Radioactive source implantation system based on carding feeding mechanism and pipeline switching

Abstract

The invention discloses a radioactive source implantation system based on a carding feeding mechanism and pipeline switching, a first push rod driving mechanism is communicated with a first push rod output channel, a reversing mechanism is arranged between the first push rod output channel and a second push rod output channel, and the output end of a radioactive source material control assembly is connected with the reversing mechanism; the reversing mechanism switches the output end of the first push rod output channel and the output end of the radioactive source material control assembly to be communicated with the second push rod output channel, and when the output end of the radioactive source material control assembly is communicated with the second push rod output channel, the radioactive source material control assembly controls a specified number of radioactive sources to enter the second push rod output channel. When the first push rod output channel is communicated with the second push rod output channel, the first push rod can push the radioactive source in the second push rod output channel to a target position. Through the cooperation of the carding feeding mechanism, the radioactive source material control assembly and the reversing mechanism, the implanting equipment does not need to manually fill a cartridge holder, the preparation process is simplified, and radiation damage caused in the filling process is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of medical devices, in particular to a radioactive source implantation system based on a combing feeding mechanism and pipeline switching. Background Art

[0002] Radioactive particle implantation surgery is a procedure that uses puncture to implant many radioactive particles directly into the tumor for local radiotherapy. This surgery has a wide range of indications, including lung cancer, liver cancer, breast cancer, prostate cancer, etc., and it has small incisions, little bleeding, and relatively few surgical complications, but it can effectively inhibit tumor growth.

[0003] The basic process of this operation is to first take a preoperative CT scan, determine the puncture path and particle layout plan in the TPS system, and then insert many puncture needles into the tumor according to the plan. This process can be completed with the help of a puncture guide template to ensure that the spacing and direction between each needle are consistent with the preoperative plan. After confirming through CT that all puncture needles have reached the target position, the doctor then pushes multiple particles into the tumor according to the preoperative plan through the channel established by the puncture needle to complete the operation.

[0004] However, this type of operation currently takes a long time, and the doctor needs 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 operation. Therefore, a particle implantation robot system came into being, such as the particle implantation surgical robot proposed in Chinese patent CN201910714054.7. The robot system installs an automatic particle implantation device at the end of the robot, which can complete puncture and particle implantation with high precision. However, the particle implantation device is always rigidly connected to the puncture needle during the operation, so the particle implantation is performed immediately after the puncture is completed. This changes the process of traditional manual surgery and requires CT verification to be performed immediately after each puncture, which increases the number of CT scans for patients and exposes them to greater radiation. In addition, the device cannot control the specified number of radioactive sources for implantation. Moreover, the device needs to load the radioactive source into the magazine in advance when implanting, which increases the radiation damage to medical staff. Summary of the invention

[0005] The purpose of the present invention is to provide a radioactive source implantation system based on a combing feeding mechanism and pipeline switching, so as to solve the existing technical defects and unattainable technical requirements.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A radioactive source implantation system based on combing and feeding mechanism and pipeline switching comprises: a first push rod driving mechanism, which can drive the first push rod to move forward and backward along the push rod output channel, so as to push the radioactive source in front of the first push rod to a target position; a combing and feeding mechanism, which can comb and arrange the scattered radioactive sources under the action of external force and output them into a radioactive source control component; a radioactive source control component, which can control a specified number of radioactive sources to enter the push rod output channel and be located in front of the first push rod;

[0008] The push rod output channel includes a first push rod output channel and a second push rod output channel. The first push rod driving mechanism is connected to the first push rod output channel and also includes a reversing mechanism arranged between the first push rod output channel and the second push rod output channel. The output end of the radiation source control component is connected to the reversing mechanism. The reversing mechanism switches the first push rod output channel and the output end of the radiation source control component to be connected to the second push rod output channel respectively. When the output end of the radiation source control component is connected to the second push rod output channel, the radiation source control component controls a specified number of radiation sources to enter the second push rod output channel. When the first push rod output channel is connected to the second push rod output channel, the first push rod can push the radiation source in the second push rod output channel to the target position.

[0009] Preferably, a return mechanism is also included, and the combing and feeding mechanism is connected to the radioactive source control component through a combing output channel. The return mechanism is used to push the radioactive source retained in the radioactive source control component and / or the combing output channel back into the combing and feeding mechanism.

[0010] Preferably, the return mechanism adopts a second push rod driving mechanism, which can drive the second push rod to move forward and backward to push the radioactive source retained in the radioactive source control assembly and / or the combing output channel back into the combing feeding mechanism.

[0011] Preferably, the second push rod driving mechanism is the first push rod driving mechanism, and the second push rod is the first push rod. Under the channel switching action of the reversing mechanism, the first push rod output channel is controlled to be connected or aligned with the output end of the radiation source material control component or the second push rod output channel respectively. When the first push rod output channel is reversely connected or aligned with the output end of the radiation source material control component, the first push rod driving mechanism drives the first push rod to reversely push the radiation source material control component and / or the radiation source retained in the combing output channel, so that the radiation source is sequentially withdrawn from the radiation source material control component into the combing feeding mechanism.

[0012] Preferably, the reversing mechanism comprises a first reversing assembly and a second reversing assembly, the first reversing assembly comprises a first reversing A seat and a first reversing B seat, the second reversing assembly comprises a second reversing A seat and a second reversing B seat, the first reversing A seat is provided with a first alignment hole, the first alignment hole is connected to the output end of the first push rod output channel, the first reversing B seat is provided with two groups of first reversing holes, the two groups of first reversing holes are respectively connected to one end of the front top channel and one end of the return top channel, the second reversing A seat is provided with a plurality of groups of second alignment holes, wherein the two groups of second alignment holes are respectively connected to the other end of the front top channel and the radiation source control The output end of the material assembly is connected, and a plurality of groups of second reversing holes are provided on the second reversing seat B, wherein two groups of second reversing holes are respectively connected with the other end of the return channel and the input end of the second push rod output channel, and the first reversing assembly and the second reversing assembly both drive the reversing seat A to move on the reversing seat B through the reversing drive mechanism thereon, and control the alignment holes to dock with different reversing holes to realize the channel switching of the first push rod, and different channels are respectively used to control the first push rod to push the radioactive source in the second push rod output channel to the target position and to push the radioactive source in the radioactive source control material assembly and / or the combing output channel back to the combing feeding mechanism.

[0013] Preferably, the radioactive source material control assembly comprises a radioactive source material control channel and a material control structure, and the material control structure adopts multiple sets of stopper mechanisms or friction wheel material control mechanisms or visual high-speed material control mechanisms;

[0014] It also includes a radioactive source activity detector for detecting the activity of the radioactive source, the radioactive source activity detector is arranged on the radioactive source material control channel, the radioactive source material control channel is provided with a detection material control mechanism, the detection material control mechanism controls the passage or blocking of the radioactive source, and the radioactive source activity detector detects the activity of the radioactive source blocked by the detection material control mechanism;

[0015] The reversing mechanism is connected to a recovery container. When the radioactive source activity detector detects that the activity of the radioactive source does not meet the requirements, the channel of the reversing mechanism is switched so that the radioactive source that does not meet the requirements enters the recovery container under the action of the first push rod and / or its own gravity and / or gas thrust.

[0016] Preferably, the reversing mechanism includes a second reversing assembly, the second reversing assembly includes a second reversing seat A and a second reversing seat B, the second reversing seat A is provided with a plurality of second alignment holes, wherein two groups of second alignment holes are respectively connected to the output end of the first push rod output channel and the output end of the radiation source control assembly, the second reversing seat B is provided with a plurality of second reversing holes, wherein two groups of second reversing holes are respectively connected to the input end of the recovery container and the input end of the second push rod output channel, the second reversing assembly drives the reversing seat A to move on the reversing seat B through the reversing drive mechanism thereon, controls the alignment holes to dock with different reversing holes, thereby realizing channel switching of the first push rod, and different channels are respectively used to control the first push rod to push the radiation source in the second push rod output channel to the target position or let the radiation source fall into the recovery container.

[0017] Preferably, the combing and feeding mechanism comprises a vibration plate, and the radiation sources are arranged and enter the radiation source control component under the vibration of the vibration plate;

[0018] Alternatively, the combing and feeding mechanism includes a first feeder and a feeding combing assembly, the first feeder is used to store radioactive sources, the feeding combing assembly allows the scattered radioactive sources in the first feeder to enter the radioactive source material control assembly one by one, the first feeder and the radioactive source material control assembly are connected through a combing output channel, the radioactive source enters the radioactive source material control assembly through the combing output channel, or the radioactive source directly falls into the radioactive source material control assembly; the feeding combing assembly is one or a combination of a vibration feeding combing structure and a blowing feeding combing structure.

[0019] Preferably, the first feeder is trumpet-shaped or V-groove-shaped and has a discharge port at the bottom, and the discharge port is connected to the radiation source control component via a combing output channel. After the radiation source is output from the discharge port, it enters the radiation source control component through the combing output channel, or the discharge port is aligned with the entrance of the radiation source control component, and after the radiation source is output from the discharge port, it directly falls into the radiation source control component.

