Radioactive source implanting device with docking mechanism

Abstract

The radioactive source implanting device comprises a radioactive source implanting gun, a connecting section and the butt-joint mechanism, the radioactive source implanting gun comprises a gun body, a push rod, a push rod driving mechanism and a radioactive source feeding mechanism, the push rod driving mechanism is arranged on the gun body, a push rod output channel is formed in the gun body, and the butt-joint mechanism is arranged on the connecting section. The push rod output channel can be used for guiding the push rod to move front and back, one end of the push rod output channel is connected with the push rod driving mechanism, the other end of the push rod output channel is connected with the connecting section, and the other end of the connecting section is connected with the butt joint mechanism. The push rod can push the radioactive source to be implanted to a target position along the connecting section and the external puncture needle all the time, and when the connecting section is in butt joint with the external puncture needle, the butt joint mechanism drives the tail of the puncture needle to be in butt joint with the connecting section, so that a radioactive source implantation channel is formed after the puncture needle is in butt joint with the connecting section.

Description

Technical Field

[0001] The invention relates to the field of medical instruments, in particular to a radiation source implantation device with a docking mechanism. Background Art

[0002] With the continuous advancement of technology, the current treatment methods for tumors are also changing. Among them, 125I seed implantation surgery is a type of close-range radiotherapy. It is to implant the seeds into the tumor according to the treatment plan system under the guidance of direct vision or imaging equipment (such as CT, B-ultrasound, MRI, etc.). The gamma rays continuously released by the radioactive seeds destroy the DNA of tumor cells and kill the tumor cells. Radioactive seed implantation has the advantages of convenient operation, high safety, minimal invasion, and few complications, and is widely used in clinical tumor treatment.

[0003] The existing radioactive particle implantation is completed manually. Specifically, a puncture needle is inserted into the patient's tumor location, and the head of the puncture needle is connected to the puncture needle interface of the implantation gun. The implantation gun is provided with a particle magazine, and the frontmost particle in the particle magazine is located in the trajectory of the implantation gun. Medical personnel manually push and pull the needle core along the trajectory to push the radioactive particles in the trajectory along the puncture needle to the patient's tumor location.

[0004] However, during the manual implantation process, operators may be exposed to radiation damage, so a robot for automatic radioactive implantation is now needed. After the robot is connected to the puncture needle, it needs to have a quick detachment function to ensure that it can be disconnected from the puncture needle in time in an emergency to avoid scratching the patient. In addition, in other occasions where the puncture needle needs to be quickly and automatically connected to the catheter, a reliable solution is also urgently needed. Summary of the invention

[0005] The purpose of the present invention is to provide a method to solve the existing technical defects and unattainable technical requirements.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a radioactive source implanting device with a docking mechanism, comprising a radioactive source implanting gun, a connecting section and a docking mechanism, the radioactive source implanting gun comprising a gun body, a push rod, a push rod driving mechanism and a clip assembly, the push rod driving mechanism is arranged on the gun body, a push rod output channel is arranged on the gun body, the push rod output channel can be used to guide the push rod to move forward and backward, one end of the push rod output channel is connected to the push rod driving mechanism, the other end of the push rod output channel is connected to the connecting section, the end of the connecting section away from the push rod output channel is provided with a docking mechanism connected to an external puncture needle, the clip assembly is used to set a radioactive source at the front end of the push rod, when the push rod driving mechanism drives the push rod to move forward, the push rod can push the radioactive source along the connecting section and the external puncture needle to be implanted to the target position, when the connecting section is docked with the external puncture needle, the docking mechanism drives the tail of the puncture needle to dock with the connecting section, so that a radioactive source implanting channel is formed after the puncture needle and the connecting section are docked.

[0007] Preferably, the docking mechanism comprises a docking body, on which a clamping device and a centering portion are provided, the connecting section is connected to the centering portion, and after the centering portion is connected to the puncture needle, a radioactive source implantation channel is formed, and the clamping device clamps the puncture needle and presses it onto the centering portion;

[0008] The clamping device is a hook claw device, a clamping claw device, or an elastic clamping claw device.

[0009] Preferably, when the clamping device is a hook device, the hook device clamps the puncture needle after the centering connection, a step is provided at the handle of the puncture needle, and the hook assembly includes a hook and a driving mechanism, the hook is linearly movable or rotatably arranged on the docking body, and the driving mechanism drives the hook and the docking body to move relative to each other, so that the hook directly hooks the step of the puncture needle, and presses the puncture needle on the centering part; on the contrary, the driving mechanism drives the hook and the docking body to move relative to each other in the opposite direction, so as to release the pressing of the puncture needle;

[0010] When the hook claw moves in a straight line, the hook claw is a U-shaped hook claw, and the U-shaped hook claw can be passed through the rod of the puncture needle or the slot of the handle;

[0011] The docking body is provided with a guide hole or a guide groove, and the U-shaped hook is connected to a guide rod; or the rear end of the puncture needle is connected to a guide rod, and a guide hole or a guide groove is provided in the middle;

[0012] The guide rod is matched with the guide hole or guide groove for guiding sliding movement, and the driving mechanism can control the U-shaped hook to move forward and backward. The U-shaped hook can achieve the pressing or loosening of the puncture needle by hooking or moving away from the step of the puncture needle;

[0013] When the hook adopts a rotating manner, the hook is an arc-shaped hook, one end of which is rotatably connected to the docking body, and a top plate is provided on the docking body. When the arc-shaped hook rotates inward, the arc-shaped hook conflicts with the top plate, thereby limiting the flipping angle of the arc-shaped hook. The driving mechanism drives the arc-shaped hook to rotate inward or outward, and the arc-shaped hook hooks or moves away from the step of the puncture needle to achieve the compression or release of the puncture needle.

[0014] Preferably, when the clamping device is a claw device, the claw device clamps the puncture needle after the centering connection, and the claw device includes a claw, and a clamping part is provided at the front end of the claw, and the claw is hinged on the docking body. When the clamping part of the claw flips inward or slides inward, the clamping part of the claw can clamp the puncture needle, and the centering part is connected to the puncture needle; when the clamping part of the claw flips outward or slides outward, the clamping part of the claw can loosen the puncture needle, and the puncture needle is released;

[0015] There are at least two clamping claws, each of which surrounds the centering part and is hinged on a fixed seat of the docking body. When the clamping parts of each clamping claw are turned inward or slide inward at the same time, the puncture needle is clamped and the centering part is connected to the puncture needle; when the clamping parts of each clamping claw are turned outward or slide outward at the same time, the puncture needle is released.

[0016] Preferably, when the clamping device is an elastic clamping claw device, the elastic clamping claw device clamps the puncture needle after the centering connection, and the elastic clamping claw device includes an elastic clamping claw and a clamping claw seat. The elastic clamping claw is arranged on the clamping claw seat. The elastic clamping claw extends outwardly from one end close to the clamping claw seat to one end away from the clamping claw seat in a naturally stretched state. A clamping platform is provided on the docking body, and a retraction hole for the elastic clamping claw to pass through is provided on the clamping platform. The clamping platform and the clamping claw seat move forward and backward relative to each other, so that the elastic clamping claw closes and opens under the elastic action of itself and the restraining action of the retraction hole of the clamping platform. After the elastic clamping claw is closed, its end hooks the puncture needle inward, thereby achieving the clamping or loosening of the puncture needle.

[0017] There are at least two elastic claws, each of which surrounds the centering part. The rear ends of each elastic claw are fixedly arranged on the claw seat. There are at least two retracting holes on the clamping table, which correspond to each elastic claw one by one. Each elastic claw closes or opens to tighten or loosen the puncture needle.

[0018] Preferably, it also includes a flexible sleeve and a power mechanism, one end of the flexible sleeve is connected to the docking mechanism, and the other end of the flexible sleeve is connected to the power mechanism. A driving wire, or a hydraulic medium, or a gas is provided in the flexible sleeve. The power mechanism drives the driving wire, the hydraulic medium, or the gas to move relative to the flexible sleeve, thereby transmitting power to the docking mechanism to drive the puncture needle to dock with the connecting section.

[0019] Preferably, the power mechanism includes a power source, a winding wheel, and a pulley group. The winding wheel is connected to the output end of the power source. The power source drives the winding wheel to rotate and winds or releases each drive wire at the same time, thereby generating a pulling force to drive the docking mechanism. The pulley group is used to change the movement direction of each drive wire.

