Universal interventional operation platform and radioactive particle automatic implantation tool

Abstract

The invention discloses a universal interventional operation platform and an automatic radioactive particle implanting tool, and belongs to the technical field of medical instruments. The universal interventional operation platform comprises a driving motor, a butt joint device and a supporting bracket, a machine body of the driving motor is fixed to the butt joint device, the butt joint device is fixedly connected with the supporting bracket, and the supporting bracket is used for supporting an operation executing tool; butt joint pieces in one-to-one correspondence with the driving motors are arranged on the butt joint device, one end of each butt joint piece is connected with the corresponding driving motor through a transmission mechanism, and the other end of each butt joint piece is used for being in butt joint with an operation execution tool and outputting power to the operation execution tool. The device is suitable for interventional operations and is convenient to disassemble, assemble and disinfect.

Description

Technical Field

[0001] The invention relates to a universal interventional surgery platform and a radioactive particle automatic implantation tool, belonging to the technical field of medical devices. Background Art

[0002] Interventional therapy is a general term for a series of technologies that use puncture needles, catheters and other interventional equipment to introduce specific instruments into the body's lesions through natural channels or tiny incisions under the guidance and monitoring of digital subtraction angiography, CT, ultrasound, magnetic resonance imaging and other imaging equipment for minimally invasive treatment. There are many types of diseases that can be treated with interventional therapy, almost including major diseases of all systems and organs in the body. Of course, its advantage lies mainly in the minimally invasive treatment of vascular and solid tumors.

[0003] Different interventional surgeries require different surgical instruments. Surgical instruments with a high degree of automation and integration usually have a long development cycle and high cost.

[0004] In addition, among various interventional treatments, minimally invasive interventional treatment of tumors (radioactive particle implantation) is in great demand, but the technology is relatively backward. Currently, percutaneous puncture is usually performed manually or using an implantation template with the aid of a mechanical stent, according to the puncture posture planned in the reduction treatment plan, and then the image is used to observe whether the puncture needle is in place. Finally, the particle implantation gun with the radioactive particle chamber is connected to the puncture needle, and the radioactive particles are pushed into the human body along the hollow channel of the puncture needle with an inner push needle. The above methods all require manual operation to assemble and implant radioactive particles. Manual implantation has poor accuracy and requires high clinical experience for the surgeon. In addition, in the process of verifying the implantation accuracy, it is necessary to repeatedly collect images, which prolongs the operation time and increases the radiation hazard of radioactive particles. In addition, manual assembly of radioactive particles also poses a great radiation hazard to medical operators. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the present invention proposes a universal interventional surgery platform and a radioactive particle automatic implantation tool, which is practical and convenient and can improve operation efficiency.

[0006] The present invention is achieved through the following technical solutions:

[0007] The first aspect of the present invention relates to a universal interventional surgery platform, comprising: a drive motor, a docking device and a support bracket, wherein the body of the drive motor is fixed on the docking device, the docking device is fixedly connected to the support bracket, and the support bracket is used to support a surgical execution tool; the docking device is provided with a docking piece corresponding to the drive motor one by one, one end of the docking piece is connected to the power output end of the drive motor through a transmission mechanism, and the other end of the docking piece is used to dock with the surgical execution tool to output the driving force of the drive motor to the surgical execution tool.

[0008] In some technical solutions, the docking device includes a docking mounting seat and a fixed plate, which is fixedly connected to the docking mounting seat; the docking piece is passed through the fixed plate and the docking mounting seat through a bearing; the body of the drive motor is fixed on the docking mounting seat, and the output shaft of the drive motor is connected to the docking piece through a transmission mechanism.

[0009] Preferably, the transmission mechanism adopts any one of a belt, a toothed synchronous belt or a gear transmission mechanism, wherein the toothed synchronous belt transmission mechanism has smooth transmission, no lost steps, no need for lubrication, no slippage, occupies a small space, and is most suitable for surgeries requiring high precision control; for the toothed synchronous belt transmission mechanism, it includes a first gear sleeve, a second gear sleeve and a toothed synchronous belt, the first gear sleeve is mounted on the driving shaft of the driving motor, the second gear sleeve is mounted on the docking piece, and the toothed synchronous belt is mounted on the first gear sleeve and the second gear sleeve.

[0010] Preferably, the docking mounting seat is also provided with a docking positioning hole, which facilitates the positioning and docking of the surgical execution tool with the docking mounting seat, and can also limit the circumferential rotation of the surgical execution tool to prevent the surgical execution tool from being misplaced during surgeries with high precision requirements, resulting in surgical failure and endangering the patient's life. Further preferably, the docking positioning hole is made of insulating material or is insulated to insulate the surgical execution tool to meet the electrical safety requirements of surgical equipment.

[0011] In some technical solutions, the universal interventional surgery platform is also provided with a disposable isolation adapter mechanism, which includes a first cover plate and a second cover plate stacked on the first cover plate; along the stacking direction, the first cover plate and the second cover plate are provided with an adapter assembly, which is respectively connected to the docking piece and the power input end of the surgical execution tool; through the adapter assembly, the docking piece outputs power to the power input end of the surgical execution tool. In a device that does not require an isolation adapter mechanism, an adapter assembly is directly provided on the docking piece to output power to the power input end of the surgical execution tool.

[0012] Preferably, the adapter assembly adopts the structural form of a docking sleeve, and the docking sleeve is provided with an adapter hole corresponding to the docking piece and the power input end of the surgical execution tool. In order to improve the convenience and accuracy of assembling and replacing the surgical execution tool, the adapter hole is a special-shaped hole (such as a square hole, an elliptical hole, etc.), and correspondingly, the docking piece and the power input end of the surgical execution tool are provided with a special-shaped rod end, which is inserted into the special-shaped hole. Of course, the adapter assembly can also adopt a rod structure, or a structural form in which a rod and a sleeve are combined, and the structure of the docking piece and the power input end of the surgical execution tool is adjusted accordingly. Further preferably, the adapter assembly is made of an insulating material or is insulated (such as a polytetrafluoroethylene bushing is sleeved on the rod structure) to insulate the surgical execution tool to meet the electrical safety requirements of the surgical equipment.

[0013] Preferably, the isolation adapter mechanism is provided with a positioning cover plate on the side of the first cover plate away from the second cover plate, and the positioning cover plate is provided with a locking member for locking the rotation of the adapter assembly; taking the adapter assembly in the form of a docking sleeve as an example, the positioning cover plate is provided with a locking protrusion, which is embedded in the docking sleeve to position and lock the docking sleeve to avoid angular deflection of the docking sleeve and ensure that the docking sleeve is distributed at a specific angle between the first cover plate and the second cover plate, thereby facilitating the assembly of surgical execution tools.

[0014] Preferably, a sterile isolation bag is provided between the first cover plate and the second cover plate, and the sterile isolation bag wraps the universal interventional surgical platform to isolate the universal interventional surgical platform from the surgical execution tools, thereby avoiding the trouble of disinfecting the universal interventional surgical platform, reducing the workload of sterilization operations of surgical instruments, and avoiding the universal interventional platform from contaminating the sterilized surgical execution tools.

[0015] The universal interventional surgery platform is also provided with a quick locking mechanism for surgical execution tools. The surgical execution tool locking mechanism can adopt different structural forms according to the different docking and installation operations between the surgical execution tool and the docking device, such as lateral pushing and then axial docking or direct axial docking.

[0016] Preferably, taking lateral pushing and then axial docking as an example (lateral pushing and then axial docking, short stroke, convenient installation), a positioning stop pin is provided at the front end of the surgical execution tool, and the surgical execution tool locking mechanism is correspondingly provided with an axial docking avoidance space, and the axial docking avoidance space is connected with a lateral pushing opening, and the surgical execution tool is pushed into the axial docking avoidance space from the lateral pushing opening, and then axial docking is performed; a positioning stop pin limiting rod is provided on one side of the axial docking avoidance space corresponding to the positioning stop pin;

[0017] Preferably, a micro switch is provided at the positioning stop pin limit rod to provide feedback on the presence or absence of the positioning stop pin at the locking position;

[0018] Further preferably, the positioning stop pin or the positioning stop pin limit rod and the locking knob in contact with the positioning stop pin are made of insulating materials or are insulated to insulate the surgical tools to meet the electrical safety requirements of the surgical equipment. The insulation in the locking knob structure can be insulation treatment of the baffle plate, or an insulating plate can be provided between the baffle plate and the knob seat for insulation.

