Annular clip rod type nuclide automatic filling device and method

Abstract

The invention discloses an annular clip rod type nuclide automatic filling device and method, and the device comprises a particle sorting mechanism which is used for sorting rod type nuclides and enabling the rod type nuclides to be discharged one by one; the particle pushing mechanism is used for pushing the rod-shaped nuclides into the annular clip one by one to complete filling; the cartridge holder mounting mechanism is used for conveying the annular cartridge holder to the particle pushing mechanism and positioning the annular cartridge holder; the particle transfer mechanism is used for receiving the rod-shaped nuclides discharged by the particle sorting mechanism and conveying the rod-shaped nuclides to the particle pushing mechanism one by one; the cartridge holder control mechanism is used for controlling the annular cartridge holder and enabling the rod-shaped nuclides to be loaded into the annular channel of the annular cartridge holder one by one; and the particle sorting mechanism, the particle pushing mechanism, the cartridge holder mounting mechanism, the particle transferring mechanism and the cartridge holder control mechanism are in signal connection with the control unit. According to the filling device and method, the filling efficiency and safety can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an annular clip rod type nuclide automatic loading device and method. Background Art

[0002] Radioactive seed implantation surgery is a type of brachytherapy and is widely used in the treatment of various tumors. Its basic principle is to implant a radioactive source into the tumor, which emits radiation when it decays, and continuously irradiates the tumor cells at close range to treat the tumor.

[0003] Commonly used radioactive seeds are sealed 125I seed sources, but other sealed sources, such as 103Pd, are also available. These are typically enclosed in a medical titanium tube, sealed without holes, with smooth ends. They typically measure 0.8±0.03mm in diameter and 4.5±0.2mm in length, with an overall cylindrical shape. During radioactive seed implantation, imaging techniques such as CT, MRI, and ultrasound are used to determine the number and location of the radioactive seeds to be implanted. The desired number of radioactive seeds is then loaded into multiple magazines, which are then installed in a radioactive seed implantation gun. The gun then uses the multiple seeds, one by one, to be implanted into the patient's malignant tumor via a puncture needle. Once the seeds in a single magazine are used up, a new magazine containing the seeds is replaced.

[0004] At present, most of the loading of radioactive particle magazines is done manually. The operator wears lead gloves and stands behind lead glass. He uses tweezers to grasp the middle position of the radioactive particles and puts the particles one by one into the opening of the channel slot of the particle bin. He then pulls the particles down along the channel slot of the particle bin and stacks the particles in the channel slot in turn until the predetermined number of radioactive particles is loaded into the particle bin. Radioactive particles are small in size and emit radiation. Medical staff need to wear lead gloves and use long-handled tweezers to pick up the particles when loading them, which makes the operation inconvenient and inefficient. Particles are very likely to fall, causing the loss of the radioactive source or affecting the loading efficiency, thereby increasing the cumulative radiation dose. The channel slots of the particle bin are designed to effectively limit the particles from stacking stably along the slots. The size of the slots matches the particles, making particle loading difficult. Careless operation may cause the particles to fall in the slots. If not handled, the particles may get stuck in the implantation gun during surgery, causing radioactive contamination. To handle the problem, all the loaded particles need to be removed and reloaded. At the same time, it is also easy to cause eye fatigue, resulting in errors in the loading quantity, which leads to errors in the number of particles implanted and surgical operation errors. Operators who load particles are exposed to radiation environments for long periods of time and multiple times, which poses an occupational hazard to the particle loading operators.

[0005] Patent publication number CN119280708A discloses an automatic radioactive particle loading device and method. During the process of transporting the radioactive particles from the vibrating mechanism to the hopper mechanism and the manual replenishment of materials into the chamber, the radioactive particles are in a free-fall state. This free-fall of the particles may cause damage to the particles, affecting the therapeutic effect. Furthermore, when the free-falling particles fall into the hopper, there is a risk of particle stacking, making it impossible to sort them as designed. Furthermore, the particle magazine has a large opening and poor radiation shielding, which may increase the risk of radiation exposure to relevant personnel during the loading and transportation process. Summary of the Invention

[0006] The present invention aims to provide a ring-shaped clip rod type nuclide automatic loading device and method, so as to improve work efficiency and safety performance.

[0007] Based on the above problems, one of the technical solutions provided by the present invention is:

[0008] An annular clip rod type nuclide automatic loading device, comprising:

[0009] The particle sorting mechanism is used to sort the rod-shaped nuclides so that the rod-shaped nuclides are discharged one by one;

[0010] The particle pushing mechanism is used to push the rod-shaped nuclides one by one into the annular magazine to complete the loading;

[0011] A magazine mounting mechanism, used for transporting the annular magazine to the particle pushing mechanism and positioning the annular magazine;

[0012] a particle transport mechanism, configured to receive the rod-shaped nuclides discharged by the particle sorting mechanism and transport the rod-shaped nuclides one by one to the particle pushing mechanism;

[0013] a magazine control mechanism for controlling the annular magazine and loading the rod-shaped nuclides one by one into the annular channel of the annular magazine;

[0014] The control unit, the particle sorting mechanism, the particle pushing mechanism, the magazine installation mechanism, the particle transport mechanism, and the magazine control mechanism are respectively connected to the control unit by signal.

[0015] In some embodiments, the particle sorting mechanism includes a feeder, a vibrating plate installed at an upper end of the feeder, and a shielding cover installed above the vibrating plate, wherein the vibrating plate includes a lower vibrating plate and an upper vibrating plate arranged on the lower vibrating plate;

[0016] The lower vibrating plate is provided with a feeding groove extending along the discharging direction and configured to allow a single particle to pass through in the width direction, and a discharge pipe connected to the feeding groove is provided near the discharging end of the lower vibrating plate;

[0017] The upper vibration plate is provided with a feeding portion, a particle sorting portion and a discharging portion which are sequentially arranged along the discharging direction, and the discharging portion is connected to the feeding groove.