[0020] Preferably, the driving mechanism further comprises a reset member;

[0021] When the reset member adopts an elastic element, the elastic element gives elastic force to the clamping device through its own elasticity, loosens the puncture needle to achieve reset, and the elastic element is at least one of a spring, a torsion spring, an elastic sheet, an elastic ring, and an elastic belt;

[0022] Alternatively, the reverse drive of the drive wire, hydraulic medium, or gas is directly used to drive the clamping device to release the puncture needle to achieve resetting.

[0023] Preferably, a contact sensor is also provided on the docking mechanism, and the contact sensor is used to identify whether the puncture needle is in contact with the centering portion;

[0024] The contact sensor is two conductor parts or a touch switch arranged on the front end of the centering part;

[0025] When the contact sensor is a conductor component, the two conductor components are insulated and spaced apart from each other; when the third pair of middle parts are connected to the corresponding puncture needle, the two conductor components can contact the puncture needle respectively so that the two conductor components are in a conductive state; thus, whether the third pair of middle parts are in contact with the corresponding puncture needle can be determined by whether the two conductor components are conductive;

[0026] When the contact sensor is a touch switch, the puncture needle will press the touch switch and generate a trigger signal to determine whether the fifth pair of middle parts are in contact with the corresponding puncture needle.

[0027] Preferably, the connecting section is a flexible connecting section, which is a flexible thin rod or a flexible thin tube. A delivery pipeline is arranged in the flexible connecting section, and the centering portion is connected with the delivery pipeline. After the centering portion on the docking body is docked and clamped with the puncture needle by a clamping device, the delivery pipeline and the puncture needle are connected with each other; the flexible connecting section can be deformed under the action of an external force; and the radioactive source is transported through the delivery pipeline;

[0028] The length of the flexible connecting section is greater than 100 mm and the outer diameter is less than 5 mm.

[0029] Preferably, at least one of the centering part or the puncture needle is provided with a magnet for enabling the centering part and the puncture needle to be quickly attracted to each other during docking, and realizing rapid centering and pre-connection, so as to facilitate subsequent clamping connection with a clamping device. The magnet is conical and automatically centered while being attracted to each other.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1. The docking mechanism drives the puncture needle to align with the radiation source implantation gun and clamps it together, so that the puncture needle can be quickly docked to form a stable radiation source implantation channel. The radioactive source in the magazine assembly is pushed by the push rod and implanted into the lesion through the radiation source implantation channel.

[0032] 2. The flexible sleeve, driving wire and flexible connecting section are all flexible. The flexible connection between the radiation source implant gun and the puncture needle allows the puncture needle to move with the patient's breathing and other slight shaking, thereby avoiding secondary damage to the patient caused by the puncture needle and reducing the patient's pain.

[0033] 3. A magnet is provided on the centering part, which is used to quickly attract the puncture needle during docking and realize quick centering and pre-connection, so as to facilitate clamping and connection with a clamping device later. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is the overall structure diagram of the particle implantation gun of Example 1;

[0035] Figure 2 This is a diagram showing the internal structure of the particle implantation gun of Example 1;

[0036] Figure 3 is an overall structural diagram of the radiation source implantation device of Example 1;

[0037] Figure 4 This is a schematic structural diagram of the elastic claw device of Example 2;

[0038] Figure 5 for Figure 4 A magnified image of area A;

[0039] Figure 6 It is an exploded view of the elastic claw structure of Example 2;

[0040] Figure 7 This is a schematic diagram of the structure of the reset member of Example 2;

[0041] Figure 8 This is a schematic diagram of the rope structure of Example 2;

[0042] Fig. 9 This is a schematic diagram of the first pair of middle structures of Example 2;

[0043] Fig.10This is a schematic structural diagram of another elastic claw device of Example 3;

[0044] Fig.11 This is a schematic structural diagram of a claw device according to Embodiment 4;

[0045] Fig.12 This is a schematic diagram of the rope-driven claw structure of Example 4;

[0046] Fig.13 It is a schematic diagram of the jaw opening structure of Example 4;

[0047] Fig.14 This is a schematic diagram of the rear end structure of the puncture needle of Example 4;

[0048] Fig.15 This is a schematic diagram of the wire pulling mechanism structure of Example 4;

[0049] Fig.16 This is a schematic diagram of the second pair of middle structures of Example 4;

[0050] Fig.17 This is a schematic structural diagram of another claw device of Example 5;

[0051] Fig.18 This is a schematic diagram of the clamping structure of the clamping jaws of Example 5;

[0052] Fig.19 This is a schematic structural diagram of a hook device according to Embodiment 6;

[0053] Fig. 20 Schematic diagram of the hook structure of Example 6;

[0054] Fig.21 This is a schematic diagram of the rope structure of Example 6;

[0055] Fig. 22 This is a schematic diagram of the rope structure for driving multiple hooks in Example 6;

[0056] Fig.23 This is a schematic diagram of the third pair of middle structures of Example 6;

[0057] Fig.24 This is a schematic diagram of the structure of another hook device of Example 7. DETAILED DESCRIPTION

[0058] 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.

[0059] Example 1

[0060] like Figures 1 to 3 A radioactive source implantation device with a docking mechanism comprises a particle implantation gun 2, a connecting section 1 and a docking mechanism 8, wherein the connecting section 1 is a flexible thin rod or a flexible thin tube, the particle implantation gun 2 is connected to an external puncture needle 3 through the connecting section 1, the particle implantation gun 2 comprises a gun body 201, a push rod 202, a push rod driving mechanism 203 and a clip assembly 204, the push rod 202 is a flexible push rod, the push rod 202 can be wound on a winding wheel 205, the push rod driving mechanism 203 is arranged on the gun body 201, and the push rod driving mechanism 203 drives the push rod 202 to move forward and backward through a second friction wheel or a second friction belt or a reciprocating clamping method, wherein as Figure 2 and Fig. 9 The push rod driving mechanism 203 shown in the figure is driven by the second friction wheel, and a push rod output channel 206 is provided on the gun body 201. The push rod output channel 206 can be used to guide the push rod 22 to move forward and backward. One end of the push rod output channel 206 is connected to the push rod driving mechanism 203, and the other end of the push rod output channel 206 is connected to the connecting section 1. The front end of the connecting section 1 is connected to the tail end of the external puncture needle 3 or is provided with a docking mechanism 8 connected to the tail end of the external puncture needle 3. The clip assembly 204 is used to set a radiation source at the front end of the push rod 202. Specifically, The particles are radioactive particles, and the clip assembly 204 is a particle clip structure. When the push rod driving mechanism 203 drives the push rod 202 to move forward, the push rod 202 can push the particles along the connecting section 1 and the external puncture needle 3 on the docking to be implanted into the target position. When the connecting section 1 and the external puncture needle 3 are docked, the connecting section 1 and the puncture needle 3 are flexibly connected, so that the puncture needle 3 can move with the patient's breathing and other slight shaking, which not only ensures the connection needs, but also avoids the puncture needle 3 from causing secondary damage to the patient, thereby reducing the patient's pain.

[0061] The connecting section 1 is a flexible thin rod or a flexible thin tube, and a delivery pipe 13 for the radiation source to pass through is arranged inside the flexible thin rod or the flexible thin tube. The connecting section 1 is deformed under the action of external force.

[0062] The length of the connecting section 1 is greater than 100 mm, the length of the connecting section 1 can ensure flexibility, and the outer diameter of the connecting section 1 is less than 5 mm.

[0063] A mounting base 6 is connected below the particle implantation gun 2 . The linear motion assembly is mounted on the connecting base 6 or the gun body 21 . The mounting base 6 is mounted at the end of a mechanical arm 7 . The mechanical arm 6 can control the position of the particle implantation gun 2 in space.

[0064] The docking mechanism 8 includes a clamping device and a centering portion. The connecting section is connected to the centering portion. After the centering portion is centrally connected to the puncture needle, a radioactive source implantation channel is formed. The clamping device clamps the puncture needle and presses it onto the centering portion.

[0065] The clamping device is a hook claw device, a clamping claw device, or an elastic clamping claw device.

[0066] A magnet is provided on at least one of the centering part or the puncture needle, which is used to quickly attract the centering part and the puncture needle when docking, and to achieve rapid centering and pre-connection, so as to facilitate clamping and connection with a clamping device later. The magnet is conical and automatically centered while attracting.