[0019] Preferably, the quick-lock mechanism of the surgical execution tool is provided with a knob seat, a knob rod, an insulating plate and a baffle;

[0020] The knob seat is sleeved on the knob rod and can be slidably arranged along the axial docking direction. The insulating plate and the baffle are sleeved on the knob rod respectively, and the insulating plate is arranged between the baffle and the knob seat.

[0021] A clamping block is provided on the knob rod, and a locking sleeve is fixed on the supporting bracket corresponding to the knob rod, and the knob rod can be inserted in the locking sleeve; corresponding to the clamping block on the knob rod, an axial groove and a circumferentially arranged arc groove connected thereto are provided on the inner wall surface of the locking sleeve; after the surgical execution tool is docked with the docking device, the knob rod is pushed to drive the knob seat to slide in the direction of the locking sleeve until the clamping block is clamped in the axial groove of the locking sleeve. After the clamping block moves to the bottom of the axial groove, the knob rod is rotated to make the clamping block move in the arc groove to complete the locking.

[0022] Preferably, corresponding to the knob rod, the support bracket and the locking sleeve are also provided with a sleeve and a spring; a T-shaped ejector rod is passed through the sleeve, and the spring is fixedly connected to the T-shaped ejector rod and the sleeve respectively; in the process of rotating the knob rod clockwise for locking, the T-shaped ejector rod is pushed to move in the direction of the docking device, and the spring is compressed; in the process of rotating the knob rod counterclockwise for unlocking, after the block on the knob rod enters the axial groove on the locking sleeve, the spring restores its deformation, driving the T-shaped ejector rod to move in the opposite direction, ejecting the knob rod and the knob seat.

[0023] Preferably, for lateral pushing, the support bracket is provided with a docking guide mechanism; the docking guide mechanism includes a guide member arranged on one side of the support bracket, the guide member is provided with a groove, and the guide member is provided with auxiliary guide rollers at the upper and lower positions of the front end of the groove, and during the docking process after the surgical execution tool is pushed into place laterally, the groove and the auxiliary guide roller abut against the surgical execution tool, and the auxiliary guide roller rotates, thereby assisting in pushing the surgical execution tool into place for docking through friction; further preferably, the docking guide mechanism is arranged at one end close to the docking mounting seat.

[0024] In some technical solutions, the support bracket is fixedly connected to a mechanical connection interface, such as a flange, which is fixedly connected to an external mechanical motion mechanism such as a robotic arm or a multi-degree-of-freedom motion platform, and the surgical process is controlled and guided by cooperating with a programmed robotic arm or a multi-degree-of-freedom motion platform or other external mechanical motion mechanism.

[0025] The second aspect of the present invention relates to a radioactive particle automatic implantation tool, comprising the above-mentioned universal interventional surgery platform and a surgical execution tool, wherein the surgical execution tool is provided with a particle feeding clip, a puncture needle guiding component, a puncture needle depth control component, a particle internal needle pushing component and a docking component, the particle feeding clip is arranged at the front end of the radioactive particle automatic implantation tool, and the docking component is arranged at the rear end of the radioactive particle automatic implantation tool and docked with the docking device through an isolation adapter mechanism;

[0026] The puncture needle guiding component is provided with a guide rod driving shaft and a puncture auxiliary channel driving shaft, the puncture needle depth control component is provided with a depth control rod driving shaft, and the particle inner push needle component is provided with an inner push needle displacement driving shaft. The above driving shafts serve as the power input end of the surgical execution tool and are docked one by one with the docking parts of the universal interventional surgery platform.

[0027] The puncture needle guide component includes a first guide rod, a second guide rod, a guide rod drive nut, a guide rod drive shaft and a puncture auxiliary channel drive mechanism;

[0028] The first guide rod is inserted into the guide rod driving nut, the rod portion of the first guide rod is sleeved on the rod portion of the second guide rod, the end portion of the first guide rod is provided with a first clamping claw portion, and the end portion of the second guide rod is provided with a second clamping claw portion;

[0029] The puncture auxiliary channel driving mechanism controls the relative rotation of the first clamping jaw part and the second clamping jaw part to form or release the puncture auxiliary channel; the puncture auxiliary channel driving mechanism is connected to the guide rod driving nut and moves with the guide rod driving nut;

[0030] The guide rod driving nut is threadedly connected to the guide rod driving shaft, and the guide rod driving shaft is docked with a docking piece. The guide rod driving nut is driven to move by a driving motor to control the position of the puncture auxiliary channel in the puncture direction.

[0031] Preferably, the puncture auxiliary channel driving mechanism comprises a clamping base, two clamping members, a spring, a puncture auxiliary channel driving shaft and a puncture auxiliary channel driving nut; the clamping base is fixed in the guide rod driving nut, the puncture auxiliary channel driving shaft is inserted in the guide rod driving nut and docked with a docking member; the puncture auxiliary channel driving nut is sleeved on the puncture auxiliary channel driving shaft and is threadedly connected with the guide rod driving nut;

[0032] A guide body connecting piece is sleeved on the driving nut of the puncture auxiliary channel;

[0033] The clamping base is fixed on the guide rod driving nut and is connected with two clamping members through a spring. One of the two clamping members is fixedly connected to the first guide rod and the other is fixed to the second guide rod. The two clamping members are pressed against the puncture auxiliary channel driving guide body under the pre-tightening force of the spring. The puncture auxiliary channel driving guide body is moved to drive the two clamping members to rotate relative to each other, so that the first clamping jaw part and the second clamping jaw part rod rotate relative to each other, thereby forming or releasing the puncture auxiliary channel.

[0034] The puncture auxiliary channel drive shaft preferably adopts a long rod with a special-shaped cross-section structure, such as a square rod; the puncture auxiliary channel drive guide body is arranged axially parallel to the puncture auxiliary channel drive shaft, and the puncture auxiliary channel drive guide body is provided with a pushing inclined surface; the puncture auxiliary channel drive nut is displaced forward and backward relative to the guide rod drive nut by cooperating with the puncture auxiliary channel drive shaft and the guide rod drive nut, thereby driving the two clamping parts to rotate relative to each other through the pushing inclined surface of the puncture auxiliary channel drive guide body, so that the first jaw part and the second jaw part rod rotate relative to each other; the first jaw part and the second jaw part rotate relative to each other to close to form the puncture auxiliary channel, and the first jaw part and the second jaw part rotate relative to each other to open and release the puncture auxiliary channel.

[0035] Preferably, the puncture auxiliary channel driving guide body is sleeved on the puncture auxiliary channel driving nut through an annular structure.

[0036] Preferably, the guide rod driving nut is also provided with a guide column to improve the stability of the linear displacement.

[0037] The puncture needle depth control components include a depth control rod driving nut, a depth control rod driving shaft, a depth control rod and a depth control rod movement guide rod;

[0038] The depth control rod driving nut is threadedly connected to the depth control rod driving shaft and can move axially on the depth control rod driving shaft; the depth control rod movement guide rod is fixedly connected to the depth control rod driving nut, the depth control rod and the depth control rod movement guide rod are arranged on opposite axes and are relatively fixed through a bending block, the depth control rod is a hollow structure, and is sleeved on the second guide rod. A puncture needle limit block is provided at the front end of the depth control rod, and the puncture needle limit block is coaxially arranged with the puncture auxiliary channel, and is used to clamp a certain section of the puncture needle in the axial direction.