[0018] In some embodiments, the upper end of the feed portion is open and forms a feed channel that penetrates the particle arrangement portion, the lower portion of the feed channel is configured to allow a single particle to pass through in the width direction, and the shielding cover is provided with a feeding port that communicates with the feed portion;

[0019] The particle sorting section is provided with a first pressing member and a second pressing member along the discharge direction, the first pressing member including at least one circular pressing member arranged front and rear along the discharge direction, the circular pressing member being supported by a support shaft on the particle sorting section and the support shaft being arranged to move up and down relative to the particle sorting section, and a sorting gap between a lower end of the second pressing member and the feed channel being configured to allow a single particle to pass through;

[0020] The discharging portion is provided with a particle pressing plate, the lower part of the particle pressing plate is provided with a discharging trough extending along the discharging direction and connected to the feeding channel, and the discharging trough is provided with a plurality of blanking through grooves arranged at intervals and connected to the feeding groove.

[0021] In some embodiments, a base mechanism is further included, and the particle sorting mechanism, particle pushing mechanism, magazine installation mechanism, particle transport mechanism, magazine control mechanism, and control unit are all installed on the base mechanism;

[0022] The magazine mounting mechanism comprises a magazine tray slidably arranged relative to the base mechanism, a magazine driving unit for driving the magazine tray to move on the base mechanism, and a magazine positioning unit for positioning the annular magazine.

[0023] In some embodiments, the magazine drive unit includes a synchronous belt mounted on the base mechanism, a synchronous belt motor driving the synchronous belt to rotate, and a tray fixing plate connecting the synchronous belt and the magazine tray, wherein the tray fixing plate is slidably connected to the base mechanism via a first guide rail assembly;

[0024] The magazine positioning unit includes a positioning reference block for positioning the radial side of the annular magazine, an axial positioning member for positioning the annular magazine in the axial direction, and a blocking member installed on the side of the positioning reference block away from the annular magazine;

[0025] The blocking component moves relative to the positioning reference block to block or leave the bottom of the vertical channel of the annular clip. The positioning reference block is provided with a loading hole for the rod-shaped nuclide to pass through and enter the vertical channel, and a pushing detection component for detecting whether the rod-shaped nuclide reaches the positioning reference block. A blocking detection component is provided on the base mechanism for detecting whether the blocking component is in place.

[0026] In some embodiments, the particle transport mechanism includes a docking piece corresponding to the discharge port of the particle sorting mechanism, a particle transport block, and a transport drive unit for driving the particle transport block to move, and the particle transport block moves between a material receiving position and a material pushing position under the drive of the transport drive unit;

[0027] The docking piece is provided with a docking hole for the rod-shaped nuclide to enter, the particle transport block is provided with a hole for the rod-shaped nuclide to enter and a particle position detection component for detecting whether the rod-shaped nuclide has entered the hole. When the particle transport block is in the material receiving position, the hole is coaxially arranged with the docking hole. When the particle transport block is in the material pushing position, the hole is coaxially arranged with the loading hole.

[0028] The transfer block driving unit includes a first screw motor and a first support supporting the first screw motor. The particle transfer block includes a main body and a front end. The main body is connected to the nut of the first screw motor and is slidably connected to the base mechanism. The front end is slidably arranged between the docking piece and the positioning reference block. Two transfer block detection components arranged at intervals along the moving direction of the particle transfer block are provided on the base mechanism. Two transfer sensing blocks arranged at intervals are provided on the main body for detecting the material receiving position and the material pushing position of the particle transfer block. The main body is slidably connected to the base mechanism via a second guide rail assembly.

[0029] In some embodiments, the particle pushing mechanism includes a push pin mounting seat, a particle pushing pin mounted on the push pin mounting seat, and a pushing drive unit for driving the push pin mounting seat to move up and down, wherein the particle pushing pin extends through the docking member into the hole and the filling hole to push the rod-shaped nuclide into the vertical channel of the annular magazine;

[0030] The push drive unit includes a push support seat, a second screw motor installed on the push support seat, and a screw slider connected to the nut of the second screw motor. The push pin mounting seat is fixedly connected to the screw slider, and the push pin mounting seat is provided with two push pin detection components arranged up and down. The push support seat is provided with a push sensor sheet that cooperates with the two push pin detection components.

[0031] When the particle push pin is in the initial position, the two push pin detection components are located above the push material sensing piece, the particle push pin begins to descend, and the two push pin detection components detect the push material sensing piece in sequence from bottom to top. When the push pin detection component located above cannot detect the push material sensing piece, the particle push pin is in the working position.

[0032] In some embodiments, the magazine control mechanism includes a shift fork and a shift fork driving unit that drives the shift fork to move closer to or away from the annular magazine. The annular magazine is provided with an operating member for loading, and the shift fork drives the operating member to load the rod-shaped nuclides entering the vertical channel into the annular channel.

[0033] Two shift fork detection components are provided at intervals in the moving direction of the shift fork, for limiting the front and rear positions of the shift fork;

[0034] The fork drive unit includes a third screw motor and a second support supporting the third screw motor. The first end of the fork extends into the docking piece and the second end is connected to the nut of the third screw motor. The second end of the fork is provided with a fork detection block, and the two fork detection components are respectively installed above and below the fork detection block.

[0035] In some embodiments, a shell mechanism is further included, and the particle sorting mechanism, particle pushing mechanism, magazine installation mechanism, particle transport mechanism, magazine control mechanism, base mechanism, and control unit are all accommodated in the shell mechanism.