[0067] Example 2

[0068] The docking mechanism 8 of this embodiment adopts the method of elastic claw device:

[0069] like Figures 4 to 9 The docking mechanism 8 includes a first docking body 21, on which an elastic clamping claw device 14-1 and a first centering portion 42-1 are provided; the first centering portion 42-1 is used to cooperate with the second centering cone 18-4 provided on the rear end of the puncture needle 18 for centering connection; the elastic clamping claw device 14-1 is used to clamp the puncture needle 18 and the first centering portion 42-1 after centering connection through its elastic clamping claw;

[0070] After the first pair of middle parts 42-1 on the first docking body 21 and the puncture needle 18 are docked and clamped by the elastic claw device 14-1, a radioactive source implantation channel is formed, and the flexible pipe 13 located in the first docking body 21 is connected to the puncture needle 18. In this way, a stable and reliable radioactive source implantation channel is formed, so that the flexible push rod 61 extended from the radioactive source implantation gun can push the radioactive source along the flexible pipe 13 into the tumor punctured by the puncture needle 18.

[0071] It also includes a flexible sleeve 25 and a power mechanism 27; one end of the flexible sleeve 25 is connected to the claw seat 23, and the other end of the flexible sleeve 25 is connected to the power mechanism. A driving wire, or a hydraulic medium, or a gas is provided in the flexible sleeve 25. The power mechanism drives the driving wire, the hydraulic medium, or the gas to move relative to the flexible sleeve 25, driving the claw seat 23 to move, so that each elastic claw 22 on the claw seat 23 closes or opens.

[0072] In the embodiment of the present invention, a driving wire is provided in the flexible sleeve and the driving wire is preferably a rope 31 or a cable, and the power mechanism is preferably a motor 27 or a combination of a motor 27 and a reducer;

[0073] The power mechanism 27 drives the clamping table 30 and the claw seat 23 to move forward and backward relative to each other through the traction rope 31, so that the elastic claw 22 is tightened or flipped inward under the constraint of the closing hole of the clamping table, thereby realizing the centering connection and tightening clamping between the puncture needle 18 and the first centering part 42-1 by the claw mechanism.

[0074] As shown in FIGS. 4 to 8 , the elastic claw device 14 - 1 includes a claw seat 23, one or more pairs of elastic claws 22 and a wire pulling mechanism 26; the clamping platform 30 is fixedly arranged on the first docking body 21, the claw seat 23 is slidably connected to the first docking body 21, the claw seat 23 is connected to one end of the rope 31, and the other end of the rope 31 is connected to the power mechanism;

[0075] Also includes a reset piece;

[0076] The reset member adopts elastic reset; or through reverse drive of a driving wire, a hydraulic medium, or a gas, the driving claw seat 23 and each elastic claw 22 move relative to each other and return to the original position, so that each elastic claw 22 opens outward under its own elastic action, thereby releasing the puncture needle 18.

[0077] When the reset member adopts elastic reset, it includes an elastic element. When the power mechanism drives the flexible sleeve 25 to control the elastic claw 22 to clamp, the elastic element is compressed, stretched or bent; when the power mechanism drives the flexible sleeve 25 to control the elastic claw 22 to release, the claw seat 23 and each elastic claw 22 are driven to move relative to each other under the elastic force of the elastic element to achieve reset.

[0078] When the reset member is driven in reverse by a driving wire, a hydraulic medium, or a gas, it includes a second connecting member. The power mechanism differentially drives the flexible sleeve 25 and the second connecting member, that is, when the flexible sleeve 25 controls the claw seat 23 or the elastic claw 22 to be tightened for a certain distance, the second connecting member is relatively released for a certain distance at a certain ratio. The second connecting member is connected to the elastic claw 22 or the claw seat 23 through a reversing mechanism, and when reset is required, the elastic claw 22 or the claw seat 23 is pulled to move relative to complete the reset.

[0079] The second connecting member of this embodiment adopts a second driving wire, and an external driving element is provided to drive the second driving wire to move forward and backward.

[0080] A reset piece is connected to the claw seat 23, which is used to restore the claw seat 23 forward to its original position, so that one or more elastic claws 22 are opened or flipped outward, thereby releasing the puncture needle 18 to achieve reset; these elastic claws 22 are limited on the claw seat 23.

[0081] like Figure 7As shown, the reset member includes a second drive wire and a slide bar 24-1. In the embodiment of the present invention, the second drive wire is preferably a rope or a cable, specifically a second rope 24-2; the slide bar 24-1 is arranged on the card table 30, and the second rope 24-2 extends forward and bypasses the slide bar 24-1 and then connects to the claw seat 23, so that the claw seat 23 is close to the card table 30 (that is, the distance between the claw seat 23 and the card table 30 becomes smaller) by pulling the second rope 24-2 backward and relaxing the rope 31; the claw seat The distance between the claw seat 23 and the clamping table 30 (i.e., the distance between the claw seat 23 and the clamping table 30 becomes larger) is achieved by loosening the second rope 24-2 and pulling the rope 31 backwards; the second rope 24-2 changes the pulling direction of the second rope 24-2 through a slide bar 24-1, thereby achieving a forward pulling effect, and the rope 31 directly pulls the claw seat 23 backwards. When the rope 31 / second rope 24-2 in one direction is pulled, the second rope 24-2 / rope 31 in the other direction should be relaxed by the same amount. Figure 1 and Figure 2 As shown, the claw seat 23 is provided with one or more pairs of elastic claws 22, the front end of the first docking body 21 is provided with a card platform 30, the elastic claws 22 pass through the card platform 30 and are limited by the card platform 30, the rear side of the first docking body 21 is provided with a limiting seat 24, each elastic claw 22 passes through the corresponding card platform 30 on the claw seat 23, the power mechanism 27 pulls and pulls the rope 31, the claw seat 23 slides backward along the sliding seat 23 along with the rope 31, and each elastic claw 22 is tightened / flipped inward along the card platform 30, so that one or more pairs of spring pull claws 22 can realize the clamping and tightening of the puncture needle 18.

[0082] The first centering portion 42-1 includes a centering rod and a first centering cone 19-3. The front end of the centering rod is provided with the first centering cone 19-3. The centering rod is provided in the middle of the first docking body 21. The second centering cone 18-4 is provided on the puncture needle.

[0083] The side of the centering rod 41 is provided with a contact sensor, and the puncture needle is provided with a clamping step 29. The first centering cone 19-3 on the first centering portion 42-1 and the second centering cone 18-4 on the puncture needle are matched to achieve centering, so that the radiation source implantation channel is aligned with the puncture needle 18.

[0084] like Figures 4 to 6 and Fig. 9 As shown, the first pair of middle parts 42-1 are connected to the flexible pipe 13. After the first pair of middle parts 42-1 on the first docking body 21 are docked and tightened with the puncture needle 18 through the elastic claw device 14-1, the flexible pipe 13 and the puncture needle 18 are connected to each other.

[0085] A third cavity 41-1 is provided in the first pair of central parts 42-1, and the third cavity 41-1 is interconnected with the flexible pipe 13. After the first pair of central parts 42-1 are centrally connected with the puncture needle 18, the flexible pipe 13 forms a radiation source input pipe with the puncture needle 18 through the first pair of central parts 42-1.

[0086] like Fig. 9 As shown, the front end portion of the first centering portion 42-1 is provided with a first centering conical surface 19-3, and the first centering conical surface 19-3 is in an inwardly concave cone shape or an outwardly convex cone shape.

[0087] A contact sensor is also provided on the first docking body 21 , and the contact sensor is used to identify whether the puncture needle 18 is in contact with the first docking body 21 .

[0088] A needle core is provided inside the puncture needle 18, and the needle core is used to prevent blood from clogging the puncture needle 18. During operation, the needle core in the puncture needle 18 needs to be pulled out first, and an inner core handle is provided at the tail end of the needle core.