[0039] The particle inner push needle component includes an outer sleeve, an inner push needle, an inner push needle displacement driving nut and an inner push needle displacement driving shaft;

[0040] The inner push pin displacement drive nut is threadedly connected to the inner push pin displacement drive shaft and can move axially on the inner push pin displacement drive shaft; the inner push pin is inserted into the outer sleeve, one end of which extends out of the outer sleeve, and the outer sleeve is opened axially at the side; the inner push pin displacement drive nut is provided with a sheet-like pushing mechanism, one end of which passes through the side opening of the outer sleeve and is connected to one end of the inner push pin, driving the inner push pin to push the radioactive particles to a preset position.

[0041] The particle feeding clip in the surgical execution tool is provided with a feeding channel on the displacement path of the inner push needle, and a puncture needle connecting pipe is extended from the front end of the feeding channel. The particles provided by the particle feeding clip are pushed from the feeding channel into the hollow channel of the puncture needle through the inner push needle and implanted into the preset position;

[0042] Preferably, the front end of the puncture needle is also provided with a docking sleeve, the docking sleeve is provided with a guide bevel, the tail end of the puncture needle is gradually inserted into the docking sleeve through the guide bevel, and the hollow channel of the puncture needle is coaxial with the puncture needle, the tube and the feed channel;

[0043] Further preferably, a spring is provided in the docking sleeve and an arc-shaped evacuation support plate is provided at the front end.

[0044] The docking component includes a docking seat, a locking plate and a tailstock fixing plate which are arranged in sequence;

[0045] The docking seat is provided with a positioning pin and a quick connector. The positioning pin is positioned and connected with the docking positioning hole on the docking device. The quick connector is arranged in a one-to-one correspondence with the drive shaft. Each quick connector is a special-shaped rod structure on the side close to the docking device. One end of the quick connector is fixed in the docking locking head. Correspondingly, one end of the drive shaft on the surgical execution tool is fixed in the docking locking head.

[0046] The locking plate is provided with a locking pin, which is clamped in the docking locking head and is used to lock the angle of the quick connector to prevent the quick connector from rotating by mistake and causing the zero position to be unable to be calibrated. Lifting the locking pin releases the locking plate from locking the quick connector.

[0047] The driving nuts of the corresponding parts of the surgical execution tool on the tailstock fixing plate are connected with a trigger rod. Correspondingly, a micro switch is provided on the docking device. The driving nuts of the corresponding parts of the surgical execution tool return to their positions, and the trigger rod presses against the micro switch to complete position feedback for zero position calibration.

[0048] Preferably, the locking disk is also provided with a second unlocking push rod, and correspondingly, a first unlocking push rod is passed through the isolation adapter mechanism; after the docking component and the isolation adapter mechanism are assembled, axial docking is performed, and after the first unlocking push rod on the isolation adapter mechanism is pressed against the docking device, the second unlocking push rod is pushed up in the reverse direction, so that the locking pin is disengaged from the docking locking head, and the locking state of the drive shaft is released, so that the quick connector can output power to each drive shaft of the surgical execution tool.

[0049] Further preferably, a spring is provided between the locking disk and the tailstock fixing plate; when the surgical execution tool is assembled with the isolation adapter mechanism, the spring is compressed; when the surgical execution tool is not assembled with the isolation adapter mechanism, the locking disk is positioned and locked with the docking locking head through the locking pin under the action of the spring preload, and the second unlocking push rod passes through the docking seat.

[0050] A guide rod motion guide rod support is also provided on the docking component. According to the actual position of the driving nuts of each component of the surgical execution tool, the thread depth can be adjusted to control the length of the trigger rod extending out of the guide rod motion guide rod support, thereby realizing zero calibration of the driving axes of each component of the surgical execution tool.

[0051] Compared with the prior art, the present invention has the following technical effects:

[0052] 1) The design of the universal interventional surgery platform reduces the development cycle of surgical tools and reduces costs;

[0053] 2) The universal interventional surgery platform and the moving parts of the surgical execution tool can be completely separated, so the outer contour size of the front moving parts of the surgical execution tool can be reduced from 70mm to 35mm, greatly expanding the scope of application of the surgical execution tool;

[0054] 3) The isolation transfer mechanism can realize the disassembly and installation of surgical tools during the operation, which not only meets the requirements of sterile isolation, but also does not affect sterilization and disinfection. It is simple to operate and improves the efficiency of the operation;

[0055] 4) The universal interventional surgery platform is integrated with a quick locking positioning mechanism, and the disassembly and assembly tools are easy to operate;

[0056] 5) It can realize the automated operation of puncture and particle implantation, with high operating efficiency; the size of the clamping jaw after the puncture channel is closed and opened meets the use requirement of 5mm spacing between puncture needles, so it can perform puncture continuously and then continuously implant particles, which is convenient to operate;

[0057] 6) The inner push pin is slender and easily bends and deforms under stress; during the particle implantation process, the outer sleeve in the particle inner push pin component can avoid the particle implantation failure caused by the deformation and failure of the inner push pin. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1a This is a schematic diagram of the overall structure of the radioactive seed automatic implantation tool in Example 1;

[0059] Figure 1b This is a schematic diagram of the structure of the radioactive seed automatic implantation tool in Example 1 after removing the surgical execution tool housing;

[0060] Figure 1c for Figure 1b Schematic diagram of the explosion structure;

[0061] Figure 2a This is a schematic diagram of the structure of the universal interventional surgery platform in Example 1 in one angle direction;

[0062] Figure 2b It is a schematic diagram of the structure of the universal interventional surgery platform in Example 1 at another angle;

[0063] Figure 2c for Figure 1b Right view of;

[0064] Figure 2d for Figure 2c Section view in the AA direction;

[0065] Figure 3a It is a partial structural schematic diagram of the puncture guide component in Example 1;

[0066] Figure 3b is a schematic structural diagram of the puncture guide component in Example 1;

[0067] Figure 3c This is a schematic diagram of the structure of the guide rod driving nut in Example 1;

[0068] Figure 4 It is a partial structural schematic diagram of the puncture depth control component and the particle inner needle pushing component in Example 1;

[0069] Figure 5a It is a structural schematic diagram of the docking component in Example 1;

[0070] Figure 5b This is a schematic diagram of the structure of the docking component and the puncture needle depth control component in Example 1;

[0071] Figure 5c This is a schematic diagram of the structure of the docking component and the particle push pin component in Example 1;

[0072] Figure 6a This is a schematic diagram of the overall structure of the isolation adapter mechanism before assembly in Example 1;

[0073] Figure 6b This is a schematic diagram of the exploded structure before the isolation transfer structure is assembled in Example 1;

[0074] Figure 6c It is a structural schematic diagram of the assembly of the isolation adapter structure and the surgical execution tool in Example 1;

[0075] Figure 7 This is a schematic diagram of the structure of the magazine mounting base in Example 1;

[0076] In the figure: 100, surgical execution tool; 200, universal interventional surgery platform; 300, puncture needle;

[0077] 1. puncture needle guide component; 111. first guide rod; 112. second guide rod; 113. first clamping jaw; 114. second clamping jaw; 115. puncture auxiliary channel drive mechanism; 1151. clamping base; 1152. clamping member; 1153. spring; 1154. puncture auxiliary channel drive shaft; 1155. puncture auxiliary channel drive nut; 1156. puncture auxiliary channel drive guide body; 1157. guide body connector; 1158. limit nut; 1159. guide rod; 121. guide rod drive nut; 1211. front end baffle; 1212. nut body; 122. guide rod drive shaft; 123. position feedback rod;

[0078] 2. Puncture needle depth control component; 21. Depth control rod driving nut; 22. Depth control rod driving shaft; 23. Depth control rod; 24. Depth control rod movement guide rod; 25. Bending block; 26. Puncture needle limit block;

[0079] 3. Particle inner push needle component; 31. Outer sleeve; 32. Inner push needle; 33. Inner push needle displacement drive nut; 34. Inner push needle displacement drive shaft; 35. Sheet push mechanism;

