Radioactive source implantation system capable of preventing impaction of radioactive source and use method of radioactive source implantation system

Abstract

The invention discloses a radioactive source implantation system capable of preventing impaction of a radioactive source and a use method thereof, a motion platform is rotatably arranged on a main machine body, a push rod driving mechanism is arranged in the motion platform, and the push rod driving mechanism drives a push rod to move back and forth along a push rod output channel; the front side of the main machine body is provided with a connecting piece through a connecting piece panel, the connecting piece is provided with a plurality of connecting holes, and each connecting hole is used for being connected with one end of a conveying guide pipe; a butt joint nozzle is further mounted in the motion platform; a shield for preventing the radioactive source from falling into the interval is arranged between the connecting piece panel and the moving platform, the shield comprises a middle shield and a bottom shield, and the connecting piece panel is provided with a material taking port capable of taking out the radioactive source borne on the middle shield and / or the bottom shield. The falling radioactive sources can be recovered more conveniently and timely, the radioactive sources can be conveyed at the same time as much as possible, and the implantation efficiency of the radioactive sources is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a radioactive source implantation system capable of preventing radioactive source impaction and a use method thereof. Background Art

[0002] Radioactive particle implantation is a procedure that uses a puncture method to directly implant a number of radioactive particles into the tumor through a puncture needle for local radiotherapy. This type of surgery has a wide range of indications, including lung cancer, liver cancer, breast cancer, prostate cancer, etc., and it has small incisions, less bleeding, and relatively few surgical complications, but it can effectively inhibit tumor growth. However, this type of surgery currently takes a long time, and doctors need to be in close contact with the particles during the implantation process, which causes great radiation damage, which limits the application and promotion of this type of surgery. Therefore, the particle implantation robot system came into being.

[0003] For example, a multi-channel radiation source implanter proposed in Chinese patent CN202310036388.X includes a main body, a first motion platform, a connecting piece, a push rod output channel, a push rod, a push rod driving mechanism and a radiation source feeding part. A push rod driving mechanism is arranged on the main body, and the push rod driving mechanism is connected to the push rod output channel. The push rod driving mechanism is used to drive the push rod to move forward and backward along the push rod output channel. The radiation source feeding part is used to set particles or particle chains at the front end of the push rod. The particle chain is a strip containing radioactive material. The push rod output channel is a rigid structure or a flexible and bendable structure. A plurality of connecting holes are distributed on the connecting piece. The other end of the push rod output channel and the connecting piece are respectively fixed at the two ends of the first motion platform. The first motion platform is used to control the relative position of the other end of the push rod output channel and the connecting piece in space, so as to dock the other end of the push rod output channel with one end of different connecting holes on the connecting piece, and output the particles or particle chains from different connecting holes to realize multi-channel implantation.

[0004] However, in the above technical solution, since the other end of the push rod output channel is connected to the docking nozzle, when the docking nozzle is docked with one end of a different connecting hole on the connecting piece, if the radioactive source is stuck in the process of being transported from the push rod output channel to the delivery catheter through the docking nozzle, at this time, if the push rod output channel or the delivery catheter is pulled out, the radioactive source is likely to fall into the gap between the connecting piece and the first moving platform. The radioactive source is very small, and it is inconvenient to remove the radioactive source, and it may even cause embedment. Therefore, it is necessary to improve the existing technology.

[0005] In addition, there are multiple delivery channels in the entire multi-channel radiation source implanter. The connections between different delivery channels may cause the radiation source to get stuck, and there may be blood clots in the puncture needle that block the channel, which may also cause the radiation source to get stuck. At this time, a more reasonable implantation method needs to be adopted to avoid the occurrence of radiation source jam. Summary of the invention

[0006] The object of the present invention is to provide a radiation source implantation system and a method of using the system that can prevent radiation source impaction, so as to solve the existing technical defects and unmet technical requirements.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A radioactive source implantation system capable of preventing radioactive source impaction comprises a mainframe housing, a mainframe body, a motion platform and a push rod driving mechanism, wherein the motion platform is rotatably arranged on the mainframe body, the mainframe housing cover is arranged outside the mainframe body and the motion platform, the push rod driving mechanism is arranged inside the motion platform, the push rod driving mechanism drives the push rod to move forward and backward along the push rod output channel, thereby pushing the radioactive source arranged in front of the push rod to a target position, the front side of the mainframe body is a connector panel, there is a gap between the connector panel and the motion platform, a connector is arranged on the connector panel, a plurality of connection holes are arranged on the connector, each connection hole is used to connect one end of a delivery catheter respectively, the motion platform is arranged in a roller shape, the motion platform can drive the end of the push rod output channel to communicate with any delivery catheter on the connector to form a delivery channel for the radioactive source, thereby realizing multi-channel implantation;

[0009] A shield is provided in the interval between the connector panel and the moving platform, and the shield includes an intermediate shield and a bottom shield, and the intermediate shield and the bottom shield are used to receive the fallen radioactive source. The connector panel is provided with a material taking port for taking out the radioactive source received on the intermediate shield and / or the bottom shield.

[0010] Preferably, the motion platform is rotatably connected to the connector panel via a bearing, the intermediate shield is a circular ring structure, the intermediate shield is coaxially sleeved on the outside of the bearing, the intermediate shield is fixed on the front end face of the motion platform or the back of the connector panel, a first annular stop cover is provided on the back of the connector panel or the front end face of the motion platform, a side of the intermediate shield close to the first annular stop cover is located inside the first annular stop cover, a first flange is provided on a side of the intermediate shield close to the first annular stop cover, and a gap between the first flange and the first annular stop cover is less than 0.8 mm;

[0011] Alternatively, the intermediate shield is a semi-ring structure, the intermediate shield is arranged on the upper side of the bearing, the intermediate shield is fixed to the back side of the connector panel, the back side of the connector panel or the front end face of the moving platform is provided with a first annular cover, the side of the intermediate shield close to the first annular cover is located inside the first annular cover, the side of the intermediate shield close to the first annular cover is provided with a first flange, and the gap between the first flange and the first annular cover is less than 0.8 mm.

[0012] Preferably, the bottom shield is a semi-annular structure, the bottom shield is fixed to the lower back of the connector panel, a second annular cover is provided on the back of the connector panel or the front end surface of the motion platform, a side of the bottom shield close to the second annular cover is located outside the second annular cover, and a second flange is provided on the side of the bottom shield close to the second annular cover, and a gap between the second flange and the second annular cover is less than 0.8 mm;

[0013] Alternatively, the bottom guard shield is a circular ring structure, and the bottom guard shield is fixed on the front end face of the moving platform or the back side of the connecting panel. A second annular block cover is provided on the back side of the connecting panel or the front end face of the moving platform. The side of the bottom guard shield close to the second annular block cover is located outside the second annular block cover. A second flange is provided on the side of the bottom guard shield close to the second annular block cover, and the gap between the second flange and the second annular block cover is less than 0.8 mm.

[0014] Preferably, the feeding port includes a first feeding port and a second feeding port, the first feeding port is an arc-shaped groove structure, and the first feeding port is arranged above the middle shield; when the bottom shield is a semi-annular structure, the second feeding port is arranged above the bottom shield; when the bottom shield is an annular structure, the second feeding port is arranged at the lower part of the inner side of the bottom shield; the radioactive source dropped on the middle shield and / or the bottom shield can be taken out from the first feeding port and / or the second feeding port.

[0015] Preferably, the motion platform includes a forward and backward motion module and a rotational motion module; the rotational motion module drives the motion platform to rotate around its axis, thereby driving the end of the push rod output channel to align with different connecting holes, and the forward and backward motion module is arranged in the motion platform, and the forward and backward motion module drives the end of the push rod output channel to move forward and backward, so that the push rod output channel is connected to any delivery catheter on the connecting piece to form a delivery channel for the radiation source, thereby realizing multi-channel implantation.