[0089] When the first centering cone 19-3 on the first centering portion 42-1 touches the centering cone on the inner core handle, the contact sensor can sense and confirm that the first centering portion 42-1 and the inner core handle are connected. After the inner core handle is connected, the elastic clamping claw device 14-1 clamps the inner core handle, and the external manipulator or motion platform drives the radiation source implantation gun to move away from the puncture needle 18 as a whole, so that the elastic clamping claw device 14-1 pulls the inner core handle and pulls the needle core out of the puncture needle 18 at the same time; After the core is pulled out, the first pair of middle parts 42-1 are re-connected with the tail end of the puncture needle 18. When the first pair of centering conical surfaces 19-3 on the first pair of middle parts 42-1 touch the second pair of centering conical surfaces 18-4 on the rear end handle of the puncture needle 18, the contact sensor can sense and confirm that the first pair of middle parts 42-1 are connected with the rear end handle of the puncture needle 18. The elastic claw device 14-1 clamps the tail end of the puncture needle 18 to achieve rapid connection, and the radioactive source is implanted into the puncture needle 18 through the flexible pipe 13 and enters the interior of the biological tissue.

[0090] The contact sensor is two conductor components 90 or touch switches arranged on the front end of the first pair of middle parts 42-1; when the contact sensor is a touch switch, the puncture needle will press the touch switch and generate a trigger signal to determine whether there is contact between the first pair of middle parts 42-1 and the corresponding puncture needle.

[0091] like Figure 6 and Fig. 9As shown, when the contact sensor is a conductor component 90: two conductor components 90 are arranged on the front end of the first pair of middle parts 42-1, and the two conductor components 90 are respectively connected to wires and cables, and the two conductor components 90 are insulated and spaced apart from each other; when the first pair of middle parts 42-1 are connected to the corresponding puncture needles 18, the two conductor components 90 can respectively contact the puncture needles 18 so that the two conductor components 90 are in a conductive state; thereby, whether the first pair of middle parts 42-1 and the corresponding puncture needles 18 are in contact can be judged by whether the two conductor components 90 are conductive.

[0092] The first conductor component 91 is an enameled wire 91-1, and a first conductive portion 91-2 is provided at the end of the enameled wire 91-1. The first conductive portion 91-2 is insulated and spaced apart from the first pair of middle portions 42-1. In addition, the outer surface of the first pair of middle portions 42-1 can be used as the second conductor component 92. When the first pair of middle portions 42-1 are connected to the corresponding puncture needles 18, the first conductive portion 91-2 at the end of the enameled wire 91-1 contacts the puncture needle 18, thereby achieving a conductive state between the first pair of middle portions 42-1 and the first conductive portion 91-2 at the end of the enameled wire 91-1.

[0093] The power mechanism includes a power source, a winding wheel 34, and a pulley block. The winding wheel 34 is connected to the output end of the power source. The power source drives the winding wheel to rotate and wind or release the driving wire, thereby generating a pulling force to drive the claw mechanism to tighten or rotate inward around the axis. The pulley block is used to change the movement direction of the connecting member. The power source is a motor 27.

[0094] like Figure 4 and Figure 8 As shown, a flexible sleeve 25 is connected to the rear side of the limit seat 24, and the rear end of the flexible sleeve 25 is connected to the wire pulling mechanism 26. A rope 31 is connected to the rear side of the claw seat 23, and the rope 31 is arranged inside the flexible sleeve 25, and the rope 31 passes through the limit seat 24. The wire pulling mechanism 26 includes a connecting seat 32, a fixed pulley 33, and a winding wheel 34. The connecting seat 32, the fixed pulley 33, and the winding wheel 34 are all arranged on a bottom plate 35. A top plate 28 is provided on the upper side of the bottom plate 35. The bottom plate 35 and the top plate 28 are connected by a connecting rod 36. A motor 27 is provided on the top plate 28 located above the winding wheel 34, and the output end of the motor 27 is connected to the winding wheel 34. The rope 31 is arranged on the winding wheel 34 through the fixed pulley 33.

[0095] The motor 27 drives the rope 31 through the winding wheel 34 and the fixed pulley 33, and the rope 31 drives the claw seat 23 to move backward. The elastic claw 22 is slowly tightened toward the middle due to being restricted by the clamping platform 30 until the return hook part at the front end of the elastic claw 22 cooperates with the clamping step 29 to clamp the puncture needle 18.

[0096] Working principle: the motor 27 drives the rope 31 through the winding wheel 34 and the fixed pulley 33, and the rope 31 drives the claw seat 23 to move backward. The multiple elastic claws 22 are slowly tightened toward the middle due to the restriction of the clamping table 30, until they cooperate with the clamping part 29 to tighten the puncture needle 18. When the centering rod 41 touches the second centering cone surface 18-4, the two conductor parts 90 are connected to each other, and the contact sensor generates a signal. When the claw seat 23 moves forward, the elastic claws 22 return to their original state and release the puncture needle 18.

[0097] Example 3

[0098] As attached Fig.10 As shown, the difference between this embodiment and embodiment 2 is that the reset member of this embodiment is a passive elastic reset mechanism. When the power mechanism tightens the rope 31, the passive elastic reset mechanism is compressed, stretched or bent and deformed. When the power mechanism relaxes the rope 31, the claw seat 23 is pushed forward and reset under the elastic force of the passive elastic reset mechanism.

[0099] Attached Fig.10 In the embodiment, a first spring 50 is installed between the connecting seat 32 and the claw seat 23, and the power mechanism drives the rope 31 to move, and the rope 31 drives the claw seat 23 to move backward, so that the first spring 50 is compressed, and the multiple elastic claws 22 are slowly tightened toward the middle due to being restricted by the clamping table 30, until they cooperate with the clamping part 29 to tighten the puncture needle 18. When the power mechanism relaxes the rope 31, the claw seat 23 pops forward and resets under the action of the first spring 50, and the elastic claws 22 return to their original state, releasing the puncture needle 18.

[0100] Example 4

[0101] like Figures 11 to 16 The clamping device of this embodiment is a claw device, including a second docking body 37, on which a claw device 14-2 and a second pair of middle parts 42-2 are arranged;

[0102] The second pair of center portions 42-2 are used for centering connection with the fourth centering cone 18-6 provided on the rear end of the puncture needle 18; the second pair of center portions 42-2 are used for centering connection with the puncture needle 18, and a connecting section is connected to the end of the second pair of center portions 42-2 away from the puncture needle 18, and the connecting section is a flexible thin rod or a flexible thin tube. The flexible thin tube is used in this embodiment, specifically the delivery pipe 13, and the second pair of center portions 42-2 are connected with the delivery pipe 13. After the second pair of center portions 42-2 on the second docking body 37 are docked and clamped with the puncture needle 18 by the claw device 14-2, the delivery pipe 13 and the puncture needle 18 are connected to each other; the flexible connecting section can be deformed under the action of external force; the radioactive source is transported through the delivery pipe, the length of the connecting section is greater than 100 mm, the outer diameter is less than 5 mm, and it is made of flexible deformable material, specifically one or a combination of plastic, latex, silicone, rubber, and nickel-titanium alloy.

[0103] The clamping claw device 14-2 is used to clamp the puncture needle 18 and the second centering portion 42-2 after centering and connecting them by means of a hinge clamping claw;

[0104] After the second pair of middle parts 42-2 on the second docking body 37 and the puncture needle 18 are docked and clamped by the claw device 14-2, a radioactive source implantation channel is formed. The flexible delivery channel 13 located in the second docking body 37 is connected to the puncture needle 18. In this way, a stable and reliable radioactive source implantation channel is formed, so that the flexible push rod 61 extended from the radioactive source implantation gun can push the radioactive source along the flexible pipe 13 into the tumor punctured by the puncture needle 18.

[0105] The second pair of middle parts 42-2 are connected to the flexible pipe 13. After the second pair of middle parts 42-2 on the second docking body 37 are docked and clamped with the puncture needle 18 by the claw device 14-2, the flexible pipe 13 and the puncture needle 18 are connected to each other.

[0106] like Fig.16 As shown, a fifth cavity 41-2 is provided in the second pair of middle parts 42-2, and the fifth cavity 41-2 is interconnected with the flexible pipe 13. After the second pair of middle parts 42-2 are connected to the puncture needle 18, the flexible pipe 13 forms a radiation source implantation channel through the second pair of middle parts 42-2 and the puncture needle 18.

[0107] The front end of the second centering portion 42-2 is provided with a fifth centering surface, which is in the shape of an inner concave cone or an outer convex cone. The centering portion is provided with a magnet, which is used to quickly attract the puncture needle during docking, and to achieve rapid centering and pre-connection, so as to facilitate clamping and connection with a claw device later. Preferably, the magnet is conical, so that it can be centered at the same time when it is attracted, and the magnet is a permanent magnet or an electromagnet.