[0036] Based on the above problems, the second technical solution provided by the present invention is:

[0037] A method for automatically loading a ring-shaped clip-rod type nuclide device comprises the following steps:

[0038] S1. Place the annular magazine on the magazine installation mechanism and transport the annular magazine to the loading position, then position the annular magazine and add rod-shaped nuclides into the particle sorting mechanism;

[0039] S2. The particle sorting mechanism starts to operate. The rod-shaped nuclides start to move forward along the vibrating plate, pass through the first and second pressing parts, and then enter the discharge slot at the bottom of the particle pressing plate. After passing through the drop-through slot, the particles enter the feeding groove and continue to move into the discharge pipe. Then, they enter the docking hole of the docking part of the particle transport mechanism and further fall into the hole on the particle transport block. When the particle arrival detection component detects that the rod-shaped nuclides are in place, the particle sorting mechanism stops operating.

[0040] S3, the particle transport mechanism starts to operate, and the particle transport block slides with the rod-shaped nuclide on the positioning reference block until it reaches the loading hole. When the push detection component detects the rod-shaped nuclide, the particle transport mechanism stops operating;

[0041] S4, the magazine control mechanism starts to operate, the shift fork moves toward the annular magazine and drives the operating member to move, and the operating member drives the particle sheet in the annular magazine to move to make way for the vertical channel for loading particles;

[0042] S5, the clip control mechanism stops running, the particle pushing mechanism starts running, the particle pushing needle moves downward, passes through the docking piece and the particle transport block into the filling hole, pushes the rod-shaped nuclide into the vertical channel and abuts against the top of the blocking component, the particle pushing needle and the particle transport block return to their initial positions, the particle sorting mechanism operates, and the next rod-shaped nuclide enters the hole on the particle transport block. When the particle in-place detection component detects that the rod-shaped nuclide is in place, the particle sorting mechanism stops running; the clip control mechanism operates, and drives the operating member through the shift fork to make the pushing particle sheet cross the vertical channel and away from the annular channel, and the clip control mechanism is started again, so that the pulling particle sheet clamps the annular channel and keeps the first rod-shaped nuclide in the annular channel;

[0043] S6. Start the transfer procedure for the second rod-shaped nuclide, and repeat steps S3 and S5 until all rod-shaped nuclides are loaded.

[0044] Compared with the prior art, the advantages of the present invention are:

[0045] Through the particle sorting mechanism, particle pushing mechanism, magazine installation mechanism, particle transport mechanism and magazine control mechanism, the rod-shaped nuclides can be automatically loaded into the annular magazine. Compared with manual loading, the loading efficiency and safety performance are improved. Moreover, during the loading process, the rod-shaped nuclides can reduce the impact on the particles, reduce the damage to the particles, and ensure the treatment effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. The drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0047] Figure 1 This is a schematic structural diagram of an embodiment of a ring-shaped clip-rod type nuclide automatic loading device according to the present invention;

[0048] Figure 2 This is a structural diagram of the base mechanism in an embodiment of the present invention;

[0049] Figure 3Schematic diagram of the structure of the particle sorting mechanism in an embodiment of the present invention;

[0050] Figure 4 Schematic diagram of the cross-sectional structure of the particle sorting mechanism in an embodiment of the present invention;

[0051] Figure 5 A partial cross-sectional structural diagram of a particle sorting mechanism according to an embodiment of the present invention;

[0052] Figure 6 Schematic diagram of the structure of the feed channel of the particle sorting mechanism in an embodiment of the present invention;

[0053] Figure 7 Schematic diagram of the structure of the particle transport mechanism in an embodiment of the present invention;

[0054] Figure 8 Schematic diagram of the structure of the particle pushing mechanism in an embodiment of the present invention;

[0055] Figure 9 Schematic diagram of the structure of the magazine control mechanism in an embodiment of the present invention;

[0056] Figure 10 This is one of the partial structural diagrams of the magazine installation mechanism in an embodiment of the present invention;

[0057] Figure 11 Schematic diagram of the structure of the synchronous belt in an embodiment of the present invention;

[0058] Figure 12 This is a second partial structural diagram of the magazine mounting mechanism according to an embodiment of the present invention;

[0059] Figure 13 Schematic diagram of the working state of the blocking component in an embodiment of the present invention;

[0060] Figure 14 Schematic diagram of the structure of the annular clip in an embodiment of the present invention;

[0061] Figure 15 This is a schematic structural diagram of the upper housing in an embodiment of the present invention;

[0062] Figure 16 Schematic diagram of the structure of the lower housing in an embodiment of the present invention;

[0063] Figure 17(a) to Figure 17(d) This is a schematic diagram of the working state of loading the first rod-shaped nuclide in an embodiment of the present invention;

[0064] in:

[0065] 100. Base mechanism; 101. Base; 102. Support;

[0066] 200, particle sorting mechanism; 201, adjustment controller; 202, vibration isolation pad; 203, feeder; 204, lower vibration plate; 2041, feeding groove; 205, upper vibration plate; 2051, feeding channel; 2052, circular hole; 2053, first inclined surface; 206, first pressing member; 2061, circular pressing member; 2062, support shaft; 207, second pressing member; 2071, second inclined surface; 2072, arc surface; 208, particle pressing plate; 2081, discharge channel; 2082, blanking slot; 209, discharge pipe; 210, shielding cover; 211, feeding port;

[0067] 300, particle transport mechanism; 301, docking member; 3011, docking hole; 302, particle transport block; 3021, hole; 303, first support; 304, first screw motor; 305, second guide rail assembly; 3051, second slider; 3052, second guide rail; 306, particle arrival detection component; 307, transport block detection component; 308, transport sensor block; 309, material push detection component;