[0020] Preferably, the vibrating feeding combing structure drives the entire first feeder to vibrate, so as to comb out the scattered radioactive sources; the blowing feeding component blows gas from the top or side of the first feeder, so that the gas is output from the discharge port at the bottom of the first feeder, so as to comb out the scattered radioactive sources;

[0021] The vibrating feeding and combing structure adopts a reciprocating vibrating feeding and combing structure, and the first feeder is arranged on the base body in a floating, rotatable or slidable manner; the first feeder is connected to a first vibration motor, and when the first vibration motor is started, the first vibration motor drives the first feeder to vibrate relative to the base body; or, the reciprocating vibrating feeding and combing structure is a first reciprocating motion mechanism arranged between the first feeder and the base body, and the first reciprocating motion mechanism is one or more combinations of a crank connecting rod mechanism, a cam mechanism, a gear rack mechanism, a belt transmission mechanism, and an electromagnetic reciprocating drive structure, and when the first reciprocating motion mechanism is started, the first reciprocating motion mechanism drives the first feeder to vibrate reciprocatingly relative to the base body;

[0022] The vibration feeding and combing structure adopts a beating vibration feeding and combing structure, a beating mechanism is provided on the base, and a first beating part is provided on the beating mechanism; the beating mechanism is a first reciprocating beating mechanism, and the first beating part is driven to reciprocate through one or more combinations of a crank connecting rod mechanism, a cam mechanism, a gear rack mechanism, a belt transmission mechanism, and an electromagnetic reciprocating drive structure to beat the entire combing and feeding mechanism or the first feeder; or the beating mechanism is a first rotating beating mechanism, and the first beating part is driven to rotate to cyclically beat the entire combing and feeding mechanism or the first feeder

[0023] Preferably, it also includes a first motion platform and a connecting piece, a plurality of delivery catheters can be installed on the connecting piece, one end of the push rod output channel and the connecting piece are respectively installed at two ends of the first motion platform, and the first motion platform is used to realize the relative movement of one end of the push rod output channel and the connecting piece in space, so that one end of 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.

[0024] The beneficial effects of the present invention are:

[0025] 1. Through the cooperation of the combing feeding mechanism, the radioactive source control assembly and the reversing mechanism, a specified number of radioactive sources can be delivered into the push rod output channel and arranged in front of the first push rod, so that the number of radioactive sources implanted each time can be controlled.

[0026] 2. By combining the feeding mechanism, the radiation source control assembly and the reversing mechanism, the implant device does not need manual loading of the magazine, which simplifies the preparation process and avoids radiation damage caused during the loading process.

[0027] 3. Through the cooperation of the combing and feeding mechanism, the radioactive source control component and the reversing mechanism, the radioactive source in the radioactive source control component and / or the combing output channel can be pushed back into the combing and feeding mechanism, or the radioactive source can be allowed to fall into the recovery container, thereby clearing the radioactive source retained in the pipeline and preparing for the next operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the overall structure of Example 1;

[0029] Figure 2 It is a schematic diagram of the structure inside the shielding shell of Example 1;

[0030] Figure 3 It is a schematic structural diagram of the shielding shell of Example 1;

[0031] Figure 4 FIG. 1 is a diagram showing the installation process of the shielding shell of Example 1;

[0032] Figure 5 This is a schematic diagram of the shielding shell installation completion of Example 1.

[0033] Figure 6 It is a schematic diagram of the assembly structure of the first feeder and the blocking rod of Example 1;

[0034] Figure 7 This is a schematic diagram of the structure of the exhaust nozzle connected to the second feeder of Example 1;

[0035] Figure 8 is a schematic structural diagram of the first push rod driving mechanism of Example 1;

[0036] Fig. 9 is an internal cross-sectional view of the first push rod driving mechanism of Example 1;

[0037] Fig.10 It is a structural schematic diagram of the combing and feeding mechanism of Example 1;

[0038] Fig.11 It is a side view of the combing and feeding mechanism of Example 1;

[0039] Fig.12 is a schematic structural diagram of the first switching component of Example 1;

[0040] Fig.13 is a cross-sectional view of the second reversing assembly of Embodiment 1;

[0041] Fig.14 This is a schematic structural diagram of the radiation source material control assembly of Example 1;

[0042] Fig.15 is a top view of the radiation source material control assembly of Example 1;

[0043] Fig.16 This is a schematic diagram of the internal structure of the radiation source material control assembly of Example 1;

[0044] Fig.17 It is a structural schematic diagram of Example 2;

[0045] Fig.18 This is a schematic diagram of the structure of the second solution of Example 2;

[0046] Fig.19 This is a schematic diagram of the overall structure of Example 3;

[0047] Fig. 20 This is a schematic diagram of the structure of Example 3 without a shielding shell;

[0048] Fig.21 It is a structural schematic diagram of the combing and feeding mechanism of Example 3;

[0049] Fig. 22 This is a structural schematic diagram of the combing and feeding mechanism of Example 3 from another angle;

[0050] Fig.23 It is a side sectional view of the combing and feeding mechanism of Example 3;

[0051] Fig.24 This is an exploded view of the radioactive source material control assembly of Example 3;

[0052] Fig.25 It is a side cross-sectional view of the radiation source material control assembly of Example 3;

[0053] Fig.26 This is a schematic diagram of the overall structure of the second solution of the shielding shell of Example 3;

[0054] Fig. 27 This is a schematic structural diagram of the second solution of the shielding shell of Example 3. DETAILED DESCRIPTION

[0055] 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.

[0056] Example 1

[0057] A radioactive source implantation system based on combing and feeding mechanism and pipeline switching, comprising: a first push rod driving mechanism 241102, capable of driving the first push rod to move forward and backward along the push rod output channel, thereby pushing the radioactive source in front of the first push rod to a target position; a combing and feeding mechanism 241104, capable of combing and arranging scattered radioactive sources under the action of external force and outputting them into a radioactive source control component; a radioactive source control component 241107, capable of controlling a specified number of radioactive sources to enter the push rod output channel and be located in front of the first push rod;

[0058] The push rod output channel includes a first push rod output channel 241103 and a second push rod output channel 241111, the first push rod driving mechanism 241102 is connected to the first push rod output channel 241103, and also includes a reversing mechanism arranged between the first push rod output channel 241103 and the second push rod output channel 241111, the output end of the radiation source control component 241107 is connected to the reversing mechanism, and the reversing mechanism switches the first push rod output channel 241103 and the radiation source control component 241107. The output ends of 107 are respectively connected with the second push rod output channel 241111. When the output end of the radiation source control component 241107 is connected with the second push rod output channel 241111, the radiation source control component 241107 controls a specified number of radiation sources to enter the second push rod output channel 241111. When the first push rod output channel 241103 is connected with the second push rod output channel 241111, the first push rod can push the radiation source in the second push rod output channel 241111 to the target position.

[0059] The radiation source material control assembly 241107 includes a radiation source material control channel and a material control structure, wherein the material control structure adopts multiple sets of stopper mechanisms or friction wheel material control mechanisms or visual high-speed material control mechanisms;

[0060] It also includes a radioactive source activity detector for detecting the activity of the radioactive source, the radioactive source activity detector is arranged on the radioactive source material control channel, the radioactive source material control channel is provided with a detection material control mechanism, the detection material control mechanism controls the passage or blocking of the radioactive source, and the radioactive source activity detector detects the activity of the radioactive source blocked by the detection material control mechanism;

[0061] The reversing mechanism is connected to a recovery container. When the radioactive source activity detector detects that the activity of the radioactive source does not meet the requirements, the channel of the reversing mechanism is switched so that the radioactive source that does not meet the requirements enters the recovery container under the action of the first push rod and / or its own gravity and / or gas thrust.

[0062] The reversing mechanism includes a second reversing component, which includes a second reversing seat A and a second reversing seat B. The second reversing seat A is provided with a plurality of second alignment holes, wherein two groups of second alignment holes are respectively connected with the output end of the first push rod output channel 241103 and the output end of the radiation source control component 241107; the second reversing seat B is provided with a plurality of second reversing holes, wherein two groups of second reversing holes are respectively connected with the input end of the recovery container and the input end of the second push rod output channel 241111; the second reversing component drives the reversing seat A to move on the reversing seat B through the reversing drive mechanism thereon, controls the alignment holes to dock with different reversing holes, and realizes the channel switching of the first push rod; and different channels are respectively used to control the first push rod to push the radiation source in the second push rod output channel 241111 to the target position or let the radiation source fall into the recovery container.

[0063] The combing and feeding mechanism 241104 includes a vibration plate, through which the radiation sources are arranged and enter the radiation source control component 241107 under the vibration effect;

[0064] Alternatively, the combing and feeding mechanism 241104 includes a first feeder 24100401 and a feeding and combing component, wherein the first feeder 24100401 is used to store radioactive sources, and the feeding and combing component allows the scattered radioactive sources in the first feeder 24100401 to enter the radioactive source control component 241107 one by one, and the first feeder 24100401 and the radioactive source control component 241107 are connected via a combing output channel, and the radioactive source enters the radioactive source control component 241107 via the combing output channel, or the radioactive source directly falls into the radioactive source control component 241107; the feeding and combing component is one or a combination of a vibration feeding and combing structure and a blowing feeding and combing structure.