[0108] It also includes a flexible sleeve 25 and a power mechanism;

[0109] One end of the flexible sleeve 25 is connected to the claw device 14-2, and the other end of the flexible sleeve 25 is connected to the power mechanism. A driving wire, or a hydraulic medium, or a gas is provided in the flexible sleeve 25. The power mechanism drives the driving wire, the hydraulic medium, or the gas to move relative to the flexible sleeve 25, thereby transmitting power to the claw device 14-2, driving the claw device 14-2 to loosen or clamp.

[0110] In the embodiment of the present invention, a driving wire is provided in the flexible sleeve 25, and the driving wire is specifically a rope 31 or a cable, and the power mechanism mainly includes a motor 27 or a combination of a motor 27 and a reducer;

[0111] The power mechanism drives the claw device 14 - 2 to tighten inwardly around the axis or rotate inwardly through the traction rope 31, so that the claw device 14 - 2 can be connected and clamped between the puncture needle 18 and the second center portion 42 - 2.

[0112] like Figures 11 to 13 As shown, the clamping claw device 14-2 includes one or more pairs of clamping claws 38, the middle positions of these clamping claws 38 are hinged on the fixing seat 37-1 of the second docking body 37, and the front ends of these clamping claws 38 are provided with clamping parts 40; when the clamping parts of the clamping claws 38 are turned inward or slid inward, the clamping parts of the clamping claws 38 can clamp the puncture needle 18, and the second pair of middle parts 42-2 are connected to the puncture needle 18 in a centering manner; when the clamping parts of the clamping claws 38 are turned outward or slid outward, the clamping parts of the clamping claws 38 can loosen the puncture needle 18, and the puncture needle is released. This embodiment specifically adopts the method of turning the clamping claws 38 inside out;

[0113] It also includes a reset member, which is an elastic element. When the reset member is an elastic element, the elastic element gives an elastic force to the front end of each claw 38 to flip outward or slide outward, or the elastic element gives an elastic force to the rear end of each claw 38 to flip inward. The elastic element is at least one of a spring, a torsion spring, an elastic sheet, an elastic ring, and an elastic band.

[0114] Alternatively, the reset member is a reverse drive of a drive wire, or a hydraulic medium, or a gas, which is used to drive the clamping parts of each claw 38 to flip outward or slide outward at the same time to achieve reset.

[0115] The reset member of this embodiment adopts an elastic ring 20 of an elastic element, and the rear end of each pair of claws 38 is connected with an elastic ring 20, and the elastic ring 20 is used to flip or slide each pair of claws 38 outward to loosen and release the puncture needle 18 and reset it to the initial position state;

[0116] Each claw 38 is connected to one end of a rope 31 , and the other end of the rope 31 is connected to a power mechanism.

[0117] The power mechanism pulls and draws the rope 31 connected to the claws 38, and each claw 38 rotates inward / tightens inward around the fixed seat 37-1 of the second docking body 37, and the elastic ring 20 rotates outward / opens outward, so that one or more pairs of claws 38 realize the centering connection and clamping between the puncture needle 18 and the second pair of middle parts 42-2.

[0118] An outer conical surface 39 is provided on the handle at the rear end of the puncture needle 18, and the outer conical surface 39 is used to cooperate with the clamping portion 40 of the claw 38 to better clamp it.

[0119] The second centering portion 42-2 includes a centering rod 41 and a third centering cone 19-5. The centering rod 41 is located in the middle of the second docking body 37, and the fourth centering cone 18-6 is arranged on the handle at the rear end of the puncture needle 18. In this way, the third centering cone 19-5 on the second centering portion 42-2 and the fourth centering cone 18-6 on the handle at the rear end of the puncture needle 18 can be connected to each other in a centering manner to ensure automatic centering during the centering connection.

[0120] The third centering conical surface 19 - 5 on the second centering portion 42 - 2 and the fourth centering conical surface 18 - 6 on the rear end handle of the puncture needle 18 are matched to achieve centering, so that the delivery channel 13 is aligned with the puncture needle 18 .

[0121] like Fig.11 , Fig.12 , when a rope 31 is used to pull the corresponding pair of claws 38, the schematic diagram of the corresponding wire pulling mechanism 26, a rope 31 is connected to the middle part of the top plate 28, a flexible sleeve 25 is connected to the rear side of the second docking body 37, the rear end of the flexible sleeve 25 is connected to the wire pulling mechanism 26, the rope 31 is arranged inside the flexible sleeve 25, the wire pulling mechanism 26 includes a connecting seat 32 and a winding wheel 34, the connecting seat 32 and the winding wheel 34 are both arranged on the top plate 28, a bottom plate 35 is provided on the lower side of the top plate 28, the bottom plate 35 and the top plate 28 are connected by a connecting rod 36, a motor 27 is provided on the top plate 28 above the winding wheel 34, the output end of the motor 27 is connected to the winding wheel 34, and the rope 31 is arranged on the winding wheel 34.

[0122] like Fig.11 , Fig.15As shown, when multiple ropes are used to pull the corresponding multiple claws 38, the schematic diagram of the corresponding wire pulling machine 26 is shown, the wire pulling mechanism 26 includes a connecting seat 32, a fixed pulley 33, and a winding wheel 34, the connecting seat 32, the fixed pulley 33, and the winding wheel 34 are all arranged on the top plate 28, the lower side of the top plate 28 is provided with a bottom plate 35, the bottom plate 35 and the top plate 28 are connected by a connecting rod 36, the top plate 28 located above the winding wheel 34 is provided with a motor 27, the output end of the motor 27 is connected to the winding wheel 34, the rope bypasses the fixed pulley 33 and is arranged on the winding wheel 34, the motor 27 drives the winding wheel 34 to rotate, and the winding wheel 34 pulls the corresponding multiple claws 38 through multiple ropes, and the clamping portion 40 on the claw 38 realizes the clamping of the puncture needle 18 by cooperating with the outer conical surface 39 on the rear end handle of the puncture needle 18.

[0123] Alternatively, the winding wheel mechanism can be changed into a linear push-pull rope mechanism, and the linear motion mechanism pushes / pull the rope relative to the sleeve to complete the driving action. The rope can also be replaced by a driving wire with a certain rigidity, and the specific material is a material that can be bent but has a certain elasticity, such as stainless steel, nickel-titanium alloy, composite material, etc. In this case, the driving wire can transmit pulling force and pushing force.

[0124] A contact sensor is also provided on the second docking body 37 , and the contact sensor is used to identify whether the puncture needle 18 is in contact with the second docking body 37 .

[0125] A needle core is provided inside the puncture needle 18, and the needle core is used to prevent blood from clogging the puncture needle 18. During the operation, the needle core in the puncture needle 18 needs to be pulled out first, and an inner core handle is provided at the tail end of the needle core. When the third centering cone 19-5 on the second pair of center parts 42-2 touches the centering cone on the inner core handle, the contact sensor can sense and confirm that the second pair of center parts 42-2 and the inner core handle are connected. After the inner core handle is connected, the claw device 14-2 clamps the inner core handle, and the external manipulator or motion platform drives the radiation source implantation gun to move as a whole away from the puncture needle 18, so that the claw device 14-2 pulls the inner core handle and pulls the needle core out of the puncture needle 18 at the same time; the needle core After being pulled out, the second pair of middle parts 42-2 are re-docked with the tail end of the puncture needle 18. When the third pair of centering conical surfaces 19-5 on the second pair of middle parts 42-2 touch the fourth pair of centering conical surfaces 18-6 on the rear end handle of the puncture needle 18, the contact sensor can sense and confirm that the second pair of middle parts 42-2 are docked with the rear end handle of the puncture needle 18. The claw device 14-2 clamps the rear end of the puncture needle 18 to achieve rapid docking, and the radiation source is implanted into the puncture needle 18 through the flexible pipe 13 and enters the interior of the biological tissue.

[0126] The contact sensor is two conductor components 90 or touch switches arranged on the front end of the second pair of center parts 42-2; when the contact sensor is a touch switch, whether the second pair of center parts 42-2 and the corresponding puncture needles 18 are in a center connection is determined by whether both touch switches are pressed.