[0068] 400, particle pushing mechanism; 401, pushing support seat; 402, second screw motor; 403, push pin mounting seat; 404, particle pushing pin; 405, push pin detection component; 406, pushing sensor sheet; 407, screw slider;

[0069] 500, magazine control mechanism; 501, second support; 502, third screw motor; 503, shift fork; 504, shift fork detection component; 505, first bracket; 506, second bracket; 507, shift fork detection block;

[0070] 600, magazine mounting mechanism; 601, motor base; 602, synchronous belt motor; 603, driving pulley; 604, synchronous belt; 605, toothed plate; 606, first guide rail assembly; 607, tray connecting plate; 608, tray fixing plate; 609, magazine tray; 610, driven pulley; 611, pulley base; 612, positioning reference base; 6121, loading hole; 613, blocking component; 614, pressing column; 615, first knob plunger; 616, second knob plunger; 617, plunger bracket; 618, blocking detection component;

[0071] 700, annular clip; 701, base member; 7011, support column; 7012, particle annular channel; 7013, vertical channel; 702, particle pulling sheet; 7021, first end face; 7022, second end face; 703, spring sheet; 704, particle push ring; 7041, particle push ring block; 705, clockwork spring; 706, shielding cover; 707, mounting ring; 708, operating member; 709, operating bearing; 710, retaining ring;

[0072] 800, housing structure; 801, upper housing; 802, particle replenishment hatch; 803, touch screen; 804, emergency stop button; 805, start button; 806, fault confirmation button; 807, magazine installation hatch; 808, switch detection sensor; 809, power port; 810, lower housing; 811, particle recovery tank detection sensor;

[0073] 900, control unit;

[0074] 10. Rod-shaped nuclides. DETAILED DESCRIPTION

[0075] The above scheme is further described below in conjunction with specific examples. It should be understood that these examples are used to illustrate the present invention and are not intended to limit the scope of the present invention. The implementation conditions adopted in the examples can be further adjusted according to the conditions of the specific manufacturer. The implementation conditions not specified are generally those in routine experiments.

[0076] like Figure 1 As shown, an embodiment of the present invention provides a ring-shaped magazine rod type nuclide automatic loading device, including a shell mechanism 800, a base mechanism 100, a particle sorting mechanism 200, a particle pushing mechanism 400, a magazine installation mechanism 600, a particle transport mechanism 300, a magazine control mechanism 500 and a control unit 900.

[0077] like Figure 2 As shown, the base mechanism 100 includes a base 101 and a plurality of pillars 102 arranged at the lower end of the base 101, which are used to provide a positioning frame and support for the particle sorting mechanism 200, the particle pushing mechanism 400, the clip installation mechanism 600, the particle transport mechanism 300, and the clip control mechanism 500. The control unit 900 is installed on the base 101 and is used to control the equipment operation program, sensor signal feedback, etc. The shell mechanism 800, the particle sorting mechanism 200, the particle pushing mechanism 400, the clip installation mechanism 600, the particle transport mechanism 300, and the clip control mechanism 500 are respectively connected to the control unit 900 by signal, thereby realizing automatic loading of rod-shaped nuclides.

[0078] like Figure 15 and Figure 16As shown, the shell mechanism 800 includes an upper shell 801, a lower shell 810, a touch screen 803 arranged on the upper shell 801, an emergency stop button 804, a start button 805, a fault confirmation button 806, a power port 809, a particle replenishment hatch 802, a magazine installation hatch 807, a magazine installation hatch switch detection sensor 808, and a particle recovery tank detection sensor 811 arranged on the lower shell 810, wherein the touch screen 803, the emergency stop button 804, the start button 805, the fault confirmation button 806, the power port 809, the magazine installation hatch switch detection sensor 808, and the particle recovery tank detection sensor 811 are respectively connected to the control unit 900 signal, which is the existing technology and will not be elaborated in the present invention.

[0079] The power supply 12809 is located on the left side of the upper shell 801 and is used to power the device; the touch screen 803 is located on the upper right side of the upper shell for human interaction with the device; the emergency stop button 804 is located on the small plane on the right side of the upper shell 801 and is used to stop the device in an emergency; the start button 805 and the fault confirmation button 806 respectively control the operation start of the device and the completion confirmation of the system abnormality processing; the particle replenishment hatch 802 is located at the top of the upper shell, and when opened, it reveals the particle replenishment channel, which is used to replenish particles before or during particle loading when the number of particles is insufficient; the magazine installation hatch 807 is located on the top The middle part of the front of the shell 801 is used to close the circular magazine transport channel after the circular magazine is installed to prevent abnormalities from occurring during normal use of the equipment; the magazine installation hatch switch detection sensor 808 is a magnetic sensor, which can be used as a magazine installation hatch closed in place signal sensor, and has a magnetic attraction to the iron sheet on the magazine installation hatch to ensure that the magazine installation hatch is closed reliably; the particle recovery tank detection sensor 811 is installed at the bottom of the lower shell 810, and is used to detect whether the particle recovery tank is in place. After the particle filling requirements of the circular magazine are met, the particles in the equipment can be conveniently recovered into the particle recovery tank.