[0080] 4. Particle feeding magazine; 41. Piercing needle connecting pipe; 42. Docking sleeve;

[0081] 5. Docking component; 51. Docking seat; 511. Positioning pin; 512. Quick connector; 5121. Special-shaped cross-section docking joint; 5122. Docking locking head; 52. Locking plate; 521. Locking pin; 53. Tailstock fixing plate; 531. Trigger rod; 54. Guide rod movement guide rod support; 55. Second unlocking push rod;

[0082] 6. Driving motor;

[0083] 7. Docking device; 71. Docking mounting seat; 711. Docking positioning hole; 72. Fixing plate; 73. Micro switch mounting plate; 74. Docking piece; 75. Unlocking pin; 76. Micro switch;

[0084] 8. Isolation transfer mechanism; 81. First cover plate; 82. Second cover plate; 83. Docking sleeve; 84. Positioning cover plate; 86. Locking protrusion; 85. First unlocking push rod;

[0085] 9. Support bracket; 90. Surgical tool locking mechanism; 901. Bottom plate; 902. Connecting plate; 903. Locking knob; 9031. Knob seat; 9032. Knob rod; 9033. Insulating plate; 9034. Baffle plate; 908. Positioning stop pin limit rod; 909. Lateral push-in opening; 91. Flange; 93. Docking guide mechanism; 931. Guide member; 932. Auxiliary guide roller; 94. L-shaped clamping seat; 941. Knob baffle plate; 942. Sleeve; 943. T-shaped ejector rod; 905. Support seat; 9051. Vertical seat body; 9052. Sliding guide pin;

[0086] 10. Magazine mounting seat; 101. Front mounting plate; 102. Connecting block; 103. Rear mounting plate; 104. Positioning stop pin; 105. Surgical execution tool guide rod; 106. Magazine locking base. DETAILED DESCRIPTION

[0087] The present invention is described in detail below with reference to the accompanying drawings and specific implementation modes.

[0088] Example 1

[0089] like Figure 1a As shown, this embodiment relates to an automatic radioactive particle implantation tool, including: a surgical execution tool 100, a universal interventional surgical platform 200 and a puncture needle 300.

[0090] like Figure 1c and Figure 2aAs shown, the universal interventional surgery platform 200 includes: a driving motor 6, a docking device 7, an isolation adapter mechanism 8 and a supporting bracket 9; the docking device 7 is provided with a docking mounting seat 71, one end of the supporting bracket 9 is fixedly connected to the docking mounting seat 71, and the body of the driving motor 6 is fixed on the docking mounting seat 71; the other end of the supporting bracket 9 is fixedly connected to a flange 91, and the flange 91 is fixedly connected to the surgical robot.

[0091] Preferably, Figure 2a and Figure 2b As shown, the support bracket 9 is provided with connecting plates 902 on both sides, the tops of the two connecting plates 902 are stepped, a bottom plate 901 is fixed in the recess of the stepped structure and fixedly connected to the two connecting plates 902, and the end of the bottom plate 901 is fixedly connected to the docking mounting seat 71; away from the end of the bottom plate 901, the bottoms of the two connecting plates 902 are fixedly connected to the flange 91 by pins.

[0092] Further preferably, the front part of the two connecting plates 902 is provided with a notch, and the two notches form a groove, in which an L-shaped clamping seat 94 is fixed, and corresponding to the L-shaped clamping seat 94, the universal interventional surgery platform 200 is also provided with a surgical execution tool locking mechanism 90; corresponding to the surgical execution tool locking mechanism 90, the top length of one connecting plate 902 is smaller than that of the other connecting plate 902, forming a lateral push-in opening 909; corresponding to the lateral push-in opening 909, a positioning stop pin limit rod 908 is fixed between the two connecting plates 902; a micro switch can be set at the positioning stop pin limit rod 908, and after the surgical execution tool 100 is laterally pushed into the lateral push-in opening 909 and axially docked with the docking device 7, it is detected to be in place.

[0093] Corresponding to the L-shaped clamping seat 94 , a supporting seat 905 is provided; the supporting seat 905 includes a vertical seat body 9051 , which is fixed to the front end of the L-shaped clamping seat 94 , and the locking knob 903 is slidably disposed on the vertical seat body 9051 of the supporting seat 905 .

[0094] The locking knob 903 is provided with a knob seat 9031, a knob rod 9032, an insulating plate 9033 and a baffle 9034;

[0095] The knob seat 9031 is sleeved on the knob rod 9032 and slidably arranged on the vertical seat body 9051. The insulating plate 9033 and the baffle plate 9034 are respectively sleeved on the knob rod 9032. The insulating plate 9033 is arranged between the baffle plate 9034 and the knob seat 9031. A sliding guide pin 9052 is preferably arranged corresponding to the insulating plate 9033 and the baffle plate 9034. The sliding guide pin 9052 is fixedly connected to the L-shaped clamping seat 94 and / or the support seat 905. The insulating plate 9033 and the baffle plate 9034 are slidably arranged on the sliding guide pin 9052, thereby improving the reliability and stability of the knob seat 9031 when sliding. The above slidably arranged structural parts adopt an arc-shaped contact surface design at the contact part, which limits the axial rotation movement of the baffle plate 9034, the insulating plate 9033 and the knob seat 9031.

[0096] like Figure 2c and Figure 2d As shown, a clamping block is provided on the knob rod 9032, and a locking sleeve 941 is fixed in the L-shaped clamping seat 94 corresponding to the knob rod 9032, and the knob rod 9032 can be inserted in the locking sleeve 941; corresponding to the clamping block on the knob rod 9032, the inner wall surface of the locking sleeve 941 is provided with an axial groove and a circumferentially arranged arc groove connected thereto; after the surgical execution tool 100 is docked with the docking device 7, the knob rod 9032 drives the knob seat 9031 to slide toward the locking sleeve 941 through pushing, until the clamping block is clamped in the axial groove of the locking sleeve 941, and after the clamping block moves to the bottom of the axial groove, the knob rod 9032 is rotated to make the clamping block move in the arc groove to complete the locking.

[0097] Preferably, corresponding to the knob rod 9032, the L-shaped clamping seat 94 is also provided with a sleeve 942 and a spring in the locking sleeve 941; a T-shaped ejector rod 943 is passed through the sleeve 942, and the spring is fixedly connected to the T-shaped ejector rod 943 and the sleeve 942 respectively; in the process of rotating the knob rod 9032 clockwise for locking, the T-shaped ejector rod 943 is pushed to move toward the docking device 7, and the spring is compressed; in the process of rotating the knob rod 9032 counterclockwise for unlocking, after the block on the knob rod 9032 enters the axial groove on the locking sleeve 941, the spring restores its deformation, driving the T-shaped ejector rod 943 to move in the opposite direction, ejecting the knob rod 9032 and the knob seat 9031.

[0098] like Figure 1c and Figure 2bAs shown, a docking guide mechanism 93 is provided on the support bracket 9 near the docking mounting seat 71; the docking guide mechanism 93 includes a guide member 931 with a groove arranged on one side of the support bracket, and a pair of auxiliary guide rollers 932 are provided at the upper and lower positions of the front end of the guide member 931; during the docking process after the surgical execution tool 100 is pushed into place laterally, the protrusions on both sides of the groove of the guide member 931 and the auxiliary guide rollers 932 abut against the surgical execution tool 100, and the auxiliary guide rollers 932 rotate to assist in pushing the surgical execution tool into place through friction; further preferably, the docking guide mechanism is arranged near one end of the docking mounting seat.

[0099] like Figure 1a and Figure 1b As shown, the surgical execution tool 100 in this embodiment refers to a tool for performing radioactive particle implantation operations, including a puncture needle guiding component 1, a puncture needle depth control component 2, a particle internal needle pushing component 3, a particle feeding magazine 4 and a docking component 5 arranged in a shell; the surgical execution tool 100 is loaded on a universal interventional surgery platform 200, and the radioactive particle implantation operation is performed through the control and guidance of a programmed surgical robot.