[0016] Preferably, a docking nozzle is also installed in the motion platform, and the docking nozzle is installed perpendicular to the connector panel. A radioactive source clip is installed on the push rod driving mechanism. The push rod driving mechanism and the docking nozzle are connected by a flexible pipe. At this time, the flexible pipe is a part of the push rod output channel, and the outlet of the docking nozzle is the end of the push rod output channel.

[0017] Preferably, a connecting seat for installing the docking nozzle is provided in the motion platform, and the connecting seat is installed on the motion seat through a floating connecting structure. The front and rear motion module drives the motion seat to move forward and backward. The floating connecting structure includes a plane floating structure and a front and rear floating structure. The plane floating structure allows the docking nozzle to float in a plane parallel to the connector panel, and the front and rear floating structure allows the docking nozzle to float in a direction perpendicular to the connector panel.

[0018] Preferably, the docking nozzle is installed on the connecting seat through a limit piece, and the docking nozzle is sleeved in the limit piece. The front end of the docking nozzle extends out of the limit piece, and a conical head is provided at the end of the docking nozzle extending out of the limit piece, and the front end of the limit piece is provided with a conical head, and the conical head and the conical head are respectively adapted to be connected with the docking surface of the conveying catheter; the docking surface of the tail of the conveying catheter includes a first conical surface and a second conical surface, and a transitional cylindrical surface or a small conical surface is provided between the first conical surface and the second conical surface, the front end of the conical head is a conical surface adapted to the second conical surface, the conical head at the front end of the limit piece is adapted to the first conical surface, and the conical head is provided with an annular groove on the side close to the conical head, and when the front end of the conical head is stuck in the second conical surface, the annular groove makes the side surface of the conical head have a gap with the cylindrical surface or the small conical surface of the docking joint, so that the conical head can be pulled out from the cylindrical surface or the small conical surface.

[0019] Preferably, the end of the flexible pipe close to the push rod driving mechanism is fixedly connected with a quick-connect pipe, a quick-connect seat is provided on one side of the push rod driving mechanism, the quick-connect seat is installed on the motion platform through a force sensor, the quick-connect pipe can be quickly installed on the quick-connect seat and is connected to the internal channel of the push rod driving mechanism, the force measuring direction of the force sensor is parallel to the axial direction of the quick-connect pipe, the delivery force of the push rod can be detected by the force sensor, and a damping section for preventing the radiation source from returning to the push rod driving mechanism is provided in the quick-connect pipe, and the damping section is a soft rubber tube.

[0020] A method for using a radioactive source implantation system capable of preventing radioactive source impaction comprises the following steps:

[0021] (1) The rotary motion module drives the motion platform to rotate around its axis, thereby driving the end of the push rod output channel to align with one of the connection holes, and then the forward and backward motion module drives the end of the push rod output channel to move forward and backward, so that the push rod output channel is connected to a delivery catheter on the connecting piece to form a delivery channel for the radiation source;

[0022] (2) The push rod driving mechanism drives the push rod to move forward, and when passing through the radioactive source magazine, a radioactive source is pushed into the flexible pipe. Then the push rod driving mechanism drives the push rod to move backward, so that the front end of the push rod is located behind the radioactive source magazine. Then the push rod driving mechanism drives the push rod to move forward again to push out a new radioactive source. This process is repeated multiple times.

[0023] (3) When the number of radioactive sources in the flexible tube reaches n or m-kn, and does not exceed n at most, the push rod driving mechanism drives the push rod to push the radioactive sources retained in the flexible tube forward at one time, passing through the push rod output channel, the delivery catheter, and the puncture needle, and is pushed to the needle tip position of the puncture needle to be implanted, where k is a natural number and m is the upper limit of the number of radioactive sources accumulated in the puncture needle.

[0024] (4) When the number of radioactive sources accumulated in the puncture needle reaches m or p-qm, and does not exceed m at most, the push rod driving mechanism drives the push rod to move forward, implants the radioactive sources retained in the puncture needle into the target position at one time, and then the push rod driving mechanism drives the push rod to move backward, so that the front end of the push rod is located behind the radioactive source magazine; otherwise, the push rod driving mechanism drives the push rod to move backward directly, so that the front end of the push rod is located behind the radioactive source magazine, and repeats steps (2) to (3); wherein q is a natural number and p is the target number.

[0025] (5) If the total number of implanted radioactive sources reaches p, the implantation of the delivery catheter is terminated; otherwise, steps (2) to (3) are repeated.

[0026] (4) until the total number of implanted delivery catheters reaches p; then the implantation of the delivery catheter is terminated.

[0027] (6) The forward and backward motion module drives the end of the push rod output channel to move backward, so that the push rod output channel is separated from the delivery catheter on the connecting piece. The rotational motion module drives the motion platform to rotate around its axis, thereby driving the end of the push rod output channel to align with the next connecting hole. Then the forward and backward motion module drives the end of the push rod output channel to move forward, so that the push rod output channel is connected to the next delivery catheter on the connecting piece to form a delivery channel for the radiation source. The above steps are repeated to implant the next delivery catheter.

[0028] The beneficial effects of the present invention are:

[0029] 1. A shield is installed between the connector panel and the moving platform of the present invention to prevent the radioactive source from falling into the interval. The shield includes an intermediate shield and a bottom shield. The connector panel is provided with a material taking port for taking out the radioactive source supported by the intermediate shield and / or the bottom shield, so that the fallen radioactive source can be recovered more conveniently and timely.

[0030] 2. The docking nozzle can not only float in a plane parallel to the connector panel, but also float in a direction perpendicular to the connector panel, thereby ensuring that when there is a certain error in the docking displacement, the docking nozzle can still be tightly attached to the docking surface of the delivery catheter, while playing a buffering role to avoid damage to the motor, and realizing adaptive centering docking of the docking nozzle to prevent the radiation source from being embedded in the docking surface of the docking nozzle and the delivery catheter.

[0031] 3. The maximum number of radioactive sources that can be delivered at one time in the flexible tube is limited to n, and the maximum number of radioactive sources that can be delivered at one time in the puncture needle is limited to m, so as to avoid the risk of blockage caused by delivering too many radioactive sources at the same time, while at the same time being able to deliver as many radioactive sources as possible at the same time to improve the efficiency of radioactive source implantation. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of Example 1;

[0033] Figure 2 This is a schematic diagram of the structure of each module of Example 1;

[0034] Figure 3 It is a schematic diagram of the structure of the magazine seat of Example 1;

[0035] Figure 4 This is a schematic diagram of the structure of each module of Example 1;

[0036] Figure 5 This is a schematic diagram of the recovery tube structure of Example 1;

[0037] Figure 6 This is a structural schematic diagram of a roller-type motion platform of Example 1;

[0038] Figure 7 This is a schematic structural diagram of the motion platform and the connector panel of Example 1;

[0039] Figure 8 for Figure 7 The structural diagram without the connector panel;

[0040] Fig. 9 It is a schematic diagram of the back structure of the connector panel of Example 1;

[0041] Fig.10 It is a schematic diagram of the assembly structure of the motion platform, the connecting panel, the middle shield and the bottom shield of Example 1;

[0042] Fig.11 It is a schematic diagram of the cross-sectional structure of the motion platform, the intermediate shield and the connecting panel;

[0043] Fig.12 It is a schematic diagram of the cross-sectional structure of the motion platform, bottom shield and connecting panel;

[0044] Fig.13 This is a schematic diagram of the installation structure of the magazine seat of Example 1;

[0045] Fig.14 This is a schematic diagram of the installation structure of the core pulling mechanism of Example 1;

[0046] Fig.15 This is a schematic diagram of the docking plate structure of Example 1;