[0065] The first feeder 24100401 is trumpet-shaped or V-groove-shaped and has a discharge port at the bottom. The discharge port is connected to the radiation source control component 241107 through a combing output channel. After the radiation source is output from the discharge port, it enters the radiation source control component 241107 through the combing output channel, or the discharge port is aligned with the entrance of the radiation source control component 241107. After the radiation source is output from the discharge port, it directly falls into the radiation source control component 241107.

[0066] The vibrating feeding combing structure drives the entire first feeder to vibrate, combing the scattered radioactive sources; the blowing feeding component blows gas from the top or side of the first feeder, so that the gas is output from the discharge port at the bottom of the first feeder, combing the scattered radioactive sources;

[0067] The vibrating feeding and combing structure adopts a reciprocating vibrating feeding and combing structure, and the first feeder is arranged on the base body in a floating, rotatable or slidable manner; the first feeder is connected to a first vibration motor, and when the first vibration motor is started, the first vibration motor drives the first feeder to vibrate relative to the base body; or, the reciprocating vibrating feeding and combing structure is a first reciprocating motion mechanism arranged between the first feeder and the base body, and the first reciprocating motion mechanism is one or more combinations of a crank connecting rod mechanism, a cam mechanism, a gear rack mechanism, a belt transmission mechanism, and an electromagnetic reciprocating drive structure, and when the first reciprocating motion mechanism is started, the first reciprocating motion mechanism drives the first feeder to vibrate reciprocatingly relative to the base body;

[0068] The vibration feeding and combing structure adopts a beating vibration feeding and combing structure, a beating mechanism is provided on the base, and a first beating part is provided on the beating mechanism; the beating mechanism is a first reciprocating beating mechanism, which drives the first beating part to reciprocate through one or more combinations of a crank connecting rod mechanism, a cam mechanism, a gear rack mechanism, a belt transmission mechanism, and an electromagnetic reciprocating drive structure to beat the entire combing and feeding mechanism 241104 or the first feeder; or the beating mechanism is a first rotating beating mechanism, which drives the first beating part to rotate to cyclically beat the entire combing and feeding mechanism 241104 or the first feeder

[0069] It also includes a first motion platform and a connecting piece, on which multiple delivery catheters can be installed, one end of the push rod output channel and the connecting piece are respectively installed at both ends of the first motion platform, and the first motion platform is used to realize the relative movement of one end of the push rod output channel and the connecting piece in space, so that one end of 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.

[0070] The implant component 241112 is installed on the first motion platform 241113, and the connecting piece 241114 is installed on the side of the first motion platform 241113. A plurality of connecting holes are arranged in a circumferential array on the connecting piece 241114, and each group of connecting holes includes a first connecting hole and a second through hole arranged adjacent to each other. The first connecting hole is connected to the delivery catheter 241115 via a quick-connect connector. The first motion platform 241113 can drive the implant component 241112 to move so that the docking joint of the implant component 241112 can dock with any group of connecting holes or the tail end of the delivery catheter 241115, thereby realizing the conduction between the second push rod output channel 241111 and any group of delivery catheters 241115. The delivery catheter 241115 includes an inner tube and an outer tube. The outer tube is placed outside the inner sleeve. The front end of the outer tube is against a supporting component that remains relatively still with the biological tissue, or the front end of the outer tube is directly against the epidermis of the biological body. The biological body lies on the operating table, one end of the inner tube is directly or indirectly connected to the puncture needle, and the other end of the inner tube is connected to the first connecting hole of the connecting piece through a quick-connect joint.

[0071] The device also includes a needle-pulling drive mechanism, which is used to drive the inner tube and the outer tube to move relative to each other, so as to control the position of the needle tip of the puncture needle relative to the biological tissue, thereby controlling the implantation depth of the radioactive source, and to pull out the needle while the radioactive source is implanted, so that the radioactive source will penetrate into the biological tissue when it is pushed out, and even does not move relative to the biological tissue, thereby stably staying at the target implantation position in the biological tissue. The specific form of the relative movement between the inner tube and the outer tube is one of the following forms:

[0072] Fixing the rear end of the inner tube and driving the outer tube to move toward the side of the biological tissue;

[0073] or fixing the rear end of the outer tube to drive the inner tube to move away from the biological tissue;

[0074] Alternatively, both the outer tube and the inner tube are driven to move, but relative sliding motion occurs between the two, and the inner tube moves relative to the outer tube toward the side away from the biological tissue.

[0075] The needle extraction drive mechanism can be directly driven, directly pushed and pulled, clamped, frictionally driven or meshed driven.

[0076] When the inner tube is fixed and the needle removal drive mechanism adopts a push-drive method, the needle removal drive mechanism applies a thrust to the end face of the outer tube or to the step surface or connection portion provided on the outer tube, thereby driving the outer tube to move toward one side of the biological tissue. The needle removal drive mechanism is provided on the first motion platform 241113 and is located at the lower part of the implant component 241112.

[0077] The needle extraction drive mechanism includes a push-pull motion component and a push-pull component. The push-pull component is arranged on the push-pull motion component and can move along a certain trajectory under the drive of the push-pull motion component. The push-pull component can directly apply a thrust or a pull to the rear end surface of the inner tube or the outer tube or to the step surface or the connection part arranged on the inner tube or the outer tube, so as to directly push / pull the inner tube and the outer tube to perform relative sliding motion through the cooperation between the push-pull motion component and the push-pull component. The push-pull motion component adopts linear motion or arc rotation.

[0078] The first connecting hole is used for fixing and installing the inner tube. The push-pull assembly includes a push-pull rod. The push-pull rod can be driven to pass through the second through hole to push the outer tube to move relative to the inner tube.

[0079] The push-pull assembly also includes a push-pull drive element and a transmission structure. The push-pull drive element drives the push-pull rod to move through the transmission structure. The push-pull drive element is a push-pull motor, a pneumatic or hydraulic push rod; the transmission structure is one or a combination of a gear rack transmission structure, a worm transmission structure, a ratchet transmission structure, a belt transmission structure, and a screw nut transmission structure;

[0080] When the transmission structure is a gear rack transmission structure, the push-pull rod is a rack, the gear in the gear rack transmission structure cooperates with the push-pull rod and can drive the push-pull rod to move axially along the second through hole, and the push-pull rod passes through the second through hole to push the outer tube to move relative to the inner tube.

[0081] Specifically, Figures 1 to 7As shown, the lower outlet of the combing and feeding mechanism 241104 is connected to the combing output channel 241110, and the lower end of the combing output channel 241110 is connected to the radioactive source material control channel 241116, and the lower end of the radioactive source material control channel 241116 is connected to the second reversing component 241106. When the second reversing component 241106 controls the second push rod output channel 241111 to be connected to the radioactive source material control channel 241116, the radioactive source material control channel 241116 releases a set number of radioactive sources into the second push rod output channel 241111.

[0082] A recovery container is also connected below the second reversing component 241106. The recovery container adopts a second feeder 2410202. The second feeder 2410202 is connected to the second reversing component 241106 through a residual material recovery channel 2410203. The structure of the second feeder 2410202 is the same as that of the first feeder 24100401 of the combing feeding mechanism 241104, and the two can be replaced with each other. The first push rod output channel 241103 connected to the first push rod driving mechanism 241102 is directly connected to the second reversing component 241106.

[0083] A shielding shell 241101 is arranged outside the combing output channel 241110 and the radiation source control component 241107, and an openable door body 2411011 is arranged on the shielding shell 241101, and the door body 2411011 blocks the notch on the shielding shell 241101. The thickness of the shielding shell 241101 and the door body 2411011 is greater than or equal to 3 mm, and they are made of steel or lead material to isolate radiation. Magnets are arranged on the door body 2411011 and the shielding shell 241101, and the magnets attract each other to prevent the door body 2411011 from being opened by mistake. However, other door lock structures may also be used. One side of the door body 2411011 is hingedly connected to the shielding shell 241101, and the other side of the door body 2411011 is provided with a handle 2411012. The handle 2411012 is convenient for the operator to hold and open the door body 2411011. After the operator opens the door body 2411011, the combing output channel 241015 is pulled out along the notch with its head end facing downward, and then the first feeder 24100401 is inverted so that its discharge port faces upward, and the head end of the combing output channel 241110 is connected to the discharge port of the first feeder 24100401. In this way, particles can be prevented from leaking out of the discharge port during the connection process. Alternatively, a valve assembly can be added to the discharge port, and the discharge port channel will only be opened when the valve is opened.

[0084] Then, the first feeder 24100401 is turned back and installed on the connecting seat. In the above process, in order to prevent particles from leaking out of the discharge port, a valve assembly can be added to the discharge port, and the discharge port channel can be opened only when the valve is opened, or the first push rod driving mechanism 241102 can extend the first push rod all the way to the top of the combing output channel 241110 through the switching of the channel by coordinating the reversing assembly. The channel blocks the channel of the combing output channel 241110.