[0080] like Figure 3 and Figure 4 As shown, the particle sorting mechanism 200 includes a feeder 203, a vibration disk installed at the upper end of the feeder 203, and a shielding cover 210 installed above the vibration disk, wherein the feeder 203 adopts a linear feeder and is installed on a vibration isolation pad 202. The linear feeding is performed by two symmetrically installed vibration motors. The horizontal components of the two forces cancel each other out, and the vertical components are superimposed to form a power source for the resultant force in the linear direction. The vibration isolation pad 202 is installed on the base 101. The vibration isolation pad 202 is generally made of PVC material with a higher hardness (hardness higher than Shore D hardness of 70 or more), which can not only better isolate vibration, but also ensure that the size is not easily changed. At the same time, a control regulator 201 is installed on the base 101. The frequency modulation controller can adjust the voltage and vibration frequency, which can be more conveniently and finely adjusted to the frequency suitable for the rod-type nuclides, thereby achieving a faster regular arrangement of the rod-type nuclides.

[0081] The vibration plate includes a lower vibration plate 204 and an upper vibration plate 205 arranged on the lower vibration plate 204. A feeding groove 2041 extending along the discharge direction and configured for single particles to pass through is provided on the lower vibration plate 204. At the same time, a discharge pipe 209 connected to the feeding groove 2041 is provided on the lower vibration plate 204 near the discharge end, wherein the feeding groove 2041 is a U-shaped groove, and a small circular hole connected to the feeding groove 2041 is provided at the end of the lower vibration plate 205, and a large circular hole for installing the discharge pipe 209 is provided.

[0082] The upper vibration plate 205 is provided with a feeding part, a particle sorting part and a discharging part arranged in sequence along the discharging direction, wherein the discharging part is connected to the feeding groove 2041 to deliver the rod-shaped nuclides sorted by the particle sorting part to the feeding groove 2041 for discharge. The upper end of the feeding part is open and has a feeding channel 2051 that penetrates the particle sorting part. The lower part of the feeding channel 2051 is configured to allow single particles to pass through in the width direction, such as Figure 6 As shown, the upper opening of the feed section tapers from top to bottom and connects to the feed channel 2051. A feeding port 211 is provided on the shielding cover 210, which connects to the feed section. Rod-shaped nuclides are added to the feed channel 2051 through the feeding port 211. To facilitate the transfer of the rod-shaped nuclides from the feed section to the particle arrangement section, a guide section is provided between the feed section and the particle arrangement section. The guide section has a first inclined surface 2053 that is arranged downwardly from the feed section toward the particle arrangement section, thereby facilitating the pouring of the rod-shaped nuclides from the feed section and guiding them into the particle arrangement section.

[0083] like Figure 5As shown, a first pressing part 206 and a second pressing part 207 are provided in the particle sorting part along the discharge direction. The first pressing part 206 includes two circular pressing parts 2061 arranged front and back along the discharge direction. Each circular pressing part 2061 is supported on the particle sorting part via a support shaft 2062 and the support shaft 2062 is arranged to move up and down relative to the particle sorting part. The moving gaps of the two support shafts 2062 can be set to be different. The moving gaps are perforations on both sides of the width direction of the particle sorting part. For example, the moving gap of the support shaft 2062 at the rear is larger than the support shaft 2062 at the front. Thus, the rod-type nuclides can be gradually arranged into a state for single particles to pass through, and the sorting gap between the lower end of the second pressing part 207 and the feed channel 2051 is configured to allow single particles to pass through. To facilitate the guidance of rod-shaped nuclides into the second pressing member 207, a second inclined surface 2071 is provided at the entrance of the second pressing member 207, which is located at an angle downward from the first pressing member 206 toward the second pressing member 207. Furthermore, the end surface of the second pressing member 207 facing the first pressing member 206 is a circular arc surface 2072. If rod-shaped nuclides fail to enter the sorting gap below the second pressing member 207, they are blocked by the circular arc surface 2072 and return to the rear of the second pressing member 207 before re-entering the sorting gap. A circular hole 2052 is provided at the discharge end of the second pressing member 207, connecting it to the discharge port.

[0084] A particle pressing plate 208 is provided in the discharge section, and a discharge channel 2081 extending along the discharge direction and connected to the feed channel 2051 is provided at the lower part of the particle pressing plate 208. A plurality of blanking grooves 2082 arranged at intervals and connected to the feed groove 2041 are provided on the discharge channel 2081. The rod-shaped nuclides sorted by the particle sorting section enter the discharge channel 2081, and when the rod-shaped nuclides pass through the blanking grooves 2082, they fall into the feed groove 2041 and move one by one into the discharge pipe 209.

[0085] like Figure 10 and Figure 12 As shown, the magazine mounting mechanism 600 includes a magazine tray 609 slidably arranged relative to the base 101 , a magazine driving unit for driving the magazine tray 609 to move on the base 101 , and a magazine positioning unit for positioning the annular magazine 700 .

[0086] The magazine drive unit includes a synchronous belt 604 installed at the lower end of the base 101, a synchronous belt motor 602 that drives the synchronous belt 604 to rotate, and a tray fixing plate 608 that connects the synchronous belt 604 and the magazine tray 609. The tray fixing plate 608 is slidably connected to the base 101 via a first guide rail assembly 606. Two guide grooves arranged parallel to each other are provided on the base 101. The two legs of the magazine tray 609 are slidably set in the two guide grooves and connected to the tray fixing plate 608. The first guide rail assembly 606 includes two first guide rails parallel to each other and a first slider slidably connected to each guide rail. The tray fixing plate 608 is fixedly connected to the two first sliders. A tray connecting plate 607 is provided on the tray fixing plate 608. The tray connecting plate 607 is connected to the synchronous belt 405 via a tooth plate 605. A motor seat 601 and a pulley seat 611 are arranged at intervals at the lower end of the base 101. The synchronous belt motor 602 is installed on the motor seat 601, as shown in FIG. Figure 11 As shown, a driving pulley 603 is provided at the power output end of the synchronous belt motor 602 , a driven pulley 610 is provided on a pulley seat 611 , and a synchronous belt 604 is supported between the driving pulley 603 and the driven pulley 610 .