[0047] Fig.16 This is a schematic diagram of the internal structure of the docking tray of Example 1;

[0048] Fig.17 An exploded view of the docking plate of Example 1;

[0049] Fig.18 is a side sectional view of the docking plate of Example 1;

[0050] Fig.19 for Fig.18 A local enlarged view of L;

[0051] Fig. 20 This is a structural schematic diagram of the docking joint of Example 1 installed on the docking plate;

[0052] Fig.21 for Fig. 20 A local enlarged view of point I;

[0053] Fig. 22 Schematic diagram of the reflective scale strip structure of Example 1;

[0054] Fig.23 This is a schematic diagram of the puncture needle implanting particles in Example 1;

[0055] Fig.24 It is a structural schematic diagram of Example 2;

[0056] Fig.25 This is a schematic diagram of the floating connection mechanism structure of Example 2;

[0057] Fig.26 It is a side sectional view of the docking nozzle of Example 2;

[0058] Fig. 27 Schematic diagram of the joint structure of Example 2

[0059] Fig.28 Schematic diagram of the push rod driving mechanism structure of Example 2;

[0060] Fig.29 It is a side sectional view of the quick-connect seat of Example 2;

[0061] Fig.30 It is a structural schematic diagram of Example 3;

[0062] Fig.31 for Fig.30 A magnified view of the floating connection structure in FIG.

[0063] Fig.32 This is an exploded view of the docking nozzle of Example 3;

[0064] Fig.33 This is a side sectional view of the guide rod of Example 3. DETAILED DESCRIPTION

[0065] 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.

[0066] Example 1

[0067] like Figure 1-23 As shown, a radioactive source implantation system capable of preventing radioactive source impaction, wherein the motion platform is a module cabin, the module cabin is rotatably arranged on the main body, the main body outer shell cover is arranged outside the main body and the motion platform, the module cabin has rotational motion in one direction and linear motion in one direction, a push rod driving mechanism, a core pulling mechanism and a magazine seat are installed on the module cabin, the connecting piece adopts a docking plate, the front side of the main body is a connecting piece panel, there is a gap between the connecting piece panel and the motion platform, a connecting piece is provided on the connecting piece panel, a plurality of connecting holes are provided on the connecting piece, each connecting hole is used to connect one end of a delivery catheter respectively, the motion platform is arranged in a roller shape, the motion platform can drive the end of the push rod output channel to connect with any delivery catheter on the connecting piece to form a delivery channel for the radioactive source, thereby realizing multi-channel implantation; the needle extraction driving mechanism drives the inner tube or outer tube of the needle extraction accessory to perform relative sliding motion by directly pushing and pulling.

[0068] Specifically, it includes a mainframe housing 2401, a module hatch 2402, a display screen 2403, an emergency stop button 2404, a transparent observation window 2405, a connector panel 2406, a docking plate 2407, a hatch handle 2408, a support column 2409, a module cabin 24010, a needle core locking handle 24032, a joint locking handle 24033, a core extraction mechanism 24011, a push rod driving mechanism 24012, a magazine seat 24013, a magazine 24014, a force sensor 24023, a measuring wheel 24024, an encoder 24025, a needle core storage wheel 24015, a flexible pipe 24016, and a recovery pipe 240 17. Delivery catheter 24018, puncture needle handle 24021, particle push rod storage wheel 24020, motor 24019, cam A 24034, spring 24039, cam B 24036, induction switch 24040, needle core pressure plate 24037, connector pressure plate 24038, docking nozzle 24026, inner tube assembly 101508, outer tube assembly 101509, needle removal push rod 24043, contact sensor 24027, docking joint 24029, rubber block 24041, reflective scale bar 24045, puncture needle 101504, particles 101505, and human body template 101511.

[0069] The main body of the particle implanter includes a main housing 2401, a module hatch 2402, a display screen 2403, an emergency stop button 2404, a transparent observation window 2405, a connector panel 2406, a docking plate 2407, a hatch handle 2408, a support column 2409, and a module cabin 24010. The main housing 2401 is equipped with an emergency stop button 2404 and a transparent observation window 2405. The emergency stop button 2404 is used for emergency stop operation of the equipment, and the transparent observation window 2405 facilitates observation of the installation and operation of the module cabin 24010 in the main housing 2401; the support column 2409 is installed at the lower part of the main housing 2401, and the support column 2409 can fix the lower end of the recovery tube 24017.

[0070] Before the operation begins, the module door 2402 is in a closed state. The door handle 2408 is rotated to open the module door 2402. The module door 2402 is located on the left and / or right side of the main body housing 2401. The accessories are installed in the module compartment 24010. The core extraction mechanism 24011, the push rod driving mechanism 24012, and the clip seat 24013 are installed at the corresponding positions in the module compartment 24010. The core extraction mechanism 24011 and the clip seat 24013 are vertically installed on the connector panel 2406 ( Figure 6 ), a needle core storage wheel 24015 is set on the rear side of the core pulling mechanism 24011, and a particle push rod storage wheel 24020 is set on the rear side of the push rod driving mechanism 24012. A particle push rod (equivalent to a push rod) is stored inside the particle push rod storage wheel 24020, and the material of the particle push rod is a memory alloy metal with a certain toughness.

[0071] One end of the flexible pipe 24016 is connected to the push rod drive mechanism 24012, and the other end is connected to the force sensor 24023 on the clip seat 24013. The flexible pipe 24016 is bent at a certain angle so that the elastic force of the flexible pipe 24016 itself is not completely parallel to the measuring axis of the force sensor 24023, so as to avoid the elasticity of the flexible pipe 24016 itself affecting the reading of the force sensor 24023. The clip 24014 is installed in the clip seat 24013.

[0072] like Figure 7 to Figure 12 As shown, a shield is provided in the interval between the connector panel 2406 and the moving platform (i.e., the module compartment 24010), and the shield includes an intermediate shield 2501 and a bottom shield 2502. The intermediate shield 2501 and the bottom shield 2502 are used to receive fallen radioactive sources, and the connector panel is provided with a material extraction port for removing the radioactive sources received on the intermediate shield 2501 and / or the bottom shield 2502.

[0073] The motion platform is rotatably connected to the connector panel 2406 via a bearing 2503. The intermediate shield 2501 is a circular ring structure. The intermediate shield 2501 is coaxially sleeved on the outside of the bearing 2503. The intermediate shield 2501 is fixed on the front end face of the motion platform or the back of the connector panel 2406. The back of the connector panel 2406 or the front end face of the motion platform is provided with a first annular stop cover 2504. The side of the intermediate shield 2501 close to the first annular stop cover 2504 is located at the first annular stop cover. Inside the cover 2504, a first flange 250101 is provided on the side of the intermediate shield 2501 close to the first annular block cover 2504, and the gap between the first flange 250101 and the first annular block cover 2504 is less than 0.8 mm; in this embodiment, the intermediate shield 2501 is fixed on the front end face of the moving platform, the first annular block cover 2504 is provided on the back side of the connecting member panel 2406, and a first flange 250101 is provided on the side of the intermediate shield 2501 close to the first annular block cover 2504.

[0074] Alternatively, as an alternative, the intermediate shield is a semi-ring structure, the intermediate shield is arranged on the upper side of the bearing, the intermediate shield is fixed to the back side of the connector panel, the back side of the connector panel or the front end face of the moving platform is provided with a first annular block cover, the side of the intermediate shield close to the first annular block cover is located inside the first annular block cover, the side of the intermediate shield close to the first annular block cover is provided with a first flange, and the gap between the first flange and the first annular block cover is less than 0.8 mm.