[0100] like Figure 3a , Figure 3b and Figure 3c As shown, the puncture needle guide component 1 includes: a guide rod driving nut 121, a guide rod driving shaft 122, a first guide rod 111, a second guide rod 112 and a puncture auxiliary channel driving mechanism 115.

[0101] The rod portion of the second guide rod 112 is a hollow structure, the rod portion of the first guide rod 111 is inserted into the second guide rod 112 and one end of the first guide rod 111 passes through the rod portion of the second guide rod 112, that is, the axial length of the rod portion of the second guide rod 112 is smaller than the axial length of the rod portion of the first guide rod 111; the first guide rod 111 is provided with a first clamping claw portion 113 at the end portion of the other end, and the second guide rod 112 is correspondingly provided with a second clamping claw portion 114 at the end portion of the same end, and the first clamping claw portion 113 and the second clamping claw portion 114 can be opened and closed by being driven.

[0102] The puncture auxiliary channel driving mechanism 115 is used to control the relative rotation of the first clamping jaw part 113 and the second clamping jaw part 114 to form or release the puncture auxiliary channel; the puncture auxiliary channel driving mechanism 115 is fixed to the guide rod driving nut 121 through a base, the guide rod driving nut 121 is threadedly connected to the guide rod driving shaft 122, and the guide rod driving shaft 122 is docked with the power output end of the driving motor through a docking structure. The guide rod driving shaft 122 is driven by the driving motor to rotate and finally drives the guide rod driving nut 121 to move forward and backward to control the position of the puncture auxiliary channel in the puncture direction.

[0103] The puncture auxiliary channel driving mechanism 115 includes: a clamping base 1151, a clamping member 1152, a spring 1153, a puncture auxiliary channel driving shaft 1154, a puncture auxiliary channel driving nut 1155 and a puncture auxiliary channel driving guide 1156; the clamping base 1151 is fixed in the guide rod driving nut 121;

[0104] In the axial direction, the puncture auxiliary channel drive shaft 1154 not only passes through the puncture auxiliary channel drive nut 1155 but also passes through the guide rod drive nut 121, and the puncture auxiliary channel drive nut 1155 is provided with an external thread that is threadedly connected to the guide rod drive nut 121; at the penetration position, the outer surface of the puncture auxiliary channel drive shaft 1154 matches the shape of the inner surface of the puncture auxiliary channel drive nut 1155 and adopts a non-circular cross-section structure to ensure that the puncture auxiliary channel drive shaft 1154 can drive the puncture auxiliary channel drive nut 1155 to rotate when it rotates; preferably, a square structure is adopted, such as the puncture auxiliary channel drive shaft 1154 adopts a long bar with a square cross-section, and the puncture auxiliary channel drive nut 1155 is provided with a square through hole;

[0105] A guide body connector 1157 is sleeved on the puncture auxiliary channel drive nut 1155, and a pair of limit members are provided on the puncture auxiliary channel drive nut 1155 corresponding to the guide body connector 1157; preferably, one of the limit members is a limit boss with an annular structure, which is integrally formed with the puncture auxiliary channel drive nut 1155, and the other limit member is a limit nut 1158, which is threadedly connected to the puncture auxiliary channel drive nut 1155; the clamping base 1151 is fixed on the guide rod drive nut 121 and is connected to a pair of clamping members 1152 through a spring 1153, one of which is sleeved on The first guide rod 111 and the other is sleeved on the second guide rod 112. Under the action of the spring, the two clamping members 1152 rest on the puncture auxiliary channel driving guide body 1156; the puncture auxiliary channel driving guide body 1156 is axially arranged parallel to the puncture auxiliary channel driving shaft 1154 and is fixedly connected to the guide body connecting member 1157. The puncture auxiliary channel driving guide body 1156 is provided with a pushing inclined surface for adjusting the clamping angle of the clamping member 1152; a guide rod 1159 is also provided at the front end of the pushing inclined surface. During the release process of the puncture auxiliary channel, the clamping member 1152 rests on the guide rod 1159.

[0106] When the guide rod driving nut 121 is fixed and the puncture auxiliary channel driving shaft 1154 drives the puncture auxiliary channel driving nut 1155 to move axially, the two clamping members 1152 are driven to rotate relative to each other and gradually open through the pushing inclined surface of the puncture auxiliary channel driving guide body 1156, and then drive the first guide rod 111 and the second guide rod 112 to rotate relative to each other, and the first clamping claw part 113 and the second clamping claw part 114 are closed to form the puncture auxiliary channel, or opened to release the puncture auxiliary channel. After the puncture auxiliary channel is formed, the puncture needle is operated to make the rod end of the puncture needle pass through the puncture auxiliary channel, and reach the designated position along the predetermined puncture point and direction with the assistance of the puncture auxiliary channel.

[0107] The guide rod driving nut 121 includes a front baffle plate 1211 and a nut body 1212 which are fixedly connected. The nut body 1212 is provided with a position feedback rod 123. The clamping base 1151 is fixed in a concave groove formed by assembling the front baffle plate 1211 and the nut body 1212.

[0108] like Figure 4 As shown, the puncture needle depth control component 2 includes: a depth control rod driving nut 21, a depth control rod driving shaft 22, a depth control rod 23 and a depth control rod movement guide rod 24;

[0109] The depth control rod driving nut 21 is threadedly connected to the depth control rod driving shaft 22 and can move axially on the depth control rod driving shaft 22; the depth control rod movement guide rod 24 is fixedly connected to the depth control rod driving nut 21, the depth control rod 23 and the depth control rod movement guide rod 24 are arranged on different axes and are relatively fixed through the bending block 25, the depth control rod 23 is a hollow structure, sleeved on the second guide rod 112, and a puncture needle limit block 26 is provided at the front end of the depth control rod 23, and the puncture needle limit block 26 is coaxially arranged with the puncture auxiliary channel, and is used to clamp a certain section of the puncture needle in the axial direction;

[0110] After the puncture auxiliary channel is formed, the puncture needle is operated to make the rod end of the puncture needle pass through the puncture auxiliary channel, and the power output by the driving motor is transmitted to the depth control rod driving shaft 22, driving the depth control rod movement guide rod 24 to move axially, so that the puncture needle limit block 26 on the depth control rod 23 is limited from the thinner rod end of the puncture needle to the thicker tail end, and the puncture depth is controlled by controlling the distance between the puncture auxiliary channel and the puncture needle limit block; when the radioactive particle automatic implantation tool is withdrawn, the puncture auxiliary channel is first released and then the puncture needle limit block is axially away from the tail end of the puncture needle, so that the puncture needle limit block is separated from the puncture needle, thereby ensuring the stability of the positions of the puncture needles inserted successively, avoiding interference in a small space and failing to realize the planned puncture needle arrangement.

[0111] like Figure 4As shown, the particle inner push needle component 3 includes: an outer sleeve 31, an inner push needle 32, an inner push needle displacement driving nut 33 and an inner push needle displacement driving shaft 34;

[0112] The inner push pin displacement driving nut 33 is threadedly connected to the inner push pin displacement driving shaft 34, and can move axially on the inner push pin displacement driving shaft 34; the inner push pin 32 is inserted into the outer sleeve 31, and one end extends out of the outer sleeve 31, and the outer sleeve 31 is opened axially on the side; the inner push pin displacement driving nut 33 is provided with a sheet-like pushing mechanism 35, one end of the sheet-like pushing mechanism 35 passes through the side opening of the outer sleeve 31 and is connected to one end of the inner push pin 32, driving the inner push pin 32 to push the radioactive particles to a preset position.