[0127] like Fig.14 , Fig.16 As shown, a specific structure of the contact sensor in the present invention is as follows: two conductor parts 90 are arranged on the front end part of the second pair of middle parts 42-2, and the two conductor parts 90 are respectively connected with wires and cables, and the two conductor parts 90 are insulated and spaced apart from each other; when the second pair of middle parts 42-2 are centered and connected with the corresponding puncture needles 18, the two conductor parts 90 can respectively contact the puncture needles 18 so that the two conductor parts 90 are in a conductive state; thereby, whether the second pair of middle parts 42-2 and the corresponding puncture needles 18 are in a centered connection is judged by whether the two conductor parts 90 are conductive.

[0128] The first conductor component 91 is an enameled wire 91-1, or a conductive elastic needle, or a conductive sheet, or a conductive spring or other conductive components. The present embodiment adopts the enameled wire 91-1, and a first conductive portion 91-2 is provided at the end of the enameled wire 91-1. The first conductive portion 91-2 is insulated and spaced apart from the second pair of middle portions 42-2. In addition, the outer surface of the second pair of middle portions 42-2 can be used as the second conductor component 92. When the second pair of middle portions 42-2 are aligned and connected with the corresponding puncture needle 18, the first conductive portion 91-2 at the end of the enameled wire 91-1 contacts the puncture needle 18, so that the second pair of middle portions 42-2 and the first conductive portion 91-2 at the end of the enameled wire 91-1 are in contact with the puncture needle 18, thereby achieving a conductive state between the second pair of middle portions 42-2 and the first conductive portion 91-2 at the end of the enameled wire 91-1.

[0129] The working principle of this patent is as follows: the motor 27 drives the winding wheel 34 to rotate, and the winding wheel 34 pulls the corresponding multiple claws 38 through multiple ropes. The clamping parts 40 on these claws 38 cooperate with the clamping parts 39 on the puncture needle 18 to clamp the puncture needle 18. When the centering rod 41 touches the fourth centering cone surface 18-6, the two conductor parts 90 located at the front end of the second center part 42-2 are connected to each other, so that the contact sensor generates a signal. When the rope releases the claw 38, the elastic ring 20 pulls the claw 38 to open, and the claw 38 releases the puncture needle 18.

[0130] Example 5

[0131] As attached Fig.17 and attached Fig.18 As shown, the difference between this embodiment and embodiment 4 is that the centering part is different. The centering part of this embodiment adopts a trumpet-shaped centering guide strip structure, and the guide strip can also be replaced by a guide cone hole or other forms of guide recessed structure. The other structures are the same and will not be repeated.

[0132] Specifically: 515201-claw seat, 515202-centering guide strip, 515203-claw, 18-puncture needle, 515205-pull rope, 515206-rubber band.

[0133] The centering guide bar 515202 is fixed to the clamping jaw seat 515201, the clamping jaw 515203 is connected to the clamping jaw seat 515201, and the rubber band 515206 is installed on the clamping jaw 515203. One end of the pull rope 515205 is connected to the clamping jaw 515203, and the other end is connected to the driving device.

[0134] The docking mechanism moves to the tail position of the puncture needle 18, and the horn of the centering guide bar 515202 is aligned with the tail positioning column of the puncture needle 18 to start docking. The tail positioning column of the puncture needle 18 is guided by the guide groove of the centering guide bar 515202 to move to the bottom interface of the centering guide bar 515202 to complete the docking. After the docking is completed, the pull rope 515205 tightens the clamping claw 515203 to retract and clamp the puncture needle 18 to fix it. After the pull rope 515205 is loosened, the clamping claw 515203 will be pulled by the rubber band 515206 to release the clamping, restore the open claw state, and the puncture needle 18 can exit the docking state. The rubber band can also be replaced by other elastic elements, such as springs, torsion springs, etc.

[0135] Example 6

[0136] like Figures 19 to 24 , the clamping device is a hook device, including a third docking body 57, on which the hook device and the third pair of middle parts 42-3 are arranged;

[0137] The third pair of middle parts 42 - 3 is used to cooperate with the puncture needle 18 for centering connection, and the end of the third pair of middle parts 42 - 3 away from the puncture needle 18 is connected with a connecting section;

[0138] The hook device clamps the puncture needle after the centering connection, and a step is provided at the handle of the puncture needle. The hook assembly includes a hook 50 and a driving mechanism. The hook 50 is linearly movable or rotationally arranged on the third docking body 57. The driving mechanism drives the hook 50 to move relative to the docking body, so that the hook 50 directly hooks the step of the puncture needle and presses the puncture needle 18 against the third middle part 42-3; on the contrary, the driving mechanism drives the hook 50 to move relative to the docking body in the opposite direction, so as to release the pressure on the puncture needle 18.

[0139] When the hook 50 is moved in a linear manner, the hook 50 is a U-shaped hook 50, and the U-shaped hook 50 can be passed through the rod of the puncture needle 18 or the slot of the handle;

[0140] The third docking body 57 is provided with a guide hole or a guide groove, the U-shaped hook 50 is connected with a guide rod 501; or the rear end of the puncture needle 18 is connected with a guide rod, and the third middle part 42-3 is provided with a guide hole or a guide groove;

[0141] The guide rod is matched with the guide hole or the guide groove for guiding sliding movement, and the driving mechanism can control the U-shaped hook to move forward and backward. The U-shaped hook can achieve the compression or release of the puncture needle by hooking or moving away from the step of the puncture needle.

[0142] The connecting section is a flexible thin rod or a flexible thin tube, and a delivery pipe 13 is arranged in the connecting section. The delivery pipe 13 can be deformed under the action of external force. The third pair of middle parts 42-3 are connected with the delivery pipe 13. After the third pair of middle parts 42-3 on the third docking body 57 are docked and clamped with the puncture needle 18 by the hook 50, the delivery pipe 13 and the puncture needle 18 are connected to each other.

[0143] like Fig.24 As shown, a third cavity 41-2 is provided in the third middle part 42-3, and the third cavity 41-2 is interconnected with the delivery pipe 13. After the third middle part 42-3 is aligned and connected with the puncture needle 18, the delivery pipe 13 forms a radiation source implantation channel through the third middle part 42-3 and the puncture needle 18.

[0144] The front end of the third pair of center portions 42 - 3 is provided with a fifth pair of center surfaces 19 - 6 , and the fifth pair of center surfaces 19 - 6 is inwardly concave cone shape or outwardly convex cone shape.

[0145] The driving mechanism includes a flexible sleeve 25 and a power mechanism. One end of the flexible sleeve 25 is connected to the hook device, and the other end of the flexible sleeve is connected to the power mechanism. A driving wire, or a hydraulic medium, or a gas is provided in the flexible sleeve 25. The power mechanism drives the driving wire, the hydraulic medium, or the gas to move relative to the flexible sleeve, thereby transmitting power to the hook device, driving the hook 50 to move backward or rotate inward, so that the hook 50 can press the puncture needle 18 after the centering connection.

[0146] Among them Fig.19 and Fig.21 In the embodiment of the present invention, a drive wire structure is used in the flexible sleeve 25, and the drive wire is specifically a rope 31 or a cable, and the power mechanism mainly includes a motor 27 or a combination of a motor 27 and a reducer;

[0147] The power mechanism drives the hook 50 to move backward or rotate inward through the traction rope 31, so that the claw mechanism can align and connect the puncture needle 18 and the third middle part 42-3 and clamp them.

[0148] A reset member is also included. When the reset member is an elastic element, the elastic element gives an elastic force to the hook 50 and the docking body to move in the opposite direction, loosens the puncture needle 18 to achieve reset, and the elastic element is at least one of a spring, a torsion spring, an elastic sheet, an elastic ring, and an elastic belt;

[0149] Alternatively, the reverse drive of the driving wire, hydraulic medium, or gas is directly used to drive the hook 50 and the docking body to move in the reverse direction relative to each other to achieve resetting.

[0150] The reset member of this embodiment adopts a second spring 20, which is sleeved on the guide rod 501. The second spring 20 pushes the hook 50 and the puncture needle outward through its own elasticity to reset to the initial position state;

[0151] Each guide rod 501 is connected to one end of a rope 31 , and the other end of the rope 31 is connected to a power mechanism.

[0152] The power mechanism pulls and pulls the rope 31 connected to the guide rod 501, each hook 50 moves inward and is compressed, and the second spring 20 is compressed and contracted, so that the hook 50 realizes the centering connection and clamping between the puncture needle 18 and the third center part 42-3.