[0085] Alternatively, a blocking rod 24101403001 is inserted into the first feeder 24100401, one end of the blocking rod 24101403001 is provided with a handle 24101403002 for the convenience of the operator to hold, the other end of the blocking rod 24101403001 passes through the internal storage cavity of the first feeder 24100401, and the lower end of the blocking rod is inserted into the discharge port of the first feeder 24100401 to block the discharge port of the first feeder 24100401. To prevent the radiation source from leaking out, the upper end of the blocking rod extends out from the through hole on the cover above the first feeder 24100401. After the operator opens the door 2411011, the combing output channel 241110 is pulled out along the notch, and then the combing output channel 241110 is connected to the discharge port. Then, the first feeder 24100401 and the combing output channel 241110 are put back into the shielding shell 241101 along the notch, and the door 2411011 is closed. Then, the operator pulls out the blocking rod from the through hole on the cover, thereby opening the discharge port of the first feeder 24100401, and stopping or releasing the radiation source. At this time, even if a radiation source falls from the discharge port of the first feeder 24100401, its radiation damage will be shielded by the shielding shell 241101.

[0086] The through hole on the cover is a through hole of the air passage joint.

[0087] Handles 2411013 are provided on both sides of the shielding shell 241101, and the handles 2411013 are convenient for operators to hold and lift the shielding shell.

[0088] 241101 is installed on the base, mounting plates 2411014 are provided on both sides of the shielding shell 241101, mounting holes 2411015 are provided on the mounting plates 2411014, bolts 2411016 are installed on the base, a gap is left between the bolt head of the bolt 2411016 and the base, the diameter of the mounting hole 2411015 is larger than the bolt head diameter of the bolt 2411016, so that the bolt head of the bolt 2411016 can directly pass through the mounting hole 2411015, and a slot 2411015 is provided above the mounting hole 2411015. 11017, and the width of the slot 2411017 is smaller than the diameter of the bolt head of the bolt 2411016. The operator holds the handle 2411013 and moves the shielding shell 241101 close to the base, controls the bolt head of the bolt 2411016 to pass through the mounting hole 2411015, and then the shielding shell 241101 moves downward under its own gravity, so that the bolt 2411016 is stuck in the slot 2411017. At this time, the bolt head of the bolt 2411016 resists and prevents the shielding shell 241101 from falling off. Alternatively, the shielding shell 241101 is connected to the base using other quick-release structures.

[0089] During the radioactive source implantation process, when the particle activity detector 241017 detects that the radioactive source meets the requirements and the appearance inspection is also qualified, the second reversing component 241106 drives the radioactive source control channel 241116 to connect with the second push rod output channel 241111, so that the radioactive source in the radioactive source control channel 241116 is introduced into the second push rod output channel 241111 (under the action of gravity, or under the combined action of gravity and airflow), and the second reversing component 241106 then drives the first push rod output channel 241003 to connect with the second push rod output channel 241111, and the first push rod driving mechanism drives the first push rod to push the radioactive source through the implantation component 241112 and the conveying channel into the target object to achieve implantation.

[0090] At this time, when the implantation is completed, if there are still remaining radioactive sources in the radioactive source control component 241107 and the combing output channel 241110, the second reversing component 241106 drives the radioactive source control channel 241116 to connect with the residual material recovery channel 2410203, so that the radioactive source control component 241107 releases the radioactive sources in sequence (if there are still remaining radioactive sources in the combing feeding mechanism 241104 and the radioactive sources need to be completely emptied, the combing feeding mechanism 241104 also completely empties the materials), allowing them to enter the second feeder 2410202. Since the second feeder 2410202 and the first feeder 24014 are exactly the same in structure, they can replace each other and the recovered radioactive sources can be reused for filling.

[0091] When the particle activity detector 241017 detects that the radioactive source does not meet the requirements, the second feeder 2410202 is replaced with a particle recovery bucket (not shown in the figure), so that the radioactive source that does not meet the requirements falls directly into the particle recovery bucket under the action of gas and / or gravity and vibration, thereby realizing particle recovery. In the process of replacing the second feeder 2410202 with the particle recovery bucket, since the radiation source control component 241107 and the combing output channel 241110 are both provided with radiation shields, there is no radiation damage to the operator.

[0092] In addition, an exhaust nozzle needs to be inserted into the gas channel joint on the upper cover 24101401 of the second feeder 2410202, and the exhaust nozzle is connected to the air outlet elbow 2410202001, so that a stable exhaust channel can be established when the airflow passes through the radioactive source control component 241107 to release the radioactive source into the second feeder 2410202 in sequence. When the radioactive source is driven by gas to enter the second feeder 2410202, the gas can be discharged from the second feeder 2410202 through the air outlet elbow 2410202001, ensuring that the pressure is consistent with the external atmospheric pressure.

[0093] In addition, the second feeder 2410202 can also adopt the same structural design as the first feeder 24100401, and an encryption chip is also provided thereon. When the second feeder 2410202 is connected to the substrate, the encryption chip is docked with the chip reading and writing port on the substrate to read and write information in the encryption chip. The encryption chip stores information such as the production time, activity, and operator of the radioactive source in the second feeder 2410202, so as to facilitate traceability of the entire process.

[0094] like Figure 8 and Fig. 9As shown, the first push rod driving mechanism 241102 can drive the first push rod to reciprocate along the first push rod output channel 241103 to push or comb the radioactive source. The first push rod driving mechanism 241102 is provided with a pressure quick release assembly, which includes a pressing cam 24110201, a push rod 24110202, a connecting handle 24110203, a first spring 24110204 and a moving seat 24110205. The first push rod driving mechanism 241102 drives the first push rod to move forward and backward through a friction wheel group. One of the friction wheels is mounted on the housing, and the other friction wheel 24110206 is mounted on the moving seat 24110205. The pressing cam 24110201 pushes the push rod 24110202. The push rod 24110202 compresses the first spring 24110203. 110204 has a certain thrust on the moving seat 24110205, so that the friction wheel 24110206 on the moving seat 24110205 presses the other friction wheel 24110206, and clamps the first push rod between the two friction wheels 24110206. When it is necessary to load and unload the first push rod, the operator pulls the connecting handle 24110203 to drive the two clamping cams 24110201 to rotate and release the push rod 24110202. At this time, the first spring 24110204 releases the push on the moving seat 24110205, and the two friction wheels 24110206 release the clamping of the first push rod, which is convenient for the operator to load and unload the first push rod.

[0095] As an alternative, the combing and feeding mechanism 241104 may also be separately equipped with a push rod driving mechanism, which can comb the radioactive sources in the combing and feeding mechanism 241104 so that the radioactive sources inside the combing and feeding mechanism 241104 can smoothly enter the combing output channel 241110.

[0096] Alternatively, the second reversing component 241106 connects the radiation source control component 241107 to the recovery channel, and directly discharges all particles retained in the radiation source control component 241107 into the recovery channel.

[0097] The combing and feeding mechanism 241104 can vibrate and output the radioactive source. The combing and feeding mechanism 241104 is a bell mouth or a V-shaped groove or a vibration plate. The radioactive source is automatically arranged under its own gravity and vibration, and moves down along the combing output channel 241110. Alternatively, the combing and feeding mechanism 241104 is connected to a blowing mechanism for blowing, and the blowing effect is coordinated to enable the radioactive source to fall better. Preferably, this embodiment adopts a bell mouth structure.

[0098] The radiation source material control assembly 241107 is located at the lower part of the combing output channel 241110. The radiation source material control assembly 241107 can control the radiation sources in the combing output channel 241110 to fall into the radiation source material control channel 241116 and the second reversing assembly 241106 one by one. The radiation source material control assembly 241107 adopts two sets of upper and lower stop mechanisms or friction wheel material control mechanisms or visual high-speed material control mechanisms.

[0099] When the radioactive source material control assembly 241107 adopts two sets of upper and lower stop mechanisms, the two sets of upper and lower stop mechanisms are one or a combination of valve mechanisms, clamping mechanisms, rotating clamping mechanisms or side clamping mechanisms. The lower stop mechanism first closes the combing output channel 241110, and the upper stop mechanism opens to allow the radioactive source to enter between the upper and lower stop mechanisms. At this time, the combing output channel 241110 is first closed by the upper stop mechanism, and then the lower stop mechanism is opened. At this time, a radioactive source between the upper and lower stop mechanisms falls into the second push rod output channel 241111 (or an air pump or push rod driving mechanism is additionally provided to push the radioactive source into the second push rod output channel 241111 by gas or a push rod).

[0100] When the radioactive source material control assembly 241107 adopts a friction wheel material control mechanism, friction wheels are provided on both sides of the radioactive source material control channel. The radioactive source in the radioactive source material control channel is clamped by the friction wheels on both sides, and the friction wheels are driven to rotate to drive the radioactive source to move for discharging.

[0101] When the radioactive source control component 241107 adopts a visual high-speed control mechanism, it includes a visual camera and a set of quick stopping mechanisms. The visual camera monitors the number of radioactive sources passing through the radioactive source control channel. The stopping mechanism quickly controls the switch of the radioactive source control channel and stops excess particles in time, releasing only the required number of particles.

[0102] The second reversing component 241106 can make the radiation source control channel 241116 connected with the second push rod output channel 241111, so that the radiation source in the radiation source control channel 241116 is introduced into the second push rod output channel 241111; then the second reversing component 241106 can make the first push rod output channel 241103 connected with the second push rod output channel 241111, and the first push rod enters the second push rod output channel 241111 from the first push rod output channel 241103 under the drive of the first push rod driving mechanism 241102, and pushes the radiation source in the second push rod output channel 241111 forward along the conveying channel 241115 until it is output from the front of the puncture needle.