[0113] like Figure 1b and Figure 7 As shown, the particle feeding clip 4 can adopt the multi-row particle magazine previously studied by the inventor, and the specific structure can be found in Chinese patent application CN201910831031.4; the particle feeding clip 4 is fixed in the clip mounting seat 10 at the front end of the surgical execution tool, and the clip mounting seat 10 includes a front mounting plate 101, a connecting block 102 and a rear mounting plate 103; the connecting block 102 is screwed to the front mounting plate 101 and the rear mounting plate 103 respectively, and the connecting block 102 is used to support the particle feeding clip 4, and a positioning stop pin 104 is provided at the bottom of the connecting block 102; both ends of each driving shaft of the surgical execution tool are passed through the rear mounting plate 103 and the guide rod movement guide rod support 54 through bearings; the depth control rod movement guide rod 24 is passed through the clip mounting seat 10, and the bending block 25 and the depth control rod 23 are arranged on the outside of the front end of the front mounting plate away from the rear mounting plate;

[0114] The particle feeding clip 4 is provided with a feeding channel on the displacement path of the inner push needle, and a puncture needle-to-tube 41 is extended from the front end of the feeding channel; preferably, a docking sleeve 42 is also provided at the front end of the puncture needle-to-tube 41, and the docking sleeve 42 is provided with a guide bevel, and the tail end of the puncture needle is gradually inserted into the docking sleeve 42 through the guide bevel, and the hollow channel of the puncture needle is coaxial with the puncture needle-to-tube 41 and the feeding channel. The particles provided by the particle feeding clip are pushed from the feeding channel into the puncture needle-to-tube 41 and then into the hollow channel of the puncture needle through the inner push needle, and are implanted in a preset position.

[0115] The docking sleeve 42 is used to improve the docking accuracy and docking stability of the puncture needle and the puncture needle connecting tube 41; preferably, a spring is provided in the docking sleeve 42 and an arc-shaped evacuation support plate is provided at the front end. After the puncture channel needle limit block is against the tail end of the puncture needle, the puncture needle is pressed into the docking sleeve through the lifting and lowering motion control of the entire implantation tool and the lifting and lowering control of the depth control rod, and the spring is compressed; the spring pushes out the puncture needle when the puncture channel is released and the puncture needle limit block is separated from the tail end of the puncture needle. The position of the ejected puncture needle is controllable, which facilitates the evacuation of the surgical execution tool from the puncture needle.

[0116] like Figure 1c , Figure 2a , Figure 5a , Figure 5b and Figure 5c As shown, the docking component 5 and the docking device 7 are used for docking the drive shafts of each component with the power output end of the drive motor. The docking device 7 is provided with a micro switch 76, so it can also provide feedback on the axial position and operating state of the drive shaft (hereinafter simply described as zero calibration); there are four drive shafts of each component involved in this embodiment, including: a puncture auxiliary channel drive shaft 1154, a guide rod drive shaft 122, a depth control rod drive shaft 22 and an inner push needle displacement drive shaft 34. Corresponding to the puncture auxiliary channel drive shaft 1154 and the guide rod drive shaft 122 of the puncture needle guide component 1, the depth control rod drive shaft 22 of the puncture needle depth control component 2 and the inner push needle displacement drive shaft 34 of the particle inner push needle component 3, a total of four drive motors 6 are provided.

[0117] The docking component 5 includes a docking seat 51, a locking plate 52, a tailstock fixing plate 53 and a guide rod movement guide rod support 54 which are arranged in sequence;

[0118] A positioning pin 511 and four quick connectors 512 are provided in the docking seat 51; preferably, a pair of positioning pins 511 are provided, which are fixedly connected to the docking seat 51 and are used for positioning and docking with the docking device 7 of the universal interventional surgery platform 200; the quick connector 512 passes through the docking seat 51, and the quick connector 512 is provided with a non-circular, special-shaped cross-section docking head 5121 at one end close to the docking device 7, and is docked with the power output end of the drive motor through the docking device 7; the quick connector 512 is provided with a docking locking head 5122 at one end close to the locking disk 52, and one end of each drive shaft on the surgical execution tool is fixed in the docking locking head 5122, preferably by screw locking;

[0119] A locking pin 521 is provided on the locking disk 52, and the locking pin 521 is arranged corresponding to the docking locking head 5122, which is used to lock the angle of the quick connector 512 to prevent the quick connector 512 from rotating accidentally and causing the inability to calibrate to zero; a spring for axial locking is provided between the locking disk 52 and the tailstock fixing plate 53, and preferably, the spring is sleeved on the end of the drive shaft that extends out of the tailstock fixing plate 53; when the surgical execution tool is not assembled with the isolation adapter mechanism, the locking disk 52 presses the locking pin 521 into the docking locking head 5122 under the action of the spring preload, locks the quick connector 512 and each drive shaft, prevents the quick connector 512 and each drive shaft from rotating, and is beneficial to the cleaning, disinfection, storage and re-installation of the tool; when the surgical execution tool is assembled with the isolation adapter mechanism and assembled to the universal interventional surgery platform, the above-mentioned locking state can be released through the docking device 7.

[0120] Three long trigger rods 531 and one short trigger rod 531 are fixed on the tailstock fixing plate 53. The short trigger rod 531 is set corresponding to the inner push pin displacement driving nut 33, and is used for zeroing the driving shaft of the particle inner push pin component (the particle inner push pin is relatively long, so a short trigger rod is set). The long trigger rod 531 is passed through the guide rod motion guide rod support 54, and the two are screwed together. According to the actual position of the driving nut of each component of the surgical execution tool, the length of the long trigger rod 531 extending from the guide rod motion guide rod support 54 can be adjusted to achieve zeroing of the driving shaft of each component of the surgical execution tool. Preferably, the first long trigger rod 531 is set corresponding to the depth control rod motion guide rod 24, the second long trigger rod 531 is set corresponding to the guide body connector 1157, and the third long trigger rod 531 is set corresponding to the position feedback rod 123;

[0121] The four trigger rods are all sleeved with springs. The spring on the long trigger rod 531 is sleeved on one end away from the tailstock fixing plate 53 and extending out of the guide rod movement guide rod support 54. The spring on the short trigger rod 531 is sleeved between the docking seat 51 and the locking plate 52. When the four driving shafts are not in place, the trigger rod 531 has no contact with the micro switch on the docking device 7 under the action of the spring. When the four driving shafts are in place, the action of the spring is overcome, the trigger rod 531 is pushed up toward the micro switch on the docking device 7, and the zero calibration signal is triggered.

[0122] The surgical execution tool 100 is provided with three surgical execution tool guide rods 105, each of which has one end inserted into the docking seat 51 and locked by a screw radially arranged on the docking seat 51, wherein the other ends of two of the surgical execution tool guide rods 105 are inserted into the front mounting plate 101, and another surgical execution tool guide rod 105 is inserted through the inner push needle displacement driving nut 33 and the other end is fixedly connected to the clip lock base 106 on the clip mounting seat 10 by screw locking; the inner push needle displacement driving nut 33 is driven by the inner push needle displacement driving shaft 34 and can be axially slidably arranged on the surgical execution tool guide rod 105.

[0123] like Figure 1c , Figure 2a and Figure 2b As shown, the docking device 7 includes a docking mounting seat 71, a fixing plate 72 and a micro switch mounting plate 73. The docking mounting seat 71 is provided with a docking piece 74 which is arranged one-to-one corresponding to the output shaft of the driving motor. One end of the docking piece 74 is passed through the fixing plate 72 through a bearing, and the fixing plate 72 is fixedly connected to the docking mounting seat 71. The driving motor 6 is fixed on the other side of the docking mounting seat 71 away from the fixing plate 72, and the output shaft of the driving motor is connected to the docking piece 74 through a synchronous belt transmission mechanism.