[0075] In this embodiment, the bottom shield 2502 is a semi-annular structure, and the bottom shield 2502 is fixed to the lower back side of the connector panel 2406. A second annular cover 2505 is provided on the front end face of the moving platform. The side of the bottom shield 2502 close to the second annular cover 2505 is located outside the second annular cover 2505, and a second flange 250201 is provided on the side of the bottom shield 2502 close to the second annular cover 2505, and the gap between the second flange 250201 and the second annular cover 2505 is less than 0.8 mm.

[0076] Alternatively, as an alternative, the bottom shield is a circular ring structure, and the bottom shield is fixed on the front end face of the moving platform or the back side of the connecting panel 2406, and a second annular cover is provided on the back side of the connecting panel 2406 or the front end face of the moving platform, and a side of the bottom shield close to the second annular cover is located outside the second annular cover, and a second flange is provided on the side of the bottom shield close to the second annular cover, and a gap between the second flange and the second annular cover is less than 0.8 mm.

[0077] The material taking port includes a first material taking port 2506 and a second material taking port 2507. The first material taking port 2506 is an arc-shaped groove structure, and the first material taking port 2506 is arranged above the intermediate shield 2501; when the bottom shield 2502 is a semi-annular structure, the second material taking port 2507 is arranged above the bottom shield 2502; when the bottom shield is an annular structure, the second material taking port 2507 is arranged at the lower part of the inner side of the bottom shield; the radioactive source dropped on the intermediate shield 2501 and / or the bottom shield can be taken out from the first material taking port 2506 and / or the second material taking port 2507.

[0078] At the beginning of the operation, a corresponding number of delivery catheters 24018 are prepared according to the number of puncture needles required for the operation, and an implantation plan is set on the machine display screen 2403. The docking joints 24029 of multiple delivery catheters 24018 are sequentially loaded into the docking tray 2407, and then the needle core locking handle 24032 is rotated, and the internally connected cam A 24034 rotates to rotate the needle core pressing plate 24037 to press the rubber block 24041 at the front end of the docking joint 24029, and the rubber block 24041 simultaneously presses the needle core inside the delivery catheter 24018. After the pressing plate is locked, the cam that controls the movement of the pressing plate will be detected and fed back by the induction switch 24040, and the mechanism simultaneously locks the docking joints 24029 and the internal needle cores of all delivery catheters 24018 on the docking tray 2407. The other end of the delivery catheter 24018 is a puncture needle, and the puncture needle handle 24021 is held to puncture the puncture needle at the predetermined surgical position. After the puncture is completed, the needle core locking handle 24032 is released, and the spring 24039 connected to the needle core pressing plate 24037 rebounds to release the rubber block 24041 and the needle core pressed by the needle core pressing plate 24037. Repeat the above steps until one end of all the delivery catheters 24018 is inserted into the docking plate 2407 and the other end is punctured to the target position. The joint locking handle 24033 is tightened, and the cam B connected inside is The rotation of 24036 causes the joint pressure plate 24038 to rotate and embed into the horizontal groove on the side of the docking joint 24029, so that the joint pressure plate 24038 clamps the docking joint 24029. When the docking joint 24029 is fixed on the docking plate 2407, the entrance of the docking joint 24029 will protrude from the back of the docking plate 2407, so as to better dock with the docking mouth 24026 of the magazine seat 24013, and also prevent the docking mouth 24026 of the sterile magazine seat 24013 from contacting the sterile docking plate 2407.

[0079] The user starts the device, and the particle implanter starts to operate. The motor 24019 controls the internal module cabin 24010 of the machine to rotate so that the core pulling mechanism 24011 moves to the corresponding position of the delivery catheter 24018. The core pulling mechanism 24011 starts to work and moves forward to pull out the needle core inside the delivery catheter 24018. The needle core will be sent to the needle core storage wheel 24015 on the rear side of the core pulling mechanism 24011 and automatically wind up inside it under its own elasticity, and drive the needle core storage wheel 24015 to rotate synchronously. After being completely pulled out of the delivery catheter 24018, the core pulling mechanism 24011 retreats backward, wherein the core pulling mechanism 24011 is controlled to move forward and backward by a linear motion mechanism, and the linear motion mechanism is one or a combination of a screw nut mechanism, an electric push rod, and a gear rack mechanism. The motor 24019 controls the module compartment 24010 to rotate so that the core pulling mechanism 24011 is docked with the recovery tube 24017. Then the core pulling mechanism 24011 works to completely spit out the internally wound needle core and deliver it to the recovery tube 24017. Then the motor 24019 drives the module compartment 24010 to rotate so that the clip seat 24013 is aligned with the position of the delivery catheter 24019 from which the needle core has just been pulled out, and the clip seat 24013 is pushed forward to dock with the docking joint 24029 of the delivery catheter 24018, wherein the clip seat 24013 is controlled to move back and forth by a linear motion mechanism, and the linear motion mechanism is one or a combination of a screw nut mechanism, an electric push rod, and a gear rack mechanism, and then the push rod driving mechanism 24012 pushes out the particle push rod in the particle push rod storage wheel 24020, and the particle push rod moves to the clip seat 24013 through the flexible pipe 24016 and pushes out the particles in the clip 24014 into the docking mouth 24026 at the front end of the clip seat 24013 in turn, and at the same time, a driven measurement device for compacting the particle push rod is provided inside the clip seat 24013 Wheel, when the particle push rod moves, the measuring wheel 24024 is driven to rotate by friction, and the rotation angle of the measuring wheel 24024 is measured by the encoder 24025, and the movement displacement of the particle push rod can be converted by the encoder 24025. Since an encoder module is also provided in the push rod driving mechanism 24012, it is possible to determine whether the measuring wheel 24024 is slipping by the readings of the two encoders, thereby ensuring the reliability of the measurement results by the dual measuring units, and reciprocatingly pushing out multiple particles until a specified number is reached, and then the push rod driving mechanism 24012 drives the particle push rod to push the particles through the delivery catheter 24018 to the front end of the puncture needle. In this process, if the resistance encountered by the particle push rod during movement increases, its reaction force will be transmitted to the force sensor 24023 connected to the flexible pipe 24016 and fed back.In other embodiments, reflective scale bars 24045 can be evenly spaced on the outer surface of the particle push rod, and a photoelectric sensor can be set in the magazine seat 24013 or the push rod drive mechanism 24012. When the particle push rod and the photoelectric sensor are relatively displaced, a pulse signal will be generated synchronously. The pulse signal is sampled to measure the actual displacement of the particle push rod. This solution can avoid slipping of the measuring wheel and the particle push rod, thereby affecting the measurement accuracy and reliability of the encoder.

[0080] In other embodiments, a stop step may be added to the end of the particle push rod, and the position of the stop step is set to meet the following principle: when the front end of the particle push rod extends along the delivery catheter into the puncture needle and protrudes from the front end of the puncture needle for more than a certain length (preferably, the length is shorter than 5mm), the stop step is stuck on the second stop step in the push rod drive mechanism, thereby achieving mechanical limit, preventing the particle push rod from piercing into human tissue and causing damage, and improving overall safety. Preferably, the stop step is the end face of the stop tube sleeved on the end of the particle push rod, and the second stop step is set on the inlet end face of the particle push rod in the push rod drive mechanism.

[0081] In other embodiments, a connection portion may be provided on the particle push rod storage wheel 24020, and the connection portion is used to connect and fix with the end or middle of the particle push rod, and the position of the connection portion is set to meet the following principles: when the front end of the particle push rod extends along the delivery catheter into the puncture needle and protrudes from the front end of the puncture needle for more than a certain length (preferably, the length is shorter than 5mm), the particle push rod is pulled by the connection portion, so that it cannot continue to move forward, thereby achieving mechanical limitation, avoiding the particle push rod from piercing into human tissue and causing damage, and improving overall safety. The connection portion is connected and fixed with the end or middle of the particle push rod in the form of threaded connection, bonding, welding, snap connection, etc.

