchronously implant multiple particles into the biological tissue at the same implantation rate as the needle withdrawal rate, and increase the distance between particles according to the treatment requirements. Then the flexible push rod is reset;

[0158] (5) In order to implant and remove different puncture needles, the operator needs to manually connect the different implantation quick connectors with the core extraction interface of the core extraction mechanism. After the core is collected, the implantation quick connector is connected to the implantation output interface of the manual needle extraction implanter 10812202, and the above process is repeated until all puncture needles have been implanted and removed, and the particle implantation of the semi-automatic particle implantation system with manual needle extraction is completed.

[0159] In this embodiment, the radiation source is particles. When pushing out, multiple particles are first pushed out from the magazine in sequence, and then the multiple particles are 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). As an alternative, this embodiment can also push multiple particles out of the magazine in sequence, and only push one particle to the front end of the puncture needle for discharge each time. The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. For those skilled in the art, it is obvious 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, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is limited by the attached claims rather than the above description, and it is intended to include all changes that fall within the meaning and scope of the equivalent elements of the claims within the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0160] 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 manual needle removal, characterized in that: include: Implantation mechanism: The radioactive source is transported to a preset position along a delivery catheter into the hollow channel of the puncture needle. 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 to the target object. The implantation channel of the implantation mechanism is switched manually or automatically. Needle extraction mechanism: comprising a needle extraction drive mechanism, under the action of which the inner tube and the outer tube can move relative to each other, so that the puncture needle moves away from the target object and the puncture needle is extracted from the target object; The needle extraction mechanism adopts manual needle extraction, and the needle extraction mechanism is provided with a needle extraction drive position, and different puncture needles are extracted by manually installing different needle extraction drive heads with tubes to the needle extraction drive position; Alternatively, the needle extraction mechanism is manually controlled to directly apply a pushing force or pulling force to the inner tube or the outer tube, thereby driving the inner tube and the outer tube to move relative to each other, so that the inner tube pulls the puncture needle out of the target object.

2. A semi-automatic particle implantation system with manual needle removal according to claim 1, characterized in that: When different tube-mounted needle-pulling drive heads are manually installed at the needle-pulling drive position to pull out different puncture needles, the needle-pulling drive mechanism is a tube-mounted drive mode, including 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; The needle extraction group of the needle extraction assembly with tube is connected to the power source of the needle extraction drive mechanism through the sleeve. The power source of the needle extraction drive mechanism drives the needle extraction group of the needle extraction assembly with tube through the drive wire, liquid, and compressed gas in the sleeve. The driving mode is selective pushing, or pushing / pulling after selective clamping, or selective array friction. The power source is manually driven; When the driving mode adopts selective pushing, the needle removal group includes a pushing member, and the needle removal driving mechanism drives the pushing members of different needle removal groups, and the pushing members push the inner tube or the outer tube, thereby driving the inner tube and the outer tube to move relative to each other to realize needle removal; When the driving mode adopts selective clamping followed by pushing / pulling, the needle extraction group includes a clamping member, and the needle extraction driving mechanism drives the clamping members of different needle extraction groups to clamp the inner tube or the outer tube and move simultaneously, generating a thrust / pull force on the inner tube or the outer tube, thereby driving the inner tube and the outer tube to move relative to each other, thereby realizing needle extraction; When the driving method adopts the selective array friction type, the needle pulling group includes a friction wheel or a friction belt, and there are two friction wheels or friction belts. The circumferential surfaces of the two friction wheels or the two friction belts can press the inner tube or the outer tube under the action of the clamping mechanism. The needle pulling drive mechanism drives the friction wheels of different needle pulling groups to rotate or the friction belts to transmit, thereby driving the inner tube and the outer tube to move relative to each other to achieve needle pulling.

3. A semi-automatic particle implantation system with manual needle removal according to claim 1, characterized in that: It also includes an implantation output interface for connecting to a delivery catheter, and the implantation output interface is docked with the delivery catheter to form an implantation channel.

4. A semi-automatic particle implantation system with manual needle removal according to claim 3, characterized in that: It also includes a first channel switching component, on which a plurality of implant output interfaces are arranged, each of which can be respectively installed with a delivery catheter, and the first channel switching component automatically switches the implant channel; Alternatively, the implant output interface is provided with one, and different delivery catheters can be manually installed with the implant output interface, thereby realizing manual switching of implant channels; 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.

5. A semi-automatic particle implantation system with manual needle removal according to claim 3, characterized in that: The implantation mechanism includes 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 target object. 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 trumpet arrangement feeding mechanism, a V-groove arrangement feeding mechanism, and a vibration disk feeding mechanism.