[0103] like Fig.10 and Fig.11As shown, the combing and feeding mechanism 241104 includes a first feeder 24100401 and a vibrating feeding and combing structure for driving the first feeder 24100401 to reciprocate up and down, the first feeder 24100401 is a bell-mouth structure, the upper part of the first feeder 24100401 is buckled or screwed with a second upper cover 24100402, and the lower part of the first feeder 24100401 is connected to a combing output channel 241110; the vibration feeding and combing structure The structure includes a feeding drive motor 24100403 and a transmission assembly, wherein the feeding drive motor 24100403 is mounted on a feeding drive motor fixing plate 24100404, and the feeding drive motor fixing plate 24100404 is mounted on a longitudinal partition in the radiation protection chassis through a support column 24100405, and the main shaft of the feeding drive motor 24100403 passes through the feeding drive motor fixing plate 24100404. The transmission assembly is connected to the crank-connecting rod slider mechanism, and the transmission assembly includes a crank 24100406, a first connecting rod 24100407 and a second slider seat 24100408. The crank 24100406 is mounted on the main shaft of the feeding drive motor 24100403. The crank 24100406 is hingedly connected to the first connecting rod 24100407. The first connecting rod 24100407 is hingedly connected to the second slider seat 241004 08. A vertical slide rail 24100409 is installed on the fixed plate of the feeding drive motor, and a slider 24110410 is installed on the vertical slide rail 24100409. The back of the second slider seat 24100408 is fixedly connected to the slider 24110410, and the front side of the second slider seat 24100408 is fixedly connected to a connecting seat 24100411. The first feeder 24100401 is detachably mounted on the connecting seat 24100411.

[0104] The transmission assembly can also be replaced by a curved slide mechanism, a cam spring mechanism, etc. Or the vibration feeding and combing structure adopts a vibration motor or electromagnetic attraction principle, and realizes the up and down reciprocating vibration of the first feeder 24100401 by changing the direction of the magnetic field: or the vibration feeding and combing structure adopts a flapping vibration mechanism, a flapping mechanism is provided on the base, and a flapping part is provided on the flapping mechanism, and the flapping mechanism is a reciprocating flapping mechanism, which drives the flapping part to reciprocate and flap the entire combing and feeding mechanism 241104 through one or more combinations of a crank-connecting rod mechanism, a cam mechanism, a gear rack mechanism, a belt transmission mechanism, and an electromagnetic reciprocating drive structure, or the flapping mechanism is a rotating flapping mechanism, which drives the flapping part to rotate to cyclically flap the entire combing and feeding mechanism 241104; or the vibration feeding and combing structure adopts a reciprocating motion mechanism, and the reciprocating motion mechanism is one or more combinations of a crank-connecting rod mechanism, a cam mechanism, a gear rack mechanism, a belt transmission mechanism, and an electromagnetic reciprocating drive structure. When the reciprocating motion mechanism is started, it drives the entire combing and feeding mechanism 241104 to vibrate relative to the base.

[0105] like Fig.12 and Fig.13 As shown, the second reversing assembly includes a reversing mounting seat 2410030, a reversing fixed seat 2410031, a reversing movable seat 2410032, and a reversing driving mechanism for driving the reversing movable seat 2410032 to move left and right relative to the reversing fixed seat 2410031, the reversing mounting seat 2410030 is fixed on the longitudinal partition in the radiation protection chassis, the reversing fixed seat 2410031 is provided with at least one set of reversing holes, and the reversing movable seat 2410032 is provided with at least one set of reversing holes. The reversing fixed seat 2410031 is fixed on the front side of the reversing mounting seat 2410030, and the reversing fixed seat 2410031 is provided with a limiting protrusion for limiting the reversing movable seat 2410032 when it moves left and right to the extreme position. The reversing movable seat 2410032 moves left and right on the reversing fixed seat 2410031 under the drive of the reversing drive mechanism and under the guidance of the reversing guide assembly, so that any one of the alignment holes can be connected to any one of the reversing holes respectively.

[0106] The reversing drive mechanism includes a driving push rod 2410033 and a connecting block 2410034. The driving push rod 2410033 is connected to the connecting block 2410034, and the connecting block is connected to the reversing moving seat 2410032. The reversing guide assembly includes a guide rail 2410035 and a guide slider 2410036 matched with the guide rail. The guide rail is installed on the reversing fixed seat 2410031, and the guide slider is installed at the bottom of the reversing moving seat 2410032.

[0107] Or the reversing guide assembly can also adopt a rotating mechanism to replace the driving push rod 2410033 to change the hole position. The reversing drive mechanism can also be replaced by a gear rack transmission mechanism, a crank connecting rod mechanism, or a screw nut mechanism.

[0108] The reversing movable seat 2410032 of the second reversing component 241106 is provided with two groups of alignment holes, namely the second alignment hole a24100601 and the second alignment hole b24100602, and the reversing fixed seat 2410031 is provided with two groups of reversing holes, namely the second reversing hole a24100603 and the second reversing hole b24100604. The lower end of the first push rod output channel 241103 is installed on the second alignment hole a24100601, the lower end of the radiation source material control channel 241116 is installed on the second alignment hole b24100602, the lower end of the residual material recovery channel 2410203 is installed on the second reversing hole b24100604, and the inlet end of the second push rod output channel 241111 is installed on the second reversing hole a24100603.

[0109] The reversing drive mechanism can drive the reversing movable seat 2410032 to move relative to the reversing fixed seat, so that the second alignment hole a24100601 is connected with the second reversing hole a24100603, and the first push rod output channel 241103 is connected with the second push rod output channel 241111.

[0110] The reversing drive mechanism can drive the reversing movable seat 2410032 to move relative to the reversing fixed seat, so that the second alignment hole b24100602 can be connected with the second reversing hole a24100603 or the second reversing hole b24100604 respectively, and the radiation source control channel 241116 can be connected with the second push rod output channel 241111 or the residual material recovery channel 2410203 respectively, thereby realizing the output of the radiation source or recovering the retained particles.

[0111] like Fig.14 and Fig.16As shown, the radiation source material control assembly 241107 includes a material control fixing seat 24100701, a positioning guide block 24100702 mounted on the material control fixing seat 24100701 and capable of positioning and guiding the radiation source material control channel 241116, at least two groups of material control push blocks 24100703 mounted on the positioning guide block 24100702, a light shield 24100704 movably mounted on the material control fixing seat 24100701 and at least two groups of material control driving mechanisms 24100705, each group of material control driving mechanisms 2410070 5 corresponds to a group of material control push blocks 24100703. The material control driving mechanism 24100705 can drive the material control push blocks 24100703 to approach or move away from the radiation source material control channel 241116, so as to realize the extrusion material control or blocking material control of the radiation source material control channel 241116. An elastic telescopic structure is arranged inside the material control push blocks 24100703. When the radiation source is squeezed, the elastic telescopic structure can be compressed inwardly, so as to avoid the rigid squeezing and deformation of the radiation source. The material control fixing seat 24100701 is floatingly mounted on the longitudinal partition in the radiation protection chassis.

[0112] A set of material control support columns 24100707 are connected to the four corners of the material control fixing seat 24100701 through tension springs 24100706. The four sets of material control support columns 24100707 are fixedly mounted on the longitudinal partitions in the radiation protection chassis. The back of the material control fixing seat 24100701 is connected to a motor fixing plate 24100709 through a connecting column 24100708. The motor fixing plate 24100709 is equipped with a material control vibration motor 2410 0710, the eccentric wheel 24100711 is installed on the output shaft of the material control vibration motor 24100710, and the material control vibration motor 24100710 drives the eccentric wheel to rotate. Since the material control fixed seat is elastically floatingly connected to the material control support column, the entire material control fixed seat will be driven to vibrate when the eccentric wheel rotates. During the vibration of the material control fixed seat, the radiation source can be smoothly dropped under the dual effects of gravity and vibration, thereby avoiding particles from being stuck in the radiation source material control channel 241116.

[0113] The vibration mechanism composed of the material control vibration motor 24100710 and the eccentric wheel can also be replaced by a reciprocating vibration mechanism or a beating vibration mechanism.

[0114] A guide groove 24100712 is provided on the positioning guide block 24100702, and a radiation source material control channel 241116 passes through the guide groove 24100712. A first cam 24100713 is provided on the output shaft of the material control driving mechanism. The light shield 24100704 can be fastened or opened and closed on the material control fixing seat 24100701. The first cam 24100713 is located at the material control fixing seat 24100701. 0701 and the light shield 24100704, the radiation source material control channel 241116 is limited between the positioning guide block 24100702, the material control push block 24100703 and the light shield 24100704, and multiple groups of material control drive mechanisms are arranged alternately on both sides of the radiation source material control channel 241116 from top to bottom, and the radiation source material control channel 241116 passes through the multiple groups of material control push blocks 24100703 in turn.

[0115] Two groups of trigger switches 24100714 are respectively installed on the circumference of the cam corresponding to each group of material control driving mechanism on the material control fixed seat 24100701. A trigger part 24100715 is provided on the side of the first cam 24100713. When the raised part of the first cam pushes or separates from the material control pushing block 24100703 during the rotation of the first cam 24100713, the trigger part can contact the corresponding trigger switch, so as to feedback the material control situation in the radiation source material control channel 241116.