[0082] like Fig.23As shown, when the multi-particle 101505 reaches the position of the puncture needle 101504 of the delivery catheter, the push rod driving mechanism 24012 will push a particle into the human body, and then the needle pulling push rod 24043 will be pushed forward until it contacts the outer tube assembly 101509. At this time, the contact signal is sensed by the contact sensor 24027. The contact sensor is one or a combination of a force sensor, a mechanical switch, an inductive switch, and a photoelectric switch. Then the needle pulling push rod 24043 continues to push the outer tube assembly 101509 forward, and the other end of the outer tube assembly 101509 will press against the surface of the biological tissue or the human body template 101511 (it can also be a prostate stent or other device). When the outer tube assembly 101509 is pushed forward, the inner tube assembly 101508 will move relatively and pull out the puncture needle 101504 connected to the front end out of the human body. Then the push rod driving mechanism 24012 continues to push out the next particle 101505, and works reciprocatingly until multiple particle implants are completed.

[0083] The docking nozzle 24026 is arranged on the magazine seat 24013 through a floating connection structure. When the docking nozzle 24026 is not completely aligned with the docking plate 2407, the docking nozzle 24026 can move and complete the docking through the guiding effect of the guide structure.

[0084] The specific configuration of the floating connection structure may refer to Example 2.

[0085] Example 2

[0086] The parts of this embodiment that have the same structure as that of embodiment 1 are not described in detail, and the differences are as follows:

[0087] A docking nozzle is also installed in the motion platform, and the docking nozzle is installed perpendicular to the connector panel. A radioactive source clip is installed on the push rod driving mechanism. The push rod driving mechanism and the docking nozzle are connected by a flexible pipe. At this time, the flexible pipe is part of the push rod output channel, and the outlet of the docking nozzle is the end of the push rod output channel.

[0088] A connecting seat for installing the docking nozzle is provided in the motion platform, and the connecting seat is installed on the motion seat through a floating connecting structure. The front and rear motion module drives the motion seat to move forward and backward. The floating connecting structure includes a plane floating structure and a front and rear floating structure. The plane floating structure allows the docking nozzle to float in a plane parallel to the connector panel, and the front and rear floating structure allows the docking nozzle to float in a direction perpendicular to the connector panel.

[0089] The docking nozzle is installed on the connecting seat through a limit piece, and the docking nozzle is sleeved in the limit piece. The front end of the docking nozzle extends out of the limit piece, and a conical head is provided at the end of the docking nozzle extending out of the limit piece. The front end of the limit piece is provided with a conical head, and the conical head and the conical head are respectively adapted to be connected with the docking surface of the conveying conduit; the docking surface of the tail of the conveying conduit includes a first conical surface and a second conical surface, and a transitional cylindrical surface or a small conical surface is provided between the first conical surface and the second conical surface, the front end of the conical head is a conical surface adapted to the second conical surface, the conical head at the front end of the limit piece is adapted to the first conical surface, and the conical head is provided with an annular groove on a side close to the conical head. When the front end of the conical head is stuck in the second conical surface, the annular groove makes the side surface of the conical head have a gap with the cylindrical surface or the small conical surface of the docking joint, so that the conical head can be pulled out from the cylindrical surface or the small conical surface.

[0090] The end of the flexible pipe close to the push rod driving mechanism is fixedly connected with a quick-connect pipe, and a quick-connect seat is provided on one side of the push rod driving mechanism. The quick-connect seat is installed on the motion platform through a force sensor. The quick-connect pipe can be quickly installed on the quick-connect seat and is connected to the internal channel of the push rod driving mechanism. The force measuring direction of the force sensor is parallel to the axial direction of the quick-connect pipe. The delivery force of the push rod can be detected by the force sensor. A damping section for preventing the radiation source from returning to the push rod driving mechanism is provided in the quick-connect pipe. The damping section is a soft rubber tube, or the damping section adopts a pipe with frosted interior, or the damping section adopts a pipe with elastic damping blocks or elastic damping rings interior.

[0091] Specific: such as Figure 24-Figure 29 As shown, the module cabin assembly includes: a module cabin 24010, a push rod driving mechanism 24012, and a docking nozzle module 24050. The push rod driving mechanism 24012 and the docking nozzle module 24050 are installed at corresponding positions in the module cabin 24010. The docking nozzle module 24050 is vertically installed on the front end surface of the module cabin 24010. The push rod driving mechanism 24012 is parallel to or inclined at a certain angle to the front end surface of the module cabin 24010. The push rod driving mechanism 24012 is installed with a radiation source clip. The push rod driving mechanism 24012 is connected to the docking nozzle module 24050 through a flexible pipe 24016. 050 connection, the docking nozzle module 24050 is installed in the module cabin 24010 through the forward and backward movement module 24052 to realize the forward and backward movement of the docking nozzle module 24050 and docking with different external delivery catheters on the external connecting parts. After the docking is completed, the push rod driving mechanism 24012 drives the flexible push rod to pass through the radiation source clip, thereby ejecting the radiation source in the radiation source clip, and then pushes the radiation source at the front end of the flexible push rod, and pushes the radiation source into the external delivery catheter through the docking nozzle module 24050, and is implanted into the target position through the puncture needle connected to the end of the external delivery catheter.

[0092] The forward and backward motion module 24052 is one or a combination of a screw-nut mechanism, an electric push rod, and a gear rack mechanism.

[0093] The docking nozzle module 24050 includes a docking nozzle 24026 and a floating connection structure. The docking nozzle 24026 is installed on the front-rear movement module 24052 through the floating connection structure. The floating connection structure includes a plane floating structure and a front-rear floating structure. The plane floating structure allows the docking nozzle 24026 to float in a plane parallel to the connection panel.

[0094] like Fig.25 As shown: the plane floating structure adopts two rotating joint modules, the floating connection structure includes a first connecting rod 2405002 and a second connecting rod 2405003, a connecting rod seat 2405004 (i.e., a moving seat) is installed on the front and rear movement module 24052, the second connecting rod 2405003 is rotatably set on the connecting rod seat 2405004 through the first rotating shaft 2405005, and the rotation reset of the second connecting rod 2405003 is realized by the third elastic element, the first connecting rod 2405002 is rotatably set on the second connecting rod 2405003 through the second rotating shaft 2405006, and the rotation reset of the second connecting rod 2405003 is realized by the third elastic element. Four elastic elements realize the rotational reset of the first connecting rod 2405002, the docking nozzle 24026 is connected to the first connecting rod 2405002 through the connecting seat 2402601, the third elastic element and the fourth elastic element can respectively adopt a torsion spring structure, and the two torsion springs are respectively installed on the first rotating shaft 2405005 and the second rotating shaft 2405006; or the third elastic element and the fourth elastic element are the same elastic plate 2405013, the elastic plate 2405013 has a special shape, one end of which is fixed on the connecting rod seat 2405004, and the other end is fixed on the first connecting rod 2405002. When the front-to-back motion module 24052 moves forward for docking, when the docking nozzle 24026 is not aligned with the external delivery tube on the external connecting piece, the docking nozzle 24026 conflicts with the conical surface of the external delivery tube, and the first connecting rod 2405002 and the second connecting rod 2405003 can rotate in a small range, thereby realizing adaptive centering docking; when the front-to-back motion module 24052 moves backward to reset, under the action of the third elastic element and the fourth elastic element, the first connecting rod 2405002 and the second connecting rod 2405003 automatically reset to prepare for the next docking.

[0095] The front and rear floating structures are arranged between the docking nozzle and the connecting seat, and the front and rear floating structures allow the docking nozzle to float in a direction perpendicular to the connecting piece panel.