[0087] The clip positioning unit includes a positioning reference block 612 for positioning the radial side of the annular clip 700, an axial positioning member for positioning the annular clip 700 in the axial direction, and a blocking member 613 installed on the side of the positioning reference block 612 away from the annular clip 700. Figure 13 As shown, the blocking member 613 can pass through the positioning reference block 612 and extend to the bottom of the vertical channel of the annular clip 700. The positioning reference block 612 is provided with a loading hole 6121 for the rod-shaped nuclide to pass through and enter the vertical channel. The positioning reference block 612 is provided with a push detection member 309 for detecting whether the rod-shaped nuclide has reached the positioning reference block. The base 101 is provided with a blocking detection member 618 for detecting whether the blocking member 613 is in place. Among them, the axial positioning member is a pressing column 614 and is connected to the first knob plunger 615. The blocking member 613 is connected to the second knob plunger 616. The second knob plunger 616 is mounted on a plunger bracket 617 on the base.

[0088] like Figure 7As shown, the particle transport mechanism 300 includes a docking member 301 that docks with the discharge pipe 209 of the particle sorting mechanism 200, a particle transport block 302, and a transport drive unit that drives the particle transport block 302 to move. The particle transport block 302 moves between a material receiving position and a material pushing position under the drive unit. The docking member 301 has an inverted U-shaped structure, and the particle transport block 302 is inserted into the docking member 301 and moves back and forth. The docking member 301 is provided with a docking hole 3011 for rod-shaped nuclides to enter, and the particle transport block 302 is provided with a hole 3021 for rod-shaped nuclides to enter, and a particle position detection component 306 for detecting whether the rod-shaped nuclides have entered the hole 3021. When the particle transport block 302 is in the material receiving position, the hole 3021 is coaxial with the docking hole 3011. When the particle transport block 302 is in the material pushing position, the hole 3021 is coaxial with the loading hole 6121. In order to facilitate the positioning of the annular clip 700 , a positioning hole for the pressing column 614 to extend into is provided on the docking piece 301 .

[0089] The transfer drive unit includes a first screw motor 304 and a first support 303 supporting the first screw motor 304. The particle transfer block 302 includes a main body and a front end. The main body is connected to the nut of the first screw motor 304 and is slidably connected to the base 101. The front end is slidably arranged between the docking piece 301 and the positioning reference block 612. Two transfer block detection components 307 arranged at intervals along the moving direction of the particle transfer block 302 are provided on the base 101. Two transfer sensing blocks 308 arranged at intervals are provided on the main body for detecting the material receiving position and the material pushing position of the particle transfer block 302. The main body is slidably connected to the base 101 via a second guide rail assembly 305. The second guide rail assembly 305 includes two second guide rails 3052 installed on the upper end of the base 101 and arranged parallel to each other, and a second slider 3051 slidably arranged on each second guide rail 3052. The main body is fixedly connected to the two second sliders 3051.

[0090] like Figure 8 As shown, the particle pushing mechanism 400 includes a push pin mounting seat 403, a particle push pin 404 mounted on the push pin mounting seat 403, and a push driving unit for driving the push pin mounting seat 403 to move up and down. The particle push pin 404 extends through the docking piece 301 to the hole 3021 on the particle transport block 302 and the loading hole 6121 on the positioning reference block 612 to push the rod-shaped nuclide into the vertical channel of the annular magazine 700.

[0091] The push drive unit includes a push support base 401, a second screw motor 402 mounted on the push support base 401, and a screw slider 407 connected to the nut of the second screw motor 402. The push pin mounting base 403 is fixedly connected to the screw slider 407. In order to facilitate the positioning of the initial position and working position of the particle push pin 404, two push pin detection components 405 arranged up and down are provided on the push pin mounting base 403. At the same time, a push sensor sheet 406 cooperating with the two push pin detection components 405 is provided on the push support base 401. When the particle push pin 404 is in the initial position, the two push pin detection components 405 are located above the push sensor sheet 406, and the particle push pin 404 begins to descend. The two push pin detection components 405 detect the push sensor sheet 406 in sequence from bottom to top. When the push pin detection component 405 located above fails to detect the push sensor sheet 406, the particle push pin 404 is in the working position.

[0092] like Figure 9 As shown, the magazine control mechanism 500 includes a shift fork 503 and a shift fork driving unit that drives the shift fork 503 to move toward or away from the annular magazine 700. The annular magazine 700 is provided with an operating member 708 for loading. The shift fork 503 drives the operating member 708 to load the rod-shaped nuclides 10 entering the vertical channel into the annular channel. The shift fork 503 is inserted into the docking member 301 and moves back and forth under the drive of the annular magazine driving unit.

[0093] like Figure 14 As shown, the annular clip 700 includes an annular channel module, a particle pulling module, and a particle pushing ring module. The annular channel module includes a base member 701 and a shielding cover 706 detachably connected to the base member 701. A storage space is formed between the shielding cover 706 and the base member 701. An annular channel 7013 is provided on the inner periphery of the base member 701. A vertical channel 7013 for particle loading and placement is provided on the base 101 at the starting point of the annular channel 7012. The vertical channel 7013 extends along the height direction of the base member 701 and communicates with the annular channel. Rod-shaped nuclides are loaded into the annular channel 7012 through the vertical channel 7013, or rod-shaped nuclides in the annular channel 7012 are implanted into the human body through the vertical channel 7013.