[0153] An outer conical surface 39 is provided on the handle at the rear end of the puncture needle 18, and the outer conical surface 39 is used to cooperate with the hook claw 50 to better clamp it.

[0154] like Fig.23 The third centering portion 42-3 includes a centering rod 41 and a fifth centering cone 19-6. The centering rod 41 is located in the middle of the third docking body 57, and the sixth centering cone 18-7 is arranged on the handle at the rear end of the puncture needle 18. In this way, the fifth centering cone 19-6 on the third centering portion 42-3 and the fourth centering cone 18-7 on the handle at the rear end of the puncture needle 18 can be connected to each other in a centering manner to ensure automatic centering during the centering connection.

[0155] The fifth centering cone 19 - 6 on the third center portion 42 - 3 and the fourth centering cone 18 - 7 on the rear end handle of the puncture needle 18 are matched to achieve centering, so that the radiation source implantation channel is aligned with the puncture needle 18 .

[0156] The power mechanism includes a power source, a winding wheel, and a pulley block. The winding wheel is connected to the output end of the power source. The power source drives the winding wheel to rotate and wind or release the connecting piece, thereby generating a pulling force to drive the hook claw to move backward or rotate inward. The pulley block is used to change the movement direction of the connecting piece. The power source is a motor 27.

[0157] like Fig.19, a schematic diagram of the power mechanism, a rope 31 is connected to the middle of the top plate 28, a flexible sleeve 25 is connected to the rear side of the third docking body 57, the rear end of the flexible sleeve 25 is connected to the pulling mechanism 26, and the rope 31 is arranged inside the flexible sleeve 25.

[0158] like Fig. 22 As shown, when multiple ropes are used to pull the corresponding multiple hooks 50, the schematic diagram of the corresponding wire pulling mechanism is as follows, the wire pulling mechanism 26 includes a connecting seat 32, a fixed pulley 33, and a winding wheel 34, the connecting seat 32, the fixed pulley 33, and the winding wheel 34 are all arranged on the top plate 28, the lower side of the top plate 28 is provided with a bottom plate 35, the bottom plate 35 and the top plate 28 are connected by a connecting rod 36, the top plate 28 located above the winding wheel 34 is provided with a motor 27, the output end of the motor 27 is connected to the winding wheel 34, the rope bypasses the fixed pulley 33 and is arranged on the winding wheel 34, the motor 27 drives the winding wheel 34 to rotate, and the winding wheel 34 pulls the corresponding multiple hooks 50 through multiple ropes, the hooks 50 cooperate with the outer conical surface 39 on the rear end handle of the puncture needle 18 to realize the clamping of the puncture needle 18.

[0159] A contact sensor is also provided on the third docking body 57 , and the contact sensor is used to identify whether the puncture needle 18 is in contact with the third docking body 57 .

[0160] A needle core is provided inside the puncture needle 18, and the needle core is used to prevent blood from clogging the puncture needle 18. During the operation, the needle core in the puncture needle 18 needs to be pulled out first, and an inner core handle is provided at the tail end of the needle core. When the fifth centering cone 19-5 on the third pair of middle parts 42-3 touches the centering cone on the inner core handle, the contact sensor can sense and confirm that the third pair of middle parts 42-3 and the inner core handle are connected. After the inner core handle is connected, the hook 50 clamps the inner core handle, and the external manipulator or motion platform drives the radiation source implantation gun as a whole to move away from the puncture needle 18, so that The hook 50 pulls the inner core handle and pulls the needle core out of the puncture needle 18 at the same time; after the needle core is pulled out, when the third pair of middle parts 42-3 are re-connected with the tail end of the puncture needle 18, when the fifth pair of centering cones 19-5 on the third pair of middle parts 42-3 touch the sixth pair of centering cones 18-7 on the rear end handle of the puncture needle 18, the contact sensor can sense and confirm that the third pair of middle parts 42-3 are connected with the tail end handle of the puncture needle 18, and the hook 50 clamps the tail end of the puncture needle 18 to achieve rapid connection, and the radiation source is implanted into the puncture needle 18 through the delivery pipe 13 and enters the interior of the biological tissue.

[0161] The contact sensor is two conductor components 90 or touch switches arranged on the front end of the third pair of middle parts 42-3; when the contact sensor is a touch switch, whether the third pair of middle parts 42-3 are in contact with the corresponding puncture needle 18 is determined by whether both touch switches are pressed.

[0162] like Fig.23 As shown, a specific structure of the contact sensor in the present invention is as follows: two conductor parts 91 are arranged on the front end part of the third pair of middle parts 42-3, and the two conductor parts 91 are respectively connected to wires and cables, and the two conductor parts 91 are insulated and spaced apart from each other; when the third pair of middle parts 42-3 are connected to the corresponding puncture needles 18, the two conductor parts 91 can respectively contact the puncture needles 18 so that the two conductor parts 91 are in a conductive state; thereby, whether the third pair of middle parts 42-3 are in contact with the corresponding puncture needles 18 is determined by whether the two conductor parts 91 are conductive.

[0163] The conductor component 91 is an enameled wire 91-1, or a conductive elastic needle, or a conductive sheet, or a conductive spring or other conductive components. The present embodiment adopts the enameled wire 91-1, and a first conductive portion 91-2 is provided at the end of the enameled wire 91-1. The first conductive portion 91-2 is insulated and spaced apart from the third pair of middle portions 42-3. In addition, the outer surface of the third pair of middle portions 42-3 can be used as the second conductor component 92. When the third pair of middle portions 42-3 are aligned and connected with the corresponding puncture needle 18, the first conductive portion 91-2 at the end of the enameled wire 91-1 contacts the puncture needle 18, thereby achieving a conductive state between the third pair of middle portions 42-3 and the first conductive portion 91-2 at the end of the enameled wire 91-1.

[0164] The working principle of this patent is as follows: the motor 27 drives the winding wheel 34 to rotate, and the winding wheel 34 pulls the corresponding hook 50 through the rope. These hooks 50 clamp the puncture needle 18 by cooperating with the outer cone 39 on the rear end handle of the puncture needle 18. When the centering rod 41 touches the sixth centering cone 18-7, the two conductor parts 90 located at the front end of the third middle part 42-3 are connected to each other, so that the contact sensor generates a signal to detect that the docking is correct.

[0165] Example 7

[0166] The same parts of this embodiment and embodiment 6 are not described again. The difference is that when the hook claw adopts a rotating manner, the hook claw is an arc-shaped hook claw 50-1, and one end of the arc-shaped hook claw 50-1 is rotatably connected to the third docking body 57. The third docking body 57 is provided with a top plate 57-1. When the arc-shaped hook claw 50-1 rotates inward, the arc-shaped hook claw 50-1 conflicts with the top plate 57-1, thereby limiting the flipping angle of the arc-shaped hook claw 50-1. The driving mechanism drives the arc-shaped hook claw 50-1 to rotate inward or outward. The arc-shaped hook claw 50-1 achieves compression or loosening of the puncture needle 18 by hooking or moving away from the step of the puncture needle 18.

[0167] like Fig.24 As shown, specifically: the third docking body 57 is provided with a third pair of middle parts 42-3, the third docking body 57 is connected to the conveying pipeline 13, the conveying pipeline 13 is a flexible pipeline or a rigid pipeline, the flexible pipeline can be deformed under the action of external force, the third pair of middle parts 42-3 is connected to the conveying pipeline 13, the arc hook 50-1 is rotatably arranged on the third docking body 57, the third docking body 57 is connected to the flexible sleeve 25, the flexible sleeve 25 is penetrated with a rope 31, one end of the rope 31 is connected to the driving mechanism, and the other end is connected to the arc hook 50-1 When the third pair of middle parts 42-3 are connected with the puncture needle 18, the driving mechanism tightens the rope 31 to drive the arc-shaped hook 50-1 to rotate inward, and the arc-shaped hook 50-1 hooks the step of the puncture needle 18 to achieve compression of the puncture needle 18; when the arc-shaped hook 50-1 is reset, the reset operation is performed by an active reset member or a passive reset member. The active reset member can be a driving mechanism that can actively drive the arc-shaped hook 50-1 to rotate outward and reset, and the passive reset member is an elastic element, which drives the arc-shaped hook 50-1 to rotate outward and reset through elastic force.