[0124] The docking mounting seat 71 is provided with a docking positioning hole 711 corresponding to the positioning pin 511, which facilitates the positioning and docking of the surgical execution tool 100 with the docking mounting seat 71, and can also limit the circumferential rotation of the surgical execution tool;

[0125] The micro switch mounting plate 73 is provided with micro switches 76 corresponding to each trigger rod and the outer sleeve. The micro switches are used to detect whether the relevant structures are installed in place, whether the operation is normal, and the reset status; the outer sleeve presses against the micro switch to complete the signal feedback of the surgical execution tool 100 equipped with the isolation transfer mechanism and the support bracket 9 being assembled; then the driving nuts of the various components of the surgical execution tool are returned to their positions, and the trigger rod presses against the micro switch to complete the position feedback so as to calibrate the zero position;

[0126] An unlocking pin 75 is also fixed on the docking device 7 .

[0127] like Figure 4 , Figure 6a , Figure 6b and Figure 6c As shown, in the particle implantation surgery, the repeatedly used surgical execution tool 100 needs to be disinfected. In order to simplify the disinfection operation and improve the disinfection efficiency, an isolation adapter mechanism 8 is provided; the isolation adapter mechanism 8 includes a first cover plate 81 and a second cover plate 82 stacked on the first cover plate 81; along the stacking direction, a docking sleeve 83 is inserted into the first cover plate 81 and the second cover plate 82, and the docking sleeve 83 is provided with a conversion hole corresponding to the docking piece and each driving shaft of the surgical execution tool power; the conversion hole adopts a special-shaped hole, and the docking piece and the surgical execution tool power input end correspondingly adopt a special-shaped rod end, which is inserted into the special-shaped hole;

[0128] A sterile isolation bag is arranged between the first cover plate 81 and the second cover plate 82. The sterile isolation bag wraps the universal interventional surgery platform 200 to isolate the surgical execution tools from the universal interventional surgery platform, thereby avoiding the trouble of disinfecting the universal interventional surgery platform, reducing the workload of sterilizing surgical instruments, and avoiding the universal interventional platform from contaminating the sterilized surgical execution tools.

[0129] Preferably, the isolation switching mechanism 8 is provided with a positioning cover plate 84 on the first cover plate 81 away from the second cover plate 82, and the positioning cover plate 84 is provided with a locking protrusion 86, which is embedded in the docking sleeve 83 to position and lock the docking sleeve 83 to prevent the angle deflection of the docking sleeve 83 from affecting the zero calibration of the equipment;

[0130] A first unlocking push rod 85 is provided in the stacking direction of the first cover plate 81 and the second cover plate 82; correspondingly, a second unlocking push rod 55 is provided on the locking disk 52 in the docking component 5. During the assembly process of the surgical execution tool 100 and the isolation adapter mechanism 8, the positioning cover plate 84 is pushed out through the special-shaped cross-section docking joint 5121 of the driving shaft; after the assembly is completed, it is docked with the docking device 7. After the first unlocking push rod 85 is pressed against the unlocking pin 75 of the docking device 7, the unlocking pin 75 presses the second unlocking push rod 55 in the reverse direction, and the second unlocking push rod 55 drives the locking pin 521 on the locking disk 52 to overcome the spring prestress and separate from the quick connector 512, so that each driving shaft of the surgical execution tool can rotate under the drive of the driving motor.

[0131] After the device is assembled in this embodiment, the specific operations of puncture needle puncture and particle implantation are as follows:

[0132] Ⅰ. Puncture needle (such as Mike needle) puncture process: according to the preset puncture task, determine the puncture point and control the formation of the corresponding puncture auxiliary channel; then operate the puncture needle (including the inner needle) to make the puncture needle rod end pass through the puncture auxiliary channel, and push the puncture needle into the target area along the predetermined path with the assistance of the puncture auxiliary channel until the puncture needle is blocked by the puncture needle limit block at the front end of the depth control rod. During the above operation of the puncture needle, the entire tool must remain stationary and cannot perform any action; after the puncture needle is inserted, release the puncture auxiliary channel, let the radioactive particle automatic implantation tool withdraw the newly inserted puncture needle, repeat the above operation to insert the next puncture needle, and perform particle implantation after all puncture needles are inserted into the target area;

[0133] Ⅱ. Particle implantation process: the inner needle of the puncture needle to be docked is pulled out, so that the puncture needle exposes the hollow channel required for particle implantation; the robotic arm drives the radioactive particle automatic implantation tool to move toward the target area (such as the lesion) as a whole, and at the same time, the depth control rod moves away from the target area, and the tail end of the puncture needle is clamped by the puncture needle limit block, so that the puncture needle and the docking sleeve on the radioactive particle automatic implantation tool are docked and fixed; thereafter, the puncture auxiliary channel is controlled to move toward the target area until it contacts the surface of the target area (such as the human skin), and correspondingly, the remaining parts of the radioactive particle automatic implantation tool do not move, and the robotic arm drives the whole to move backward a certain distance away from the target area, so that the puncture needle moves a certain distance away from the target area. After a certain distance (the length of a particle), the puncture needle is withdrawn to reserve a predetermined implantation point for the particle; after the needle is withdrawn, the inner push needle moves to push the radioactive particle from the particle magazine into the hollow channel of the puncture needle. At this time, the central axis of the inner push needle, the radioactive particle, the hollow channel, and the puncture auxiliary channel coincides, and the needle is pushed continuously until the top of the inner push needle is flush with the particle outlet end (needle tip) of the puncture needle, and the particle leaves the needle tip of the puncture needle to reach the implantation point, completing the implantation of one particle; then the inner push needle retreats to the limit position, and the implantation of the next particle begins; because the puncture auxiliary channel is against the surface of the target area, the withdrawal of the puncture needle will not lead to changes in the target area, ensuring that the position of the particle after leaving the needle tip is the predetermined implantation point of the particle.

[0134] It should be emphasized that the above are only preferred embodiments of the present invention and do not limit the present invention in any form. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A universal interventional surgery platform, characterized in that: include: A driving motor, a docking device and a supporting bracket, wherein the body of the driving motor is fixed on the docking device, the docking device is fixedly connected to the supporting bracket, and the supporting bracket is used to support the surgical execution tool; the docking device is provided with a docking piece corresponding to the driving motor one by one, one end of the docking piece is connected to the power output end of the driving motor through a transmission mechanism, and the other end of the docking piece is used to dock with the surgical execution tool to output the driving force of the driving motor to the surgical execution tool; Preferably, the docking mounting seat is further provided with a docking positioning hole; further preferably, the docking positioning hole is made of insulating material or is subjected to insulation treatment; Preferably, the support bracket is fixedly connected with a mechanical connection interface for connecting with an external motion mechanism; Preferably, a quick-lock mechanism for the surgical execution tool is also provided.

2. The universal interventional surgery platform according to claim 1, characterized in that: The docking device includes a docking mounting seat and a fixed plate, the fixed plate is fixedly connected to the docking mounting seat; the docking piece is inserted between the fixed plate and the docking mounting seat through a bearing; the body of the drive motor is fixed on the docking mounting seat, and the output shaft of the drive motor is connected to the docking piece through a transmission mechanism.

3. The universal interventional surgery platform according to claim 1, characterized in that: The universal interventional surgery platform is also provided with a disposable isolation adapter mechanism, which includes a first cover plate and a second cover plate stacked on the first cover plate; along the stacking direction, the first cover plate and the second cover plate are provided with an adapter assembly, which can be rotatably arranged and respectively connected to the docking piece and the power input end of the surgical execution tool; through the docking piece and the adapter assembly, the driving motor outputs power to the power input end of the surgical execution tool; Preferably, a sterile isolation bag is provided between the first cover plate and the second cover plate, and the sterile isolation bag wraps the universal interventional surgery platform to isolate the universal interventional surgery platform from the surgical execution tools.

4. The universal interventional surgery platform according to claim 3, characterized in that: The adapter assembly is a docking sleeve, a docking rod, or a combination of a docking sleeve and a docking rod; Preferably, the isolation transfer mechanism is provided with a positioning cover plate on the side of the first cover plate away from the second cover plate, and the positioning cover plate is provided with a locking member for locking the transfer assembly to rotate; Preferably, the docking sleeve is provided with a special-shaped docking hole, and the docking rod is provided with a special-shaped rod end; Further preferably, the adapter component is made of insulating material or is subjected to insulation treatment.