[0096] like Fig.26The front and rear floating structures include a limiting sleeve 2402602 slidably arranged in the connecting seat 2402601, and the limiting sleeve 2402602 is also a limiting member. The connecting seat 2402601 is provided with a limiting structure to prevent the limiting sleeve 2402602 from completely coming out. The limiting structure adopts a limiting rod 2402603, and a limiting groove is arranged on the side of the limiting sleeve 2402602. One end of the limiting rod 2402603 is fixed in the connecting seat 2402601, and the other end of the limiting rod 2402603 is inserted in the limiting groove of the limiting sleeve 2402602, so that the limiting sleeve 2402602 slides within a certain range, but does not Will slide out completely, the docking nozzle 24026 is sleeved in the limiting sleeve 2402602, and the outer sleeve of the docking nozzle 24026 is fixed on the flexible pipe 24016, and the fixing method can be bonding. The front end of the docking nozzle 24026 extends out of the limiting sleeve 2402602, and the end of the docking nozzle 24026 extending out of the limiting sleeve 2402602 is provided with a conical head 2402604 for convenient docking, and the front end of the limiting sleeve 2402602 is provided with a conical head, and the conical head 2402604 and the conical head are respectively adapted to dock with the docking surface of the conveying catheter, so that the coaxiality of the docking can be guaranteed during docking, and the continuity of the channel can be guaranteed. Fig. 27The butt joint surface of the tail of the delivery catheter includes a first conical surface 2402901 and a second conical surface 2402902, and a transitional cylindrical surface 2402903 is provided between the first conical surface 2402901 and the second conical surface 2402902, and the cylindrical surface 2402903 can be replaced by a small conical surface, and the front end of the conical head 2402604 is a conical surface adapted to the second conical surface 2402902, and the conical head at the front end of the limiting sleeve 2402602 is adapted to the first conical surface 2402901, and the conical head 2402604 is on the side close to the conical head An annular groove 240260401 is provided. When the front end of the conical head 2402604 is inserted into the second conical surface 2402902, the annular groove 240260401 allows a certain gap between the side of the conical head 2402604 and the cylindrical surface 2402903 (or small conical surface) of the docking joint, so that the conical head 2402604 can be pulled out of the cylindrical surface 2402903 (or small conical surface) to avoid being stuck. The rear end of the docking nozzle 24026 is provided with a convex ring 2402605 that abuts against the rear end of the limit sleeve 2402602. The connecting seat 2402601 A tightening sleeve 2402606 is threadedly connected, and a second elastic element 2402607 is provided between the tightening sleeve 2402606 and the docking nozzle 24026. The two ends of the second elastic element 2402607 are respectively against the tightening sleeve 2402606 and the docking nozzle 24026. When the docking nozzle 24026 and the limiting sleeve 2402602 are affected by the resistance of the delivery catheter during the docking process, the docking nozzle 24026 and the limiting sleeve 2402602 can compress the second elastic element 2402607 and slide backward. When 2602 is out of contact with the delivery tube, the elasticity of the second elastic element 2402607 itself can drive the docking nozzle 24026 and the limiting sleeve 2402602 to slide forward and reset. The second elastic element 2402607 is an elastic tube or a spring. When the docking nozzle 24026 is docked with the external delivery tube on the external connecting part, the docking nozzle 24026 has a fault-tolerant displacement, thereby ensuring that when there is a certain error in the docking displacement, the docking nozzle 24026 can still be close to the docking surface of the delivery tube, and at the same time play a buffering role to avoid damage to the motor.

[0097] The docking nozzle 24026, the flexible pipe 24016, the second elastic element 2402607 and the tightening sleeve 2402606 can be assembled as a component, the docking nozzle 24026 is inserted from the rear end of the connecting seat 2402601, and then the tightening sleeve 2402606 is tightened to ensure that the convex ring 2402605 of the docking nozzle 24026 is in conflict with the rear end of the limiting sleeve 2402602, and the two ends of the second elastic element 2402607 are respectively in conflict with the tightening sleeve 2402606 and the docking nozzle 24026 until the tightening sleeve 2402606 is completely tightened, and the docking nozzle 24026 and the limiting sleeve 2402602 move to the frontmost position.

[0098] like Figure 27 to Figure 29 The end of the flexible pipe 24016 close to the push rod driving mechanism 24012 is fixedly connected with a quick-connect pipe 2401601, and a quick-connect seat 2401602 is provided on one side of the push rod driving mechanism 24012. The quick-connect pipe 2401601 can be quickly installed on the quick-connect seat 2401602 and is connected to the internal channel of the push rod driving mechanism 24012. The quick-installation structure is at least one of a threaded connection structure, a snap connection structure, and a lock connection structure. The quick-connect seat 2401602 is installed on the push rod driving mechanism 24012 or the module cabin 24010 through a force sensor 2401603. The quick-connect seat 2401602 is fixedly connected to the force measuring end of the force sensor 2401603. The force sensor 2401603 is installed on the push rod driving mechanism 24012 or the module cabin 24010 through a connecting plate 2401604. When the flexible push rod is in the process of pushing the radiation source When encountering resistance, the flexible push rod will drive the flexible pipe 24016 to move forward together. The delivery force of the flexible push rod can be detected by the force sensor 2401603. A damping section is provided in the quick-connect pipe 2401601 to prevent the radioactive source from returning to the push rod driving mechanism. The damping section is a soft rubber tube 2401605. When the radioactive source clip is installed in the push rod driving mechanism 24012, the soft rubber tube 2401605 can be made of a material with a large friction coefficient, such as silicone, latex, rubber, etc. At this time, when the radioactive source is pushed out of the radioactive source clip by the flexible push rod and passes through the soft rubber tube 2401605, the flexible push rod retreats. At this time, if the pipeline is tilted downward, when the radioactive source retreats along the pipeline under the action of gravity, it will be stuck in the soft rubber tube 2401605 due to the large friction coefficient of the soft rubber tube 2401605, thereby preventing the radioactive source from retreating into the radioactive source clip and causing abnormal discharge of the radioactive source clip.

[0099] Alternatively, the damping section may be replaced by a pipe with frosted interior, or a pipe with elastic damping blocks or elastic damping rings interior.

[0100] In addition, the soft rubber tube 2401605 is elastic, and the inner diameter of the soft rubber tube 2401605 is smaller than the outer diameter of the flexible push rod. The soft rubber tube 2401605 is an elastic tube. When the flexible push rod is delivered and retracts into the push rod driving mechanism 24012, the soft rubber tube 2401605 can scrape off the blood stains attached to the outer surface of the flexible push rod to achieve cleaning.

[0101] Example 3

[0102] The parts of this embodiment that are identical in structure to those of the second embodiment are not described in detail. The differences are as follows: a connection seat for mounting a docking nozzle is provided in the motion platform, the connection seat is mounted on the motion seat via a floating connection structure, the front-rear motion module drives the motion seat to move forward and backward, the floating connection structure includes a plane floating structure and a front-rear floating structure, the plane floating structure allows the docking nozzle to float in a plane parallel to the connector panel, the motion seat is mounted on the front-rear motion module via a front-rear floating structure, and the front-rear floating structure allows the docking nozzle to float in a direction perpendicular to the connector panel;

[0103] like Figures 30-33 As shown, a rotating cover 240260101 is provided on the connecting seat 2402601, one side of the rotating cover 240260101 is rotatably connected to the connecting seat 2402601, the other side of the rotating cover 240260101 is locked on the connecting seat 2402601 by a bolt 240260102, the docking nozzle 24026 is clamped between the rotating cover 240260101 and the connecting seat 2402601, and a card slot is provided on the connecting seat 2402601. The rear convex ring 2402605 of the docking nozzle 24026 is stuck in the slot, fixing the docking nozzle 24026 between the connecting seat 2402601 and the rotating cover 240260101 (the connecting seat 2402601 and the rotating cover 240260101 together constitute a limiting member). The docking nozzle 24026 can be installed from the side, instead of being inserted and installed from the rear of the limiting sleeve 2402602 as in Example 2, to prevent contamination of the front end of the docking nozzle 24026.