[0168] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0169] 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 radioactive source implantation device having a docking mechanism, characterized in that: The invention comprises a radioactive source implanting gun, a connecting section and a docking mechanism. The radioactive source implanting gun comprises a gun body, a push rod, a push rod driving mechanism and a magazine assembly. The push rod driving mechanism is arranged on the gun body. A push rod output channel is arranged on the gun body. The push rod output channel can be used to guide the push rod to move forward and backward. One end of the push rod output channel is connected to the push rod driving mechanism, and the other end of the push rod output channel is connected to the connecting section. The end of the connecting section away from the push rod output channel is provided with a docking mechanism connected to an external puncture needle. The magazine assembly is used to set a radioactive source at the front end of the push rod. When the push rod driving mechanism drives the push rod to move forward, the push rod can push the radioactive source along the connecting section and the external puncture needle and implant it to the target position. When the connecting section is docked with the external puncture needle, the docking mechanism drives the tail of the puncture needle to dock with the connecting section, so that a radioactive source implanting channel is formed after the puncture needle and the connecting section are docked.

2. A radiation source implantation device with a docking mechanism according to claim 1, characterized in that: The docking mechanism comprises a docking body, on which a clamping device and a centering part are provided, the connecting section is connected to the centering part, and after the centering part is centrally connected to the puncture needle, a radioactive source implantation channel is formed, and the clamping device clamps the puncture needle and presses it onto the centering part; The clamping device is a hook claw device or a clamping claw device or an elastic clamping claw device.

3. A radiation source implantation device with a docking mechanism according to claim 2, characterized in that: When the clamping device is a hook device, the hook device clamps the puncture needle after the centering connection, and a step is provided at the handle of the puncture needle. The hook assembly includes a hook and a driving mechanism. The hook is linearly movable or rotatably arranged on the docking body. The driving mechanism drives the hook and the docking body to move relative to each other, so that the hook directly hooks the step of the puncture needle and presses the puncture needle against the centering part; on the contrary, the driving mechanism drives the hook and the docking body to move relative to each other in the opposite direction, so as to release the pressing of the puncture needle. When the hook claw moves in a straight line, the hook claw is a U-shaped hook claw, and the U-shaped hook claw can be passed through the rod of the puncture needle or the slot of the handle; The docking body is provided with a guide hole or a guide groove, and the U-shaped hook is connected to a guide rod; or the rear end of the puncture needle is connected to a guide rod, and a guide hole or a guide groove is provided in the middle; The guide rod is matched with the guide hole or guide groove for guiding sliding movement, and the driving mechanism can control the U-shaped hook to move forward and backward. The U-shaped hook can achieve the pressing or loosening of the puncture needle by hooking or moving away from the step of the puncture needle; When the hook adopts a rotating manner, the hook is an arc-shaped hook, one end of which is rotatably connected to the docking body, and a top plate is provided on the docking body. When the arc-shaped hook rotates inward, the arc-shaped hook conflicts with the top plate, thereby limiting the flipping angle of the arc-shaped hook. The driving mechanism drives the arc-shaped hook to rotate inward or outward, and the arc-shaped hook hooks or moves away from the step of the puncture needle to achieve the compression or release of the puncture needle.

4. A radiation source implantation device with a docking mechanism according to claim 2, characterized in that: When the clamping device is a claw device, the claw device clamps the puncture needle after the centering connection, and the claw device includes a claw, and a clamping part is provided at the front end of the claw. The claw is hinged on the docking body. When the clamping part of the claw flips inward or slides inward, the clamping part of the claw can clamp the puncture needle, and the centering part is connected to the puncture needle; when the clamping part of the claw flips outward or slides outward, the clamping part of the claw can loosen the puncture needle, and the puncture needle is released; There are at least two clamping claws, each of which surrounds the centering part and is hinged on a fixed seat of the docking body. When the clamping parts of each clamping claw are turned inward or slide inward at the same time, the puncture needle is clamped and the centering part is connected to the puncture needle; when the clamping parts of each clamping claw are turned outward or slide outward at the same time, the puncture needle is released.

5. The radiation source implantation device with a docking mechanism according to claim 2, characterized in that: When the clamping device is an elastic clamping claw device, the elastic clamping claw device clamps the puncture needle after the centering connection. The elastic clamping claw device includes an elastic clamping claw and a clamping claw seat. The elastic clamping claw is arranged on the clamping claw seat. The elastic clamping claw extends outwardly from one end close to the clamping claw seat to one end away from the clamping claw seat in a naturally stretched state. A clamping platform is provided on the docking body. A retraction hole for the elastic clamping claw to pass through is provided on the clamping platform. The clamping platform and the clamping claw seat move forward and backward relative to each other, so that the elastic clamping claw closes and opens under the elastic action of itself and the restraining action of the retraction hole of the clamping platform. After the elastic clamping claw is closed, its end hooks the puncture needle inward, thereby achieving the clamping or loosening of the puncture needle. There are at least two elastic claws, each of which surrounds the centering part. The rear ends of each elastic claw are fixedly arranged on the claw seat. There are at least two retracting holes on the clamping table, which correspond to each elastic claw one by one. Each elastic claw closes or opens to tighten or loosen the puncture needle.

6. The radiation source implantation device with a docking mechanism according to claim 2, characterized in that: It also includes a flexible sleeve and a power mechanism. One end of the flexible sleeve is connected to the clamping device, and the other end of the flexible sleeve is connected to the power mechanism. A driving wire or a hydraulic medium or a gas is arranged in the flexible sleeve. The power mechanism drives the driving wire or the hydraulic medium or the gas to move relative to the flexible sleeve, thereby transmitting power to the clamping device, driving the clamping device to clamp or release the puncture needle.

7. A radiation source implantation device with a docking mechanism according to claim 6, characterized in that: When there is a driving wire in the flexible sleeve, the power mechanism includes a power source, a winding wheel, and a pulley group. The winding wheel is connected to the output end of the power source. The power source drives the winding wheel to rotate and winds or releases each driving wire at the same time, thereby generating a pulling force to drive the docking mechanism. The pulley group is used to change the movement direction of each driving wire.

8. The radiation source implantation device with a docking mechanism according to claim 2, characterized in that: Also included is a reset assembly; When the resetting assembly adopts an elastic element, the elastic element gives elastic force to the clamping device through its own elasticity, loosens the puncture needle to achieve resetting, and the elastic element is at least one of a spring, a torsion spring, an elastic sheet, an elastic ring, and an elastic belt; Alternatively, the reverse drive of the drive wire or hydraulic medium or gas is directly used to drive the clamping device to release the puncture needle to achieve resetting.

9. The radiation source implantation device with a docking mechanism according to claim 2, characterized in that: The docking mechanism is also provided with a contact sensor, which is used to identify whether the puncture needle is in contact with the docking body; The contact sensor is two conductor parts or a touch switch arranged on the front end of the centering part; When the contact sensor is a conductor component, the two conductor components are insulated and spaced apart from each other; when the centering part is centrally connected to the corresponding puncture needle, the two conductor components can contact the puncture needle respectively so that the two conductor components are in a conductive state; thus, whether the centering part is in contact with the corresponding puncture needle can be determined by whether the two conductor components are conductive; When the contact sensor is a touch switch, the puncture needle will press the touch switch and generate a trigger signal to determine whether the centering portion is in contact with the corresponding puncture needle.

10. The radiation source implantation device with a docking mechanism according to claim 2, characterized in that: The connecting section is a flexible connecting section, which is a flexible thin rod or a flexible thin tube. A delivery pipeline is arranged in the flexible connecting section, and the centering part is connected with the delivery pipeline. After the centering part on the docking body is docked and clamped with the puncture needle by a clamping device, the delivery pipeline and the puncture needle are connected with each other; the flexible connecting section can be deformed under the action of an external force; and the radioactive source is transported through the delivery pipeline; The length of the flexible connecting section is greater than 100 mm and the outer diameter is less than 5 mm.

11. The radiation source implantation device with a docking mechanism according to claim 2, characterized in that: A magnet is provided on at least one of the centering part or the puncture needle, which is used to quickly attract the centering part and the puncture needle when docking, and to achieve rapid centering and pre-connection, so as to facilitate clamping and connection with a clamping device later. The magnet is conical and automatically centered while attracting.

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