[0094] The particle pulling module is rotatably mounted on the support column 7011 of the base 701 and accommodated in the accommodation space, and is used to maintain the rod-shaped nuclide in the annular channel 7012. It includes a mounting ring 707, a spring sheet 703 arranged on the outer periphery of the mounting ring 707, a particle pulling sheet 702 connected to the end of the spring sheet 703, and an operating member 708 connected to the mounting ring 707, wherein the particle pulling sheet 702 has a first end face 7021 that facilitates the passage of the rod-shaped nuclide 10 in the vertical channel 7013 and a second end face 7022 that blocks the rod-shaped nuclide 10 in the annular channel 7012, wherein the second end face 7022 and the first end face 7021 are connected to form an acute angle structure, and an accommodation gap is formed between the first end face 7021 and the annular channel 7012, and the accommodation gap is gradually reduced from the vertical channel 7013 to the annular channel 7012.

[0095] The operating member 708 is supported by the operating bearing 709 and extends along the thickness direction of the mounting ring 707. A retaining ring 710 is installed on the operating member 708 between the operating bearing 709 and the mounting ring 707. At the same time, an operating groove for the operating member to pass through is provided on the base member 701.

[0096] The particle push ring module is rotatably mounted on the base 701 and housed within the accommodating space. It includes a particle push ring 704, a particle push ring block 7041 mounted on the particle push ring 704, and a spring 705 that cooperates with the particle push ring 704 and enables the particle push ring block 7041 to be positioned near the vertical channel 7013. Preferably, an arc-shaped groove is provided at one end of the particle push ring block 7041 near the vertical channel 7013 to facilitate abutment and cooperation with the rod-shaped nuclide 10.

[0097] like Figure 9 As shown, the fork drive unit includes a third screw motor 505 and a second support 502 supporting the third screw motor 502. The first end of the fork 503 extends into the docking piece 301 and the second end is connected to the nut of the third screw motor 502. A fork detection block 507 is provided at the second end of the fork 503. Two fork detection components 504 are respectively installed above and below the fork detection block 507. Among them, one fork detection component 504 located in front of the stroke of the fork 503 is installed on the docking piece 301 via the first bracket 505, and the other fork detection component 504 located behind the stroke of the fork 503 is installed on the base 101 via the second bracket 506.

[0098] As shown in FIG17( a ), when loading begins, there is a rod-shaped nuclide space on the side of the first end face 7021 of the pulling particle sheet 702, and the second end face 7022 of the pulling particle sheet 702 is close to the arc-shaped groove of the particle pushing ring block 7041, as shown in FIG17( b ), when the particle pushing needle 404 pushes the rod-shaped nuclide 10 to the position of the vertical channel 7013 in the particle annular channel 7012 (on the side of the first end face 7021 of the pulling particle sheet 702), the bearing at the head of the operating member 708 is toggled counterclockwise, as shown in FIG17( c ), the first end face 7021 of the pulling particle sheet 702 (the spring sheet 703 is deformed) passes over the particle surface until the tip of the pulling particle sheet 702 passes over the side of the particle, and the pulling particle sheet 702 recovers the tip to press against the particle annular channel under the action of the spring sheet 703 7012 state; the tip of the particle sheet 702 is pulled back, and the particle push ring block 7041 moves counterclockwise and contacts the particle under the action of the clockwork spring 705; at this time, the bearing at the head of the operating member 708 is dialed clockwise, and the particle sheet 702 also moves clockwise, as shown in Figure 17 (d), and the second end face 7022 of the particle sheet 702 contacts the side of the particle, and the particle sheet 702 continues to move clockwise, and the second end face 7022 of the particle sheet 702 drives the particle and further drives the particle push ring block 7041 of the particle push ring 704 to move clockwise. When the first end face 7021 of the particle sheet 702 passes the vertical channel 7013, the dialing of the operating member is stopped, which means that the first particle is loaded. The above operation is repeated until the required number of particles are loaded.

[0099] The above-mentioned method of the annular clip rod type nuclide automatic loading device includes the following steps:

[0100] S1. Place the annular magazine on the magazine installation mechanism and transport the annular magazine to the loading position, then position the annular magazine and add rod-shaped nuclides into the particle sorting mechanism;

[0101] S2. The particle sorting mechanism starts to operate. The rod-shaped nuclides start to move forward along the vibrating plate, pass through the first and second pressing parts, and then enter the discharge slot at the bottom of the particle pressing plate. After passing through the drop-through slot, the particles enter the feeding groove and continue to move into the discharge pipe. Then, they enter the docking hole of the docking part of the particle transport mechanism and further fall into the hole on the particle transport block. When the particle arrival detection component detects that the rod-shaped nuclides are in place, the particle sorting mechanism stops operating.

[0102] S3, the particle transport mechanism starts to operate, and the particle transport block slides with the rod-shaped nuclide on the positioning reference block until it reaches the loading hole. When the push detection component detects the rod-shaped nuclide, the particle transport mechanism stops operating;

[0103] S4, the magazine control mechanism starts to operate, the shift fork moves toward the annular magazine and drives the operating member to move, and the operating member drives the particle sheet in the annular magazine to move to make way for the vertical channel for loading particles;

[0104] S5, the magazine control mechanism stops running, the particle pushing mechanism starts running, the particle pushing needle moves downward, passes through the docking piece and the particle transport block into the filling hole, pushes the rod-shaped nuclide into the vertical channel and abuts against the top of the blocking component, the particle pushing needle and the particle transport block return to their initial positions, the particle sorting mechanism operates, and the next rod-shaped nuclide enters the hole on the particle transport block. When the particle in-place detection component detects that the rod-shaped nuclide is in place, the particle sorting mechanism stops running; the magazine control mechanism operates, and drives the operating member through the shift fork to make the pulled particle sheet cross the vertical channel and away from the annular channel, and the magazine control mechanism is started again, so that the pulled particle sheet clamps the annular channel and keeps the first rod-shaped nuclide in the annular channel;

[0105] S6. Start the transfer procedure for the second rod-shaped nuclide, and repeat steps S3 and S5 until all rod-shaped nuclides are loaded.