6. A semi-automatic particle implantation system with manual needle removal according to claim 4, characterized in that: The first channel switching component is a first motion platform, or the first channel switching component switches and conducts multiple implant channels by switching different reversing pipelines or rotating the reversing pipelines around the inlet axis; When the first channel switching component is a first motion platform, a connector is installed on the first motion platform, and a plurality of connection holes are provided on the connector. One end of the connection hole is connected to the radiation source output channel of the implant mechanism, and the other end of the connection hole is an implant output interface for installing a plurality of delivery catheters. The first motion platform controls the relative movement of the connector and the radiation source output channel as follows: A. The connector moves, and one end of the radiation source output channel is stationary; B. The connector is stationary, and one end of the radiation source output channel moves; C. The connector moves, and one end of the radiation source output channel moves; The first motion platform includes a plane displacement mechanism and a front-to-back docking mechanism, the implant mechanism is installed on the front-to-back docking mechanism, and the plane displacement mechanism drives the implant mechanism to move on a plane to select a corresponding connection hole, and the front-to-back docking mechanism moves back and forth in a direction perpendicular to the direction to drive the implant mechanism to dock or move away from the connection hole; The plane displacement mechanism is a single-joint rotational motion mechanism, and the plane displacement mechanism also includes a rotation arm and a radial linear motion mechanism. The single-joint rotational motion mechanism drives the rotation arm to rotate in a plane, the radial linear motion mechanism is arranged on the rotation arm, and drives the slider arranged on the rotation arm to move radially along the rotation arm, and the front and rear docking mechanism is arranged on the side of the slider; When the first channel switching component realizes the switching and conducting of multiple implantation channels by switching different reversing pipelines or rotating the reversing pipelines around the inlet axis, the first channel switching component includes an adapter component, the adapter component includes a connecting piece, a rotating group arranged on one side of the connecting piece, and a docking elbow driven by the rotating group, a plurality of docking ports are arranged in a circumferential array on the connecting piece, the docking elbow is connected with the docking port, and the docking elbow can be connected with different docking ports by driving the rotating group to rotate; the delivery catheter is connected with the docking elbow through the adapter component; the adapter component also includes a forward and backward motion module for driving the connecting piece and the docking elbow to move toward each other, so as to realize the docking of the docking elbow with the docking port, thereby ensuring the airtightness and continuity of the pipeline; the rotating group adopts at least one of a gear transmission mechanism, a belt transmission mechanism, a worm gear mechanism, and a chain transmission mechanism; When the rotating group adopts a gear transmission mechanism, the gear transmission mechanism includes a housing, a driving gear and a driven gear arranged inside the housing, the driving gear is driven by the second rotating motor, a through hole is arranged at the shaft core of the driven gear, one end of the butt elbow is fixed on the driven gear and communicated with the through hole, and the conveying conduit is communicated with the butt elbow through the through hole; The needle extraction drive unit of the needle extraction mechanism is arranged on the reversing pipeline. After the reversing pipeline is connected with different implantation channels, the needle extraction drive unit can pass through the needle extraction port next to the implantation output interface, push the tube-attached needle extraction drive head, and the tube-attached needle extraction drive head then drives the tube-attached needle extraction assembly, so that the inner and outer tubes undergo relative sliding motion to realize needle extraction.

7. A semi-automatic particle implantation system with manual needle removal according to claim 6, characterized in that: A core pulling mechanism is also provided, which is connected to the tail of the needle core to pull out the needle core in the puncture needle, thereby forming a hollow implantation channel. The core pulling mechanism adopts at least one of a friction core pulling mechanism, a reciprocating clamping core pulling mechanism, and a winding core pulling mechanism; When the core pulling mechanism adopts a friction core pulling mechanism, a part of the friction core pulling mechanism is pressed against the needle core, and the needle core is pulled out by the friction force generated by the pressing, and the friction core pulling mechanism is one or a combination of a friction wheel and a friction belt; When the core pulling mechanism adopts a reciprocating clamping core pulling mechanism, it includes a clamping component and a reciprocating motion component. The clamping component controls the clamping and loosening of the needle core, and the reciprocating motion component controls the reciprocating movement of the clamping component. When the reciprocating motion component drives the clamping component to move outward, the clamping component clamps the needle core to realize outward pulling. When the reciprocating motion component drives the clamping component to move inward, the clamping component loosens the needle core. When the core pulling mechanism adopts a winding core pulling mechanism, it includes a core winding wheel, the tail of the needle core is directly fixed to the core winding wheel or the needle core is clamped by a passive clamping part, and then the core is pulled out by rotating the core winding wheel; When the implant output interface is provided with one, 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; Alternatively, the implant output interface is a core extraction interface, and further includes a second channel switching component, the second channel switching component is used to switch the core extraction mechanism and the implant mechanism to be connected to the implant output interface respectively, and the second channel switching component is a second motion platform; The second 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 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.