[0104] The front end of the connecting seat 2402601 and the rotating cover 240260101 are combined to form a conical head. The conical head 2402604 and the conical head are respectively adapted to be connected with the docking surface of the delivery catheter. When docking, the coaxiality of the docking can be ensured to ensure the continuity of the channel. The docking surface at the tail of the delivery catheter includes a first conical surface 2402901 and a second conical surface 2402902 (such as Fig. 27), and a transition cylindrical surface 2402903 is provided between the first conical surface 2402901 and the second conical surface 2402902, the cylindrical surface 2402903 can be replaced by a small conical surface, the front end of the conical head 2402604 is a conical surface adapted to the second conical surface 2402902, the connecting seat 2402601 and the front end of the rotating cover 240260101 are combined to form a conical head adapted to the first conical surface 2402901, and the conical head 24 02604 is provided with an annular groove 240260401 on the side close to the conical head. When the front end of the conical head 2402604 is inserted into the second conical surface 2402902, the annular groove 240260401 allows a certain gap between the side of the conical head 2402604 and the cylindrical surface 2402903 (or small conical surface) of the docking joint, so that the conical head 2402604 can be pulled out from the cylindrical surface 2402903 (or small conical surface) to avoid getting stuck.

[0105] The butt nozzle 24026 is mounted on the connecting rod seat 2405004 through a plane floating structure, wherein the plane floating structure can refer to the specific structure in Example 2, and the front and rear floating structure includes a guide rail structure 240260103, and the connecting rod seat 2405004 is mounted on the front and rear movement seat of the front and rear movement module 24052 through the guide rail structure 240260103, and the front and rear movement seat is provided with a guide rod 240260104, and the connecting rod seat 2405004 is slidably arranged on the guide rod 240 260104, and the guide rod 240260104 is covered with a fifth spring 240260105. Through the elasticity of the fifth spring 240260105 itself, when the docking nozzle 24026 is docked with the conveying catheter, the docking nozzle 24026 has a fault-tolerant displacement. Therefore, when there is a certain error in the docking displacement, it is ensured that the docking nozzle 24026 can still be tightly attached to the docking surface of the conveying catheter, and at the same time play a buffering role to avoid damage to the motor of the forward and backward movement module 24052. The front and rear floating structures are provided with a photoelectric switch 240260106 for detecting the position of the connecting rod seat 2405004 relative to the front and rear moving seats. When the docking nozzle 24026 is docked in place during the docking process, the connecting rod seat 2405004 is subjected to a top thrust and moves backward relative to the front and rear moving seats. The detection light shielding sheet on the side of the connecting rod seat 2405004 is inserted into the photoelectric switch 240260106, and the photoelectric switch 240260106 detects whether the docking nozzle 24026 is docked in place. If the delivery catheter is not installed in the connection hole aligned with the docking nozzle 24026 at this time (for example, the user forgets or sets it incorrectly), the docking nozzle 24026 will not be subjected to a top thrust during the docking process, and the photoelectric switch 240260106 will not be triggered. At this time, the system reports an error, which can ensure the correct conduct of the operation.

[0106] A particle recovery container 24026017 is also provided. After the operation, if there is still a radioactive source in the radioactive source clip on the push rod driving mechanism 24012, the docking nozzle 24026 is removed from the connecting seat 2402601 and then inserted into the particle recovery container 24026017. The push rod of the push rod driving mechanism 24012 pushes all the remaining radioactive sources in the radioactive source clip into the particle recovery container 24026017, and then removes the radioactive source information in the chip built into the radioactive source clip, and burns the radioactive source information into the chip built into the particle recovery container 24026017 to ensure that the information of the radioactive source is consistent with the chip in the radioactive source storage container.

[0107] Example 4

[0108] A method for using a radioactive source implantation system capable of preventing radioactive source impaction comprises the following steps:

[0109] (1) The rotary motion module drives the motion platform to rotate around its axis, thereby driving the end of the push rod output channel to align with one of the connection holes, and then the forward and backward motion module drives the end of the push rod output channel to move forward and backward, so that the push rod output channel is connected to a delivery catheter on the connecting piece to form a delivery channel for the radiation source;

[0110] (2) The push rod driving mechanism drives the push rod to move forward, and when passing through the radioactive source magazine, a radioactive source is pushed into the flexible pipe. Then the push rod driving mechanism drives the push rod to move backward, so that the front end of the push rod is located behind the radioactive source magazine. Then the push rod driving mechanism drives the push rod to move forward again to push out a new radioactive source. This process is repeated multiple times.

[0111] (3) When the number of radioactive sources in the flexible tube reaches n or m-kn, and does not exceed n at most, the push rod driving mechanism drives the push rod to push the radioactive sources retained in the flexible tube forward at one time, passing through the push rod output channel, the delivery catheter, and the puncture needle, and is pushed to the needle tip position of the puncture needle to be implanted, where k is a natural number and m is the upper limit of the number of radioactive sources accumulated in the puncture needle.

[0112] (4) When the number of radioactive sources accumulated in the puncture needle reaches m or p-qm, and does not exceed m at most, the push rod driving mechanism drives the push rod to move forward, implants the radioactive sources retained in the puncture needle into the target position at one time, and then the push rod driving mechanism drives the push rod to move backward, so that the front end of the push rod is located behind the radioactive source magazine; otherwise, the push rod driving mechanism drives the push rod to move backward directly, so that the front end of the push rod is located behind the radioactive source magazine, and repeats steps (2) to (3); wherein q is a natural number and p is the target number.

[0113] (5) If the total number of implanted radioactive sources reaches p, the implantation of the delivery catheter is terminated; otherwise, steps (2) to (3) are repeated.

[0114] (4) The implantation of the delivery catheter is terminated until the total number of implanted delivery catheters reaches p.

[0115] (6) Then the forward and backward motion module drives the end of the push rod output channel to move backward, so that the push rod output channel is separated from the delivery catheter on the connecting piece. The rotational motion module drives the motion platform to rotate around its axis, thereby driving the end of the push rod output channel to align with the next connecting hole. Then the forward and backward motion module drives the end of the push rod output channel to move forward, so that the push rod output channel is connected to the next delivery catheter on the connecting piece to form a delivery channel for the radiation source. The above steps are repeated to implant the next delivery catheter.

[0116] 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.

[0117] 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 system capable of preventing radioactive source impaction, characterized in that: It includes a mainframe shell, a mainframe body, a motion platform and a push rod driving mechanism, wherein the motion platform is rotatably arranged on the mainframe body, the mainframe shell cover is arranged outside the mainframe body and the motion platform, the push rod driving mechanism is arranged inside the motion platform, the push rod driving mechanism drives the push rod to move forward and backward along the push rod output channel, thereby pushing the radiation source arranged in front of the push rod to the target position, the front side of the mainframe body is a connector panel, there is a gap between the connector panel and the motion platform, a connector is arranged on the connector panel, a plurality of connecting holes are arranged on the connector, each connecting hole is used to connect one end of a delivery catheter respectively, the motion platform is arranged in a roller shape, the motion platform can drive the end of the push rod output channel to communicate with any delivery catheter on the connector to form a delivery channel for the radiation source, thereby realizing multi-channel implantation; A shield is provided in the interval between the connector panel and the moving platform, and the shield includes an intermediate shield and a bottom shield, and the intermediate shield and the bottom shield are used to receive the fallen radioactive source. The connector panel is provided with a material taking port for taking out the radioactive source received on the intermediate shield and / or the bottom shield.