5. A radioactive seed automatic implantation tool, characterized in that: The invention comprises the universal interventional surgery platform as claimed in claim 3 or 4 and a surgical execution tool installed on the universal interventional surgery platform, wherein the surgical execution tool is provided with a particle feeding clip, a puncture needle guiding component, a puncture needle depth controlling component, a particle internal needle pushing component and a docking component, the particle feeding clip is arranged at the front end of the radioactive particle automatic implantation tool, the docking component is arranged at the rear end of the radioactive particle automatic implantation tool and docked with the docking device through an isolation adapter mechanism; The puncture needle guiding component is provided with a guide rod driving shaft and a puncture auxiliary channel driving shaft, the puncture needle depth control component is provided with a depth control rod driving shaft, and the particle inner push needle component is provided with an inner push needle displacement driving shaft. The above driving shafts serve as the power input end of the surgical execution tool and are docked one by one with the docking parts of the universal interventional surgery platform.

6. The automatic radioactive seed implantation tool according to claim 5, characterized in that: The puncture needle guide component includes a first guide rod, a second guide rod, a guide rod drive nut, a guide rod drive shaft and a puncture auxiliary channel drive mechanism; The first guide rod is inserted into the guide rod driving nut, the rod portion of the first guide rod is sleeved on the rod portion of the second guide rod, the end portion of the first guide rod is provided with a first clamping claw portion, and the end portion of the second guide rod is provided with a second clamping claw portion; The puncture auxiliary channel driving mechanism controls the relative rotation of the first clamping jaw part and the second clamping jaw part to form or release the puncture auxiliary channel; the puncture auxiliary channel driving mechanism is connected to the guide rod driving nut and moves with the guide rod driving nut; The guide rod driving nut is threadedly connected to the guide rod driving shaft, and the guide rod driving shaft is docked with a docking piece. The guide rod driving nut is driven by a driving motor to move, thereby controlling the position of the puncture auxiliary channel in the puncture direction. Preferably, the puncture auxiliary channel driving mechanism comprises: a clamping base, a clamping member, a spring, a puncture auxiliary channel driving shaft, a puncture auxiliary channel driving nut and a puncture auxiliary channel driving guide; the clamping base is fixed in the guide rod driving nut; In the axial direction, the puncture auxiliary channel drive shaft not only passes through the puncture auxiliary channel drive nut but also passes through the guide rod drive nut, and the puncture auxiliary channel drive nut is provided with an external thread threadedly connected with the guide rod drive nut; at the penetration position, the outer surface of the puncture auxiliary channel drive shaft matches the inner surface of the puncture auxiliary channel drive nut in shape and adopts a non-circular cross-section structure; A guide body connector is sleeved on the puncture auxiliary channel driving nut, and a pair of limit members are provided on the puncture auxiliary channel driving nut corresponding to the guide body connector; the clamping base is fixed on the guide rod driving nut and is connected to a pair of clamping members through a spring, one of which is sleeved on the first guide rod and the other is sleeved on the second guide rod, and under the action of the spring, the two clamping members are against the puncture auxiliary channel driving guide body; the puncture auxiliary channel driving guide body is arranged parallel to the puncture auxiliary channel driving shaft axially and is fixedly connected to the guide body connector, and the puncture auxiliary channel driving guide body is provided with a push-supporting inclined surface for adjusting the clamping angle of the clamping member; Further preferably, a guide rod is further provided at the front end of the push support bevel, and the clamping member abuts against the guide rod during the release process of the auxiliary puncture channel; Further preferably, one of the limiting members is a limiting boss of an annular structure, which is integrally formed with the driving nut of the puncture auxiliary channel, and the other limiting member is a limiting nut, which is threadedly connected with the driving nut of the puncture auxiliary channel; Further preferably, the guide rod driving nut comprises a front end baffle and a nut body which are fixedly connected, the nut body is provided with a position feedback rod, and the clamping base is fixed in a concave groove formed after the front end baffle and the nut body are assembled.

7. The automatic radioactive seed implantation tool according to claim 5, characterized in that: The puncture needle depth control component includes: a depth control rod driving nut, a depth control rod driving shaft, a depth control rod and a depth control rod movement guide rod; The depth control rod driving nut is threadedly connected to the depth control rod driving shaft and can move axially on the depth control rod driving shaft; the depth control rod movement guide rod is fixedly connected to the depth control rod driving nut, the depth control rod and the depth control rod movement guide rod are arranged on opposite axes and are relatively fixed through a bending block, the depth control rod is a hollow structure, and is sleeved on the second guide rod. A puncture needle limit block is provided at the front end of the depth control rod, and the puncture needle limit block is coaxially arranged with the puncture auxiliary channel, and is used to clamp a certain section of the puncture needle in the axial direction.

8. The automatic radioactive seed implantation tool according to claim 5, characterized in that: The particle inner push needle component comprises an outer sleeve, an inner push needle, an inner push needle displacement driving nut and an inner push needle displacement driving shaft; The inner push pin displacement drive nut is threadedly connected to the inner push pin displacement drive shaft and can move axially on the inner push pin displacement drive shaft; the inner push pin is inserted into the outer sleeve, one end of which extends out of the outer sleeve, and the outer sleeve is opened axially at the side; the inner push pin displacement drive nut is provided with a sheet-like pushing mechanism, one end of which passes through the side opening of the outer sleeve and is connected to one end of the inner push pin, driving the inner push pin to push the radioactive particles to a preset position.

9. The automatic radioactive seed implantation tool according to claim 8, characterized in that: The particle feeding clip in the surgical execution tool is provided with a feeding channel on the displacement path of the inner push needle, and a puncture needle connecting pipe is extended from the front end of the feeding channel. The particles provided by the particle feeding clip are pushed from the feeding channel into the hollow channel of the puncture needle through the inner push needle and implanted into the preset position; Preferably, the front end of the puncture needle is also provided with a docking sleeve, the docking sleeve is provided with a guide bevel, the tail end of the puncture needle is gradually inserted into the docking sleeve through the guide bevel, and the hollow channel of the puncture needle is coaxial with the puncture needle, the tube and the feed channel; Further preferably, a spring is provided in the docking sleeve and an arc-shaped evacuation support plate is provided at the front end.

10. The automatic radioactive seed implantation tool according to claim 5, characterized in that: The docking component comprises a docking seat, a locking plate and a tailstock fixing plate which are arranged in sequence; The docking seat is provided with a positioning pin and a quick connector. The positioning pin is positioned and docked with the docking positioning hole on the docking device. The quick connector is connected to the drive shaft one by one. The quick connector is a special-shaped rod structure on the side away from the drive shaft. One end of the quick connector is fixed in the docking locking head. Correspondingly, one end of the drive shaft on the surgical execution tool is fixed in the docking locking head. The locking plate is provided with a locking pin, which is clamped in the docking locking head and is used to lock the angle of the quick connector. Lifting the locking pin releases the locking plate from the quick connector. A trigger rod is provided on the tailstock fixing plate corresponding to the driving shaft of each component of the surgical execution tool. Correspondingly, a micro switch is provided on the docking device. When the driving shaft of each component of the surgical execution tool returns to its position, the trigger rod presses against the micro switch to complete position feedback. Preferably, the locking disk is further provided with a second unlocking push rod, and correspondingly, the isolation adapter mechanism is provided with a first unlocking push rod; after the docking component and the isolation adapter mechanism are assembled, axial docking is performed, and after the first unlocking push rod on the isolation adapter mechanism is pressed against the docking device, the second unlocking push rod is reversely lifted, so that the locking pin is disengaged from the docking locking head, and the locking state of the drive shaft is released, so that the quick connector can output power to each drive shaft of the surgical execution tool; further preferably, a spring for axial locking is further provided between the locking disk and the tailstock fixing plate corresponding to the locking pin; Further preferably, corresponding to the first unlocking push rod, the docking device is also provided with an unlocking pin.

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