8. A semi-automatic particle implantation system with manual needle removal according to claim 7, characterized in that: The first channel switching component also includes a third motion platform, which is the first motion platform, so that the core pulling mechanism and the implanting mechanism are installed on the same motion platform. The first motion platform is provided with a first front-to-back motion mechanism and a second front-to-back motion mechanism, which are respectively used for the front-to-back docking movement of the core pulling mechanism and one end of the radiation source output channel. First, the core pulling mechanism is docked with the tail of a needle core in an implant output interface, and the needle core is pulled out. After the core pulling is completed, a new implantation channel is established. Under the drive of the first motion platform, the radiation source output channel is docked and connected with the implant output interface, and then implantation is performed through the newly established implantation channel.

9. A semi-automatic particle implantation system with manual needle removal according to claim 2, characterized in that: The power source includes a manual needle-pulling drive mechanism, which drives the tube-mounted needle-pulling assembly to move, and then the tube-mounted needle-pulling assembly drives the inner and outer tubes to slide relative to each other through push-pull drive, clamping drive, friction drive, and meshing drive. The needle-pulling group of the tube-mounted needle-pulling assembly is powered by a drive wire, liquid, or gas, and a measuring element for detecting the drive displacement of the drive wire, liquid, or gas is also provided in the power source. The measuring element may adopt a displacement measuring device, wherein the displacement measuring device is one or a combination of a rotary encoder and a linear displacement sensor; The manual needle extraction drive mechanism includes a needle extraction control assembly and an operating handle. The needle extraction control assembly is provided with a needle extraction hole. The in-tube needle extraction drive head can be selectively installed at one end of the needle extraction hole. The operating handle will dock with the in-tube needle extraction drive head. The operator drives the in-tube needle extraction drive head by sliding or rotating the operating handle. The in-tube needle extraction drive head will drive the drive wire, liquid, and gas to move relative to the sleeve of the in-tube needle extraction assembly, thereby providing power to the needle extraction group at the other end of the sleeve.

10. A semi-automatic particle implantation system with manual needle removal according to claim 1, characterized in that: When the needle extraction mechanism is manually controlled to directly apply a thrust or a pull to the inner tube or the outer tube, thereby driving the inner tube and the outer tube to move relative to each other, so that the inner tube pulls the puncture needle out of the target object to extract different puncture needles, the 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 handwheel to rotate, and the handwheel 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 inner and outer tubes to have a relative displacement to realize the needle extraction action.

11. A method for using a semi-automatic particle implantation system with manual needle removal as claimed in any one of claims 1 to 10, characterized in that: The method comprises the following steps: (1) inserting multiple puncture needles into the target object according to the planned needle insertion route; (2) Connecting the tail of one of the puncture needles to a delivery catheter, manually inserting the inner tube of the delivery catheter into the core extraction interface of the core extraction mechanism, or connecting the tails of all the puncture needles to a delivery catheter respectively, or always connecting the tails of the puncture needles to a delivery catheter, and then manually docking one of the delivery catheters to a single implantation output interface corresponding to the implantation mechanism, or manually docking multiple delivery catheters to multiple implantation output interfaces corresponding to the implantation mechanism, and controlling the implantation mechanism to dock with one of the implantation output interfaces through the first channel switching component, so that the implantation output interface docks with the delivery catheter to form an implantation channel; The outer tube sleeved outside the inner tube is adjusted so that one end of the outer tube is pressed against or connected to the target object; (3) The push rod driving mechanism of the implantation mechanism drives the push rod to move forward and backward. When the push rod moves forward, it pushes out the radioactive source arranged in front of the push rod by the radioactive source feeding mechanism, pushes the radioactive source into the implantation output interface, and pushes it along the delivery catheter to the front end of the puncture needle; at the same time, the operator manually drives the needle removal mechanism according to the treatment needs, thereby driving the inner tube and the outer tube to move relative to each other through the needle removal mechanism to realize the needle removal action; the displacement sensor detects the manual needle removal distance, so that the push rod driving mechanism can synchronously implant the radioactive source into the biological tissue at the same implantation rate as the needle removal rate, and adjust the implantation depth of the radioactive source according to the treatment needs; then the push rod driving mechanism of the implantation mechanism drives the flexible push rod to reset; (4) In the case where the implant mechanism has only a single implant output interface, the operator needs to manually connect another delivery catheter to the implant output interface and repeat the above process; in the case where the implant mechanism has multiple implant output interfaces, the implant mechanism is controlled to connect to other implant output interfaces through the first channel switching component and the above process is repeated; until all puncture needles have been implanted, the particle implantation of the semi-automatic particle implantation system with manual needle removal can be completed.

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