[0116] When the material control driving mechanism drives the cam to rotate, the material control push block 24100703 can be pushed toward the radioactive source material control channel 241116 through the convex part of the first cam, thereby squeezing the radioactive source in the radioactive source material control channel 241116, so that the radioactive source stops falling to realize material control. When material is required to be dropped, the material control driving mechanism at the second-to-last position drives the first cam to rotate so that the convex part of the first cam pushes the material control push block 24100703 toward the radioactive source material control channel 241116, thereby squeezing the penultimate radioactive source in the radioactive source material control channel 241116, and preventing the penultimate radioactive source from falling together, and then the lowest material control driving mechanism drives the first cam to rotate so that the convex part of the first cam is separated from the material control push block 24100703, so that the material control push block 24100703 is reset, thereby moving away from the radioactive source material control channel 241116, releasing the channel, and making the lowest radioactive source fall under the action of gravity and vibration to realize material feeding. The part of the radiation source material control channel 241116 squeezed by the material control push block 24100703 is an elastic hose that can be squeezed and deformed, so that the material can be controlled through the hose. After the first cam releases the material control push block 24100703, the elasticity of the hose itself is used to reset the material control push block 24100703 and open the channel.

[0117] The light shield 24100704 is equipped with a visual inspection module capable of detecting whether particles have fallen, and counting or appearance inspection of the falling particles. The visual inspection module includes a light shield, a camera and a light source. The light shield is installed at the front end of the camera lens, and the light source is installed at the side of the camera. The camera and the light source can be aligned with the radioactive source control channel 241116 (when a hose is used, the hose is made of transparent material, and when a hard channel is used, the hard channel is covered with a transparent cover plate), and count and count them. When the visual inspection module detects that there is no radioactive source in the control drive mechanism, the control drive mechanism will no longer operate, and will wait for the combing and feeding mechanism 241104 to provide a radioactive source so that it falls into the control drive mechanism before operating.

[0118] During the radioactive source implantation process, when the particle activity detector 241017 detects that the radioactive source meets the requirements and the appearance inspection is also qualified, the second reversing component 241106 drives the radioactive source control channel 241116 to connect with the second push rod output channel 241111, so that the radioactive source in the radioactive source control channel 241116 is introduced into the second push rod output channel 241111 (under the action of gravity, or under the combined action of gravity and airflow), and the second reversing component 241106 then drives the first push rod output channel 241103 to connect with the second push rod output channel 241111, and the first push rod driving mechanism 241102 drives the first push rod to push the radioactive source through the implantation component 241112 and the conveying channel into the target object to achieve implantation.

[0119] At this time, when the implantation is completed, if there are still remaining radioactive sources in the radioactive source control component 241107 and the combing output channel 241110, the second reversing component 241106 drives the radioactive source control channel 241116 to connect with the residual material recovery channel 2410203, so that the radioactive source control component 241107 releases the radioactive sources in sequence (if there are still remaining radioactive sources in the combing feeding mechanism 241104 and the radioactive sources need to be completely emptied, the combing feeding mechanism 241104 also completely empties the materials), allowing them to enter the second feeder 2410202. Since the second feeder 2410202 and the first feeder 24100401 are exactly the same in structure, they can replace each other and the recovered radioactive sources can be reused for loading.

[0120] When the particle activity detector 241017 detects that the radioactive source does not meet the requirements, the second feeder 2410202 is replaced with a particle recovery bucket (not shown in the figure), so that the radioactive source that does not meet the requirements falls directly into the particle recovery bucket under the action of gas and / or gravity and vibration, thereby realizing particle recovery. In the process of replacing the second feeder 2410202 with the particle recovery bucket, since the radiation source control component 241107 and the combing output channel 241110 are both provided with radiation shields, there is no radiation damage to the operator.

[0121] Example 2

[0122] The parts of this embodiment that have the same structure as that of embodiment 1 are not described in detail, and the difference between them is that:

[0123] like Fig.17 , the second reversing component 241106 is connected to the bottom with a recycling container and a particle waste recycling barrel 241020 at the same time, the recycling container adopts a second feeder 2410202, the particle waste recycling barrel 241020 is connected to the second reversing component 241106 through a particle recycling channel 241019, the second feeder 2410202 is connected to the second reversing component 241106 through a residual material recycling channel 2410203, the structure of the second feeder 2410202 is the same as the first feeder 24100401 of the combing feeding mechanism 241104, and the two can be replaced with each other. At this time, the second reversing component 241106 has three docking positions, and it is impossible to achieve high-precision docking through the front and rear extreme positions as in Example 1, but it must be achieved by using a driving element with high-precision position control such as a servo motor or a stepper motor.

[0124] During the radioactive source implantation process, when the particle activity detector 241017 detects that the radioactive source meets the requirements and the appearance inspection is also qualified, the second reversing component 241106 drives the radioactive source control channel 241116 to connect with the second push rod output channel 241111, so that the radioactive source in the radioactive source control channel 241116 is introduced into the second push rod output channel 241111 (under the action of gravity, or under the combined action of gravity and airflow), and the second reversing component 241106 then drives the first push rod output channel 241103 to connect with the second push rod output channel 241111, driving the first push rod to push the radioactive source through the implantation component 241112 and the delivery channel (including the delivery catheter and the puncture needle) into the target object to achieve implantation.

[0125] When the particle activity detector 241017 detects that the radioactive source does not meet the requirements, the second reversing component 241106 drives the radioactive source control channel 241116 to connect with the particle recovery channel 241019, so that the radioactive source that does not meet the requirements falls directly into the particle waste recovery barrel 241020 under the action of gas and / or gravity and vibration, thereby realizing particle recovery.

[0126] When the implantation is completed and there are still remaining radioactive sources in the radioactive source control component 241107 and the combing output channel 241110, the second reversing component 241106 drives the radioactive source control channel 241116 to connect with the residual material recovery channel 2410203, and the remaining radioactive sources in the first feeder of the radioactive source control component 241107, the combing output channel 241110 and the combing feeding mechanism 241104 fall into the second feeder 2410202 under the action of gravity, or under the combined action of gravity and airflow. After the recovery is completed, the second feeder 2410202 can be replaced with the first feeder 24100401 to facilitate the next implantation operation.

[0127] Or Fig.18 The above-mentioned second feeder 2410202 can be omitted. At this time, the structure of the second reversing component 241106 still adopts the structure in Example 1, that is, there are only two switching states, left and right, so only ordinary motors are used to achieve high-precision docking through the front and rear extreme positions, thereby reducing equipment costs. At this time, when the implantation is completed, if there are still remaining radioactive sources in the radioactive source control component 241107 and the combing output channel 241110, the operator directly replaces the particle recovery barrel 241020 with the second feeder 2410202, and then lets the radioactive source control component 241107 release the radioactive sources one by one (if there are still remaining radioactive sources in the combing feeding mechanism 241104 and the radioactive sources need to be completely emptied, the combing feeding mechanism 241104 also completely releases the materials), allowing them to enter the second feeder 2410202. Since the second feeder 2410202 and the first feeder 24100401 are exactly the same in structure, they can replace each other and the recovered radioactive sources can be reused for filling. In the process of replacing the particle recovery barrel 241020 with the second feeder 2410202, since the radiation source control component 241107 and the outside of the combing output channel 241110 are provided with radiation shields, the radiation sources retained in these pipelines will not cause radiation damage to the operator.

[0128] In addition, when the above-mentioned second feeder 2410202 is installed in the residual material recovery channel 2410203, an exhaust nozzle needs to be inserted into the air path channel joint on its upper cover 24101401 so that a stable exhaust channel can be established when the air flow passes through the radiation source control component 241107 to release the radiation source into the second feeder 2410202 in sequence.

[0129] In addition, the particle recovery barrel 241020 can also adopt the same structural design as the first feeder 24100401, and an encryption chip is also provided thereon. When the particle recovery barrel 241020 is connected to the substrate, the encryption chip is docked with the chip read-write port on the substrate to read and write information in the encryption chip. The encryption chip stores information such as the production time, activity, reasons for failure, and operators of the radioactive source in the particle recovery barrel 241020, so as to facilitate traceability of the entire process.

[0130] In addition, the second feeder 2410202 can also adopt the same structural design as the first feeder 24100401, and an encryption chip is also provided thereon. When the second feeder 2410202 is connected to the substrate, the encryption chip is docked with the chip reading and writing port on the substrate to read and write information in the encryption chip. The encryption chip stores information such as the production time, activity, and operator of the radioactive source in the second feeder 2410202, so as to facilitate traceability of the entire process.

[0131] Example 3

[0132] The parts of this embodiment that have the same structure as that of embodiment 1 are not described in detail, and the difference between them is that:

[0133] It also includes a return mechanism, and the combing and feeding mechanism 241104 is connected to the radiation source control component 241107 through a combing output channel. The return mechanism is used to push the radiation source retained in the radiation source control component 241107 and / or the combing output channel back into the combing and feeding mechanism 241104.

[0134] The return mechanism adopts a second push rod driving mechanism, which can drive the second push rod to move forward and backward to push the radioactive source control component 241107 and / or the radioactive source retained in the combing output channel back into the combing feeding mechanism 241104.