2. A radiation source implantation system capable of preventing radiation source impaction according to claim 1, characterized in that: The motion platform is rotatably connected to the connector panel through a bearing, the intermediate shield is a circular ring structure, the intermediate shield is coaxially sleeved on the outer side of the bearing, the intermediate shield is fixed on the front end face of the motion platform or the back side of the connector panel, the back side of the connector panel or the front end face of the motion platform is provided with a first annular stop cover, a side of the intermediate shield close to the first annular stop cover is located inside the first annular stop cover, a side of the intermediate shield close to the first annular stop cover is provided with a first flange, and a gap between the first flange and the first annular stop cover is less than 0.8 mm; Alternatively, the intermediate shield is a semi-ring structure, the intermediate shield is arranged on the upper side of the bearing, the intermediate shield is fixed to the back side of the connector panel, the back side of the connector panel or the front end face of the moving platform is provided with a first annular cover, the side of the intermediate shield close to the first annular cover is located inside the first annular cover, the side of the intermediate shield close to the first annular cover is provided with a first flange, and the gap between the first flange and the first annular cover is less than 0.8 mm.

3. A radiation source implantation system capable of preventing radiation source impaction according to claim 1, characterized in that: The bottom shield is a semi-annular structure, the bottom shield is fixed to the lower back of the connector panel, a second annular cover is provided on the back of the connector panel or the front end surface of the motion platform, a side of the bottom shield close to the second annular cover is located outside the second annular cover, a second flange is provided on the side of the bottom shield close to the second annular cover, and a gap between the second flange and the second annular cover is less than 0.8 mm; Alternatively, the bottom guard shield is a circular ring structure, and the bottom guard shield is fixed on the front end face of the moving platform or the back side of the connecting panel. A second annular block cover is provided on the back side of the connecting panel or the front end face of the moving platform. The side of the bottom guard shield close to the second annular block cover is located outside the second annular block cover. A second flange is provided on the side of the bottom guard shield close to the second annular block cover, and the gap between the second flange and the second annular block cover is less than 0.8 mm.

4. A radiation source implantation system capable of preventing radiation source impaction according to claim 1, characterized in that: The material taking port includes a first material taking port and a second material taking port, wherein the first material taking port is an arc-shaped groove structure, and the first material taking port is arranged above the middle shield; when the bottom shield is a semi-annular structure, the second material taking port is arranged above the bottom shield; when the bottom shield is an annular structure, the second material taking port is arranged at the lower part of the inner side of the bottom shield; the radioactive source dropped on the middle shield and / or the bottom shield can be taken out from the first material taking port and / or the second material taking port.

5. A radiation source implantation system capable of preventing radiation source impaction according to claim 1, characterized in that: The motion platform includes a forward and backward motion module and a rotational motion module; the rotational motion module drives the motion platform to rotate around its axis, thereby driving the end of the push rod output channel to align with different connection holes, and the forward and backward motion module is arranged in the motion platform. The forward and backward motion module drives the end of the push rod output channel to move forward and backward, so that the push rod output channel is connected to any delivery catheter on the connecting piece to form a delivery channel for the radiation source, thereby realizing multi-channel implantation.

6. A radiation source implantation system capable of preventing radiation source impaction according to claim 5, characterized in that: A docking nozzle is also installed in the motion platform, and the docking nozzle is installed perpendicular to the connector panel. A radioactive source clip is installed on the push rod driving mechanism. The push rod driving mechanism and the docking nozzle are connected by a flexible pipe. At this time, the flexible pipe is part of the push rod output channel, and the outlet of the docking nozzle is the end of the push rod output channel.

7. A radiation source implantation system capable of preventing radiation source impaction according to claim 6, characterized in that: A connecting seat for installing the docking nozzle is provided in the motion platform, and the connecting seat is installed on the motion seat through a floating connecting structure. The front and rear motion module drives the motion seat to move forward and backward. The floating connecting structure includes a plane floating structure and a front and rear floating structure. The plane floating structure allows the docking nozzle to float in a plane parallel to the connector panel, and the front and rear floating structure allows the docking nozzle to float in a direction perpendicular to the connector panel.

8. A radiation source implantation system capable of preventing radiation source impaction according to claim 7, characterized in that: The docking nozzle is installed on the connecting seat through a limit piece, and the docking nozzle is sleeved in the limit piece. The front end of the docking nozzle extends out of the limit piece, and a conical head is provided at the end of the docking nozzle extending out of the limit piece. The front end of the limit piece is provided with a conical head, and the conical head and the conical head are respectively adapted to be connected with the docking surface of the conveying conduit; the docking surface of the tail of the conveying conduit includes a first conical surface and a second conical surface, and a transitional cylindrical surface or a small conical surface is provided between the first conical surface and the second conical surface, the front end of the conical head is a conical surface adapted to the second conical surface, the conical head at the front end of the limit piece is adapted to the first conical surface, and the conical head is provided with an annular groove on a side close to the conical head. When the front end of the conical head is stuck in the second conical surface, the annular groove makes the side surface of the conical head have a gap with the cylindrical surface or the small conical surface of the docking joint, so that the conical head can be pulled out from the cylindrical surface or the small conical surface.

9. A radiation source implantation system capable of preventing radiation source impaction according to claim 6, characterized in that: The end of the flexible pipe close to the push rod driving mechanism is fixedly connected with a quick-connect pipe, and a quick-connect seat is provided on one side of the push rod driving mechanism. The quick-connect seat is installed on the motion platform through a force sensor. The quick-connect pipe can be quickly installed on the quick-connect seat and is connected to the internal channel of the push rod driving mechanism. The force measuring direction of the force sensor is parallel to the axial direction of the quick-connect pipe. The delivery force of the push rod can be detected by the force sensor. A damping section for preventing the radiation source from returning to the push rod driving mechanism is provided in the quick-connect pipe. The damping section is a soft rubber tube, or the damping section adopts a pipe with frosted interior, or the damping section adopts a pipe with elastic damping blocks or elastic damping rings interior.

10. A method for using a radioactive source implantation system capable of preventing radioactive source impaction, the method using the radioactive source implantation system capable of preventing radioactive source impaction as claimed in any one of claims 1 to 9, characterized in that: The steps include: (1) The rotary motion module drives the motion platform to rotate around its axis, thereby driving the end of the push rod output channel to align with one of the connection holes, and then the forward and backward motion module drives the end of the push rod output channel to move forward and backward, so that the push rod output channel is connected to a delivery catheter on the connecting piece to form a delivery channel for the radiation source; (2) The push rod driving mechanism drives the push rod to move forward, and when passing through the radioactive source magazine, a radioactive source is pushed into the flexible pipe. Then the push rod driving mechanism drives the push rod to move backward, so that the front end of the push rod is located behind the radioactive source magazine. Then the push rod driving mechanism drives the push rod to move forward again to push out a new radioactive source. This process is repeated multiple times. (3) When the number of radioactive sources in the flexible tube reaches n or m-kn, and does not exceed n at most, the push rod driving mechanism drives the push rod to push the radioactive sources retained in the flexible tube forward at once, through the push rod output channel, the delivery catheter, and the puncture needle, until they are pushed to the needle tip position of the puncture needle to be implanted, where k is a natural number and m is the upper limit of the number of radioactive sources accumulated in the puncture needle; (4) When the number of radioactive sources accumulated in the puncture needle reaches m or p-qm, and does not exceed m at most, the push rod driving mechanism drives the push rod to move forward, implants the radioactive sources retained in the puncture needle into the target position at one time, and then the push rod driving mechanism drives the push rod to move backward, so that the front end of the push rod is located behind the radioactive source magazine; otherwise, the push rod driving mechanism drives the push rod to move backward directly, so that the front end of the push rod is located behind the radioactive source magazine, and repeats steps (2) to (3); wherein q is a natural number and p is the target number; (5) If the total number of implanted radiation sources reaches p, the implantation of the delivery catheter is terminated; otherwise, steps (2) to (4) are repeated.

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