[0106] In summary, the rod-shaped nuclide automatic loading device can improve the efficiency and safety of rod-shaped nuclide loading.

[0107] The above examples are intended only to illustrate the technical concepts and features of the present invention. Their purpose is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly. They are not intended to limit the scope of protection of the present invention. Any equivalent changes or modifications made in accordance with the spirit of the present invention are intended to be covered by the scope of protection of the present invention.

Claims

1. A ring-shaped clip-rod type nuclide automatic loading device, characterized in that: include: The particle sorting mechanism is used to sort the rod-shaped nuclides so that the rod-shaped nuclides are discharged one by one; The particle pushing mechanism is used to push the rod-shaped nuclides one by one into the annular magazine to complete the loading; A magazine mounting mechanism, used for transporting the annular magazine to the particle pushing mechanism and positioning the annular magazine; a particle transport mechanism, configured to receive the rod-shaped nuclides discharged by the particle sorting mechanism and transport the rod-shaped nuclides one by one to the particle pushing mechanism; a magazine control mechanism for controlling the annular magazine and loading the rod-shaped nuclides one by one into the annular channel of the annular magazine; The control unit, the particle sorting mechanism, the particle pushing mechanism, the magazine installation mechanism, the particle transport mechanism, and the magazine control mechanism are respectively connected to the control unit by signal.

2. The ring-shaped clip-rod type nuclide automatic loading device according to claim 1, characterized in that: The particle sorting mechanism includes a feeder, a vibrating plate installed at the upper end of the feeder, and a shielding cover installed above the vibrating plate, wherein the vibrating plate includes a lower vibrating plate and an upper vibrating plate arranged on the lower vibrating plate; The lower vibration plate is provided with a feeding groove extending along the discharge direction and configured to allow single particles to pass through, and the lower vibration plate is provided with a discharge pipe connected to the feeding groove near the discharge end; The upper vibration plate is provided with a feeding portion, a particle sorting portion and a discharging portion which are sequentially arranged along the discharging direction, and the discharging portion is connected to the feeding groove.

3. The annular clip-rod type nuclide automatic loading device according to claim 2, characterized in that: The upper end of the feed section is open and forms a feed channel that penetrates the particle arrangement section. The lower portion of the feed channel is configured to allow a single particle to pass through in the width direction. The shielding cover is provided with a feeding port that communicates with the feed section. The particle sorting section is provided with a first pressing member and a second pressing member along the discharge direction, the first pressing member including at least one circular pressing member arranged front and rear along the discharge direction, the circular pressing member being supported by a support shaft on the particle sorting section and the support shaft being arranged to move up and down relative to the particle sorting section, and a sorting gap between a lower end of the second pressing member and the feed channel being configured to allow a single particle to pass through; The discharging portion is provided with a particle pressing plate, the lower part of the particle pressing plate is provided with a discharging trough extending along the discharging direction and connected to the feeding channel, and the discharging trough is provided with a plurality of blanking through grooves arranged at intervals and connected to the feeding groove.

4. The annular clip-rod type nuclide automatic loading device according to claim 1, characterized in that: It also includes a base mechanism, on which the particle sorting mechanism, particle pushing mechanism, magazine installation mechanism, particle transport mechanism, magazine control mechanism, and control unit are all installed; The magazine mounting mechanism comprises a magazine tray slidably arranged relative to the base mechanism, a magazine driving unit for driving the magazine tray to move on the base mechanism, and a magazine positioning unit for positioning the annular magazine.

5. The annular clip-rod type nuclide automatic loading device according to claim 4, characterized in that: The magazine drive unit includes a synchronous belt mounted on the base mechanism, a synchronous belt motor driving the synchronous belt, and a tray fixing plate connecting the synchronous belt and the magazine tray, wherein the tray fixing plate is slidably connected to the base mechanism via a first guide rail assembly; The magazine positioning unit includes a positioning reference block for positioning the radial side of the annular magazine, an axial positioning member for positioning the annular magazine in the axial direction, and a blocking member installed on the side of the positioning reference block away from the annular magazine; The blocking component moves relative to the positioning reference block to block or leave the bottom of the vertical channel of the annular clip. The positioning reference block is provided with a loading hole for the rod-shaped nuclide to pass through and enter the vertical channel, and a pushing detection component for detecting whether the rod-shaped nuclide reaches the positioning reference block. The base mechanism is provided with a blocking detection component for detecting whether the blocking component is in place.

6. The ring-shaped clip-rod type nuclide automatic loading device according to claim 5, characterized in that: The particle transport mechanism includes a docking piece corresponding to the discharge port of the particle sorting mechanism, a particle transport block, and a transport drive unit for driving the particle transport block to move. The particle transport block moves between a material receiving position and a material pushing position under the drive of the transport drive unit. The docking piece is provided with a docking hole for the rod-shaped nuclide to enter, the particle transport block is provided with a hole for the rod-shaped nuclide to enter and a particle position detection component for detecting whether the rod-shaped nuclide has entered the hole. When the particle transport block is in the material receiving position, the hole is coaxially arranged with the docking hole. When the particle transport block is in the material pushing position, the hole is coaxially arranged with the loading hole. The transfer block drive unit includes a first screw motor and a first support supporting the first screw motor. The particle transfer block includes a main body and a front end. The main body is connected to the nut of the first screw motor and is slidably connected to the base mechanism. The front end is slidably arranged between