[0135] The second push rod driving mechanism is the first push rod driving mechanism 241102, and the second push rod is the first push rod. Under the channel switching action of the reversing mechanism, the first push rod output channel 241103 is controlled to be connected or aligned with the output end of the radiation source control component 241107 or the second push rod output channel 241111 respectively. When the first push rod output channel 241103 is reversely connected or aligned with the output end of the radiation source control component 241107, the first push rod driving mechanism 241102 drives the first push rod to reversely push the radiation source control component 241107 and / or the radiation source retained in the combing output channel, so that the radiation source is sequentially withdrawn from the radiation source control component 241107 to the combing feeding mechanism 241104.

[0136] The reversing mechanism includes a first reversing assembly and a second reversing assembly, wherein the first reversing assembly includes a first reversing A seat and a first reversing B seat, and the second reversing assembly includes a second reversing A seat and a second reversing B seat, wherein the first reversing A seat is provided with a first alignment hole, and the first alignment hole is connected to the output end of the first push rod output channel 241103, and the first reversing B seat is provided with two groups of first reversing holes, and the two groups of first reversing holes are respectively connected to one end of the front top channel and one end of the return top channel, and the second reversing A seat is provided with a plurality of groups of second alignment holes, wherein the two groups of second alignment holes are respectively connected to the other end of the front top channel and the output end of the radiation source control assembly 241107 A plurality of second reversing holes are provided on the second reversing seat B, wherein two groups of second reversing holes are respectively connected with the other end of the return channel and the input end of the second push rod output channel 241111, and the first reversing assembly and the second reversing assembly both drive the reversing seat A to move on the reversing seat B through the reversing drive mechanism thereon, and control the alignment holes to dock with different reversing holes to realize the channel switching of the first push rod, and different channels are respectively used to control the first push rod to push the radioactive source in the second push rod output channel 241111 to the target position and to push the radioactive source control assembly 241107 and / or the radioactive source in the combing output channel back to the combing feeding mechanism 241104.

[0137] like Figures 19 to 25 As shown, a shielding shell 241101 is provided on the outer side of the combing output channel 241110 and the radiation source material control component 241107. The specific structure of the shielding shell 241101 is the same as that of Example 1 and will not be repeated here.

[0138] As an alternative, Fig.26 and Fig. 27 The shielding shell 241101 also has a second solution: the shielding shell 241101 includes a first shell 24110101 and a second shell 24110102, the first shell 24110101 and the second shell 24110102 are both L-shaped, the first shell 24110101 and the second shell 24110102 have an overlapping portion 24110103, and the overlapping portion 24110103 has a gap, wherein the overlapping portion can block radiation, and when installing the first feeder 24100401, first take out the upper end of the combing output channel 241110 from the gap of the overlapping portion 24110103, connect the first feeder 24100401 to the combing output channel 241110 (this process is consistent with the above process and will not be repeated here), and then put the combing output channel 241110 into the shielding shell 241101 from the gap of the overlapping portion 24110103.

[0139] like Figures 21 to 23As shown, the combing feeding mechanism 241104 includes a first feeder 24100401 and a vibrating feeding drive mechanism for driving the first feeder 24100401 to reciprocate up and down, the first feeder 24100401 is a bell-mouth structure, the upper part of the first feeder 24100401 is snapped or screwed with an upper cover 24101401, the first feeder 24100401 or the upper cover 24101401 is provided with a quick air channel connector, which can be quickly connected to the air channel, and connected to an air pump through the air channel, so that the entire channel is blown by the air pump, so that the radiation source can be better dropped. The lower part of the first feeder 24100401 is connected to a combing output channel 241110; the vibration feeding drive mechanism includes a second feeding drive motor 24101408 and a transmission assembly, the second feeding drive motor 24101408 is mounted on a second feeding drive motor fixing plate 24101407, the second feeding drive motor fixing plate 24101407 is mounted on a base in the radiation protection chassis through a second support column 24101411, and the main shaft of the second feeding drive motor 24101408 passes through the second The feeding drive motor fixing plate 24101407, the main shaft of the second feeding drive motor 24101408 is connected with a transmission assembly, the transmission assembly is a crank-connecting rod slider mechanism, the transmission assembly includes a second crank 24101406, a second connecting rod 24101405 and a third slider seat 24101409, the second crank 24101406 is mounted on the main shaft of the second feeding drive motor 24101408, the second crank 24101406 is connected with a second connecting rod 24101405, the second connecting rod 24101405 is connected to the second crank 24101406, and the second connecting rod 24101405 is connected to the second connecting rod 24101406. The rod 24101405 is hingedly connected to the third slider seat 24101409, and the third slider seat 24101409 is connected to the first feeder 24100401. The second feed drive motor fixing plate 24101407 is provided with a second vertical slide rail 24101412, and the second vertical slide rail 24101412 is matched with a second slider 24101410. The back of the third slider seat 24101409 is fixedly connected to the second slider 24101410. The third slider seat 24101409 A second connecting seat 24101402 is fixedly connected to the front side, and the first feeder 24100401 is detachably mounted on the second connecting seat 24101402. A clamping plate 241014021 is hinged on the second connecting seat 24101402, and the first feeder 24100401 is locked to the second connecting seat 24101402 by the clamping plate 241014021. The clamping plate 241014021 can be locked and fixed to the second connecting seat 24101402 by a threaded structure, a snap structure or a locking structure.

[0140] During daily transportation, the discharge port of the first feeder 24100401 is blocked by the first plug 241014031 or the valve, and the fast air channel joint is also blocked by the second plug 241014032 to prevent particles and radiation from leaking out. The lower end of the first feeder 24100401 is connected to the first plug 241014031 through the first connecting piece 241014033. The front and rear ends of the first connecting piece 241014033 are provided with through holes and are respectively covered on the lower end of the first feeder 24100401 and the first plug 241014031. The first connecting piece 241014033 can enable the first feeder 24100401 The lower end of the first plug 241014031 rotates relative to the first connecting piece 241014033, and the first feeder 24100401 or the upper cover 24101401 is also connected to the second plug 241014032 through the second connecting piece 241014034. The front and rear ends of the second connecting piece 241014034 are provided with through holes and are respectively mounted on the second plug 241014032 and the quick air path channel connector. The second connecting piece 241014034 can make the second plug 241014032 and the quick air path channel connector rotate relative to each other, which can effectively prevent the first plug 241014031 and the second plug 241014032 from being lost. The third slider seat 24101409 is provided with a first placement hole 241014091 for placing the first plug 241014031, and the second connecting seat 24101402 is provided with a second placement hole 241014022 for placing the second plug 241014032. The first plug 241014031 is placed in the first placement hole 241014091, and the second plug 241014032 is placed in the second placement hole 2410140 22, when the second feeding drive motor 24101408 drives the third slider seat 24101409, the second connecting seat 24101402 and the first feeder 24100401 to shake up and down, the first plug 241014031 and the second plug 241014032 can be stationary relative to the first feeder 24100401, effectively preventing the first plug 241014031 and the second plug 241014032 from swinging during the shaking process. The first placement hole 241014091 and the second placement hole 241014022 can be replaced by other forms of fixed structures, such as using a clamping mechanism to clamp the first connecting piece 241014033 or the second connecting piece 241014034, so as to prevent the first plug 241014031 and the second plug 241014032 from swinging excessively.

[0141] The first feeder 24100401 is also provided with an encryption chip 241014035. When the third slider seat 24101409 is connected to the first feeder 24100401, the encryption chip docks with the chip reading and writing port on the third slider seat 24101409 to read and write information in the encryption chip 241014035. The encryption chip 241014035 stores information such as the production time, activity, and operator of the radioactive source in the first feeder 24100401, so as to facilitate traceability of the entire process.

[0142] like Fig.24 and Fig.25 As shown, the outer shell of the radiation source control component 241107 is a light shield, which is used to isolate the interference of ambient light. A camera 241016001 is arranged inside the light shield. The camera 241016001 is used to aim at the radiation source control channel in the radiation source control component 241107 to observe whether there are particles entering the radiation source control channel of the radiation source control component 241107, and whether the appearance of the particles meets the requirements. A first light source 241016002 is also arranged on the side or around the camera, and the first light source 241016002 is tilted and aimed at the position photographed by the camera 241016001, or the first light source 241016002 is tilted and aimed at the position photographed by the camera 241016001, or the first light source 241016001 is tilted and aligned with the position photographed by the camera 241016001. 002 is arranged around the interior of the light shield, and a light-transmitting portion is provided at the position of the material control channel aligned with the first light source 241016002, the thickness of the light-transmitting portion is less than 5 mm, and the material of the light-transmitting portion is one or a combination of plastic, glass, and ceramic materials. Specifically, a second light source 241016003 is installed on the back of the material control channel, and a thinning groove 241016004 (i.e., the light-transmitting portion) is provided on the back of the material control channel, and the second light source 241016003 extends into the thinning groove 241016004, so that the light irradiated by the second light 241016003 can enter the radiation source material control channel through the light-transmitting portion, thereby providing background light for the shooting of the camera 241016001.

[0143] In the above embodiment, for the method of detecting radiation activity, the particle activity detector 241017 can be set between the radiation source control component 241107 and the second reversing component 241106, the radiation source control channel 241116 runs through the middle of the particle activity detector 241017, and the radiation source control channel 241116 is also provided with a detection control mechanism (not shown in the figure), which can control the radiation source in the middle of the particle activity detector 241017 to stay for a certain period of time to complete the activity detection. After the detection is completed, the detection control mechanism releases the particles to make them fall along the radiation source control channel 241116.

[0144] 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.

[0145] 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 based on a combing feeding mechanism and pipeline switching, characterized in that: include: A first push rod driving mechanism, capable of driving the first push rod to move forward and backward along the push rod output channel, thereby pushing the radiation source in front of the first push rod to a target position; The combing and feeding mechanism can comb and arrange the scattered radioactive sources under the action of external force and output them into the radioactive source control component; A radioactive source control component, which can control a specified number of radioactive sources to enter the push rod output channel and is located in front of the first push rod; The push rod output channel includes a first push rod output channel and a second push rod output channel. The first push rod driving mechanism is connected to the first push rod output channel and also includes a reversing mechanism arranged between the first push rod output channel and the second push rod output channel. The output end of the radiation source control component is connected to the reversing mechanism. The reversing mechanism switches the first push rod output channel and the output end of the radiation source control component to be connected to the second push rod output channel respectively. When the output end of the radiation source control component is connected to the second push rod output channel, the radiation source control component controls a specified number of radiation sources to enter the second push rod output channel. When the first push rod output channel is connected to the second push rod output channel, the first push rod can push the radiation source in the second push rod output channel to the target position.

2. A radioactive source implantation system based on combing feeding mechanism and pipeline switching according to claim 1, characterized in that: It also includes a return mechanism, and the combing and feeding mechanism is connected to the radioactive source control component through a combing output channel. The return mechanism is used to push the radioactive source retained in the radioactive source control component and / or the combing output channel back into the combing and feeding mechanism. The return mechanism adopts a second push rod driving mechanism, and the second push rod driving mechanism can drive the second push rod to move forward and backward to push the radioactive source retained in the radioactive source control component and / or the combing output channel back into the combing and feeding mechanism.

3. A radioactive source implantation system based on combing feeding mechanism and pipeline switching according to claim 2, characterized in that: The second push rod driving mechanism is the first push rod driving mechanism, and the second push rod is the first push rod. Under the channel switching action of the reversing mechanism, the first push rod output channel is controlled to be connected or aligned with the output end of the radiation source material control component or the second push rod output channel respectively. When the first push rod output channel is reversely connected or aligned with the output end of the radiation source material control component, the first push rod driving mechanism drives the first push rod to reversely push the radiation source material control component and / or the radiation source retained in the combing output channel, so that the radiation source is sequentially withdrawn from the radiation source material control component to the combing feeding mechanism.

4. A radioactive source implantation system based on combing feeding mechanism and pipeline switching according to claim 3, characterized in that: The reversing mechanism includes a first reversing assembly and a second reversing assembly, wherein the first reversing assembly includes a first reversing A seat and a first reversing B seat, and the second reversing assembly includes a second reversing A seat and a second reversing B seat, wherein the first reversing A seat is provided with a first alignment hole, and the first alignment hole is connected to the output end of the first push rod output channel, and the first reversing B seat is provided with two groups of first reversing holes, and the two groups of first reversing holes are respectively connected to one end of the front top channel and one end of the return top channel, and the second reversing A seat is provided with a plurality of groups of second alignment holes, wherein the two groups of second alignment holes are respectively connected to the other end of the front top channel and the radiation source control assembly The output end of the first push rod is connected, and the second reversing seat B is provided with several groups of second reversing holes, wherein two groups of second reversing holes are respectively connected with the other end of the return channel and the input end of the second push rod output channel, and the first reversing assembly and the second reversing assembly both drive the reversing seat A to move on the reversing seat B through the reversing drive mechanism thereon, and control the alignment holes to dock with different reversing holes to realize the channel switching of the first push rod, and different channels are respectively used to control the first push rod to push the radioactive source in the second push rod output channel to the target position and to push the radioactive source control assembly and / or the radioactive source in the combing output channel back to the combing feeding mechanism.

5. A radioactive source implantation system based on combing feeding mechanism and pipeline switching according to claim 1, characterized in that: The radioactive source material control assembly comprises a radioactive source material control channel and a material control structure, wherein the material control structure adopts multiple sets of stopper mechanisms or friction wheel material control mechanisms or visual high-speed material control mechanisms; It also includes a radioactive source activity detector for detecting the activity of the radioactive source, the radioactive source activity detector is arranged on the radioactive source material control channel, the radioactive source material control channel is provided with a detection material control mechanism, the detection material control mechanism controls the passage or blocking of the radioactive source, and the radioactive source activity detector detects the activity of the radioactive source blocked by the detection material control mechanism; The reversing mechanism is connected to a recovery container. When the radioactive source activity detector detects that the activity of the radioactive source does not meet the requirements, the channel of the reversing mechanism is switched so that the radioactive source that does not meet the requirements enters the recovery container under the action of the first push rod and / or its own gravity and / or gas thrust.

6. A radioactive source implantation system based on combing feeding mechanism and pipeline switching according to claim 5, characterized in that: The reversing mechanism includes a second reversing component, which includes a second reversing seat A and a second reversing seat B. The second reversing seat A is provided with a plurality of second alignment holes, wherein two groups of second alignment holes are respectively connected with the output end of the first push rod output channel and the output end of the radiation source control component. The second reversing seat B is provided with a plurality of second reversing holes, wherein two groups of second reversing holes are respectively connected with the input end of the recovery container and the input end of the second push rod output channel. The second reversing component drives the reversing seat A to move on the reversing seat B through the reversing drive mechanism thereon, controls the alignment holes to dock with different reversing holes, and realizes channel switching of the first push rod. Different channels are respectively used to control the first push rod to push the radiation source in the second push rod output channel to the target position or let the radiation source fall into the recovery container.

7. A radioactive source implantation system based on combing feeding mechanism and pipeline switching according to claim 1, characterized in that: The combing and feeding mechanism includes a vibration plate, and the radiation sources are arranged and enter the radiation source control component under the vibration of the vibration plate; Alternatively, the combing and feeding mechanism includes a first feeder and a feeding combing assembly, the first feeder is used to store radioactive sources, the feeding combing assembly allows the scattered radioactive sources in the first feeder to enter the radioactive source material control assembly one by one, the first feeder and the radioactive source material control assembly are connected through a combing output channel, the radioactive source enters the radioactive source material control assembly through the combing output channel, or the radioactive source directly falls into the radioactive source material control assembly; the feeding combing assembly is one or a combination of a vibration feeding combing structure and a blowing feeding combing structure.

8. A radioactive source implantation system based on combing feeding mechanism and pipeline switching according to claim 7, characterized in that: The first feeder is trumpet-shaped or V-groove-shaped and has a discharge port at the bottom. The discharge port is connected to the radiation source control component through a combing output channel. After the radiation source is output from the discharge port, it enters the radiation source control component through the combing output channel, or the discharge port is aligned with the entrance of the radiation source control component. After the radiation source is output from the discharge port, it directly falls into the radiation source control component.

9. A radioactive source implantation system based on combing feeding mechanism and pipeline switching according to claim 7, characterized in that: The vibrating feeding combing structure drives the entire first feeder to vibrate, combing the scattered radioactive sources; the blowing feeding component blows gas from the top or side of the first feeder, so that the gas is output from the discharge port at the bottom of the first feeder, combing the scattered radioactive sources; The vibrating feeding and combing structure adopts a reciprocating vibrating feeding and combing structure, and the first feeder is arranged on the base body in a floating, rotatable or slidable manner; the first feeder is connected to a first vibration motor, and when the first vibration motor is started, the first vibration motor drives the first feeder to vibrate relative to the base body; or, the reciprocating vibrating feeding and combing structure is a first reciprocating motion mechanism arranged between the first feeder and the base body, and the first reciprocating motion mechanism is one or more combinations of a crank connecting rod mechanism, a cam mechanism, a gear rack mechanism, a belt transmission mechanism, and an electromagnetic reciprocating drive structure, and when the first reciprocating motion mechanism is started, the first reciprocating motion mechanism drives the first feeder to vibrate reciprocatingly relative to the base body; The vibration feeding and combing structure adopts a beating vibration feeding and combing structure, a beating mechanism is provided on the base, and a first beating part is provided on the beating mechanism; the beating mechanism is a first reciprocating beating mechanism, which drives the first beating part to reciprocate through one or more combinations of a crank connecting rod mechanism, a cam mechanism, a gear rack mechanism, a belt transmission mechanism, and an electromagnetic reciprocating drive structure to beat the entire combing and feeding mechanism or the first feeder; or the beating mechanism is a first rotating beating mechanism, which drives the first beating part to rotate to cyclically beat the entire combing and feeding mechanism or the first feeder.

10. The radioactive source implantation system based on combing feeding mechanism and pipeline switching according to claim 1, characterized in that: It also includes a first motion platform and a connecting piece, on which multiple delivery catheters can be installed, one end of the push rod output channel and the connecting piece are respectively installed at both ends of the first motion platform, and the first motion platform is used to realize the relative movement of one end of the push rod output channel and the connecting piece in space, so that one end of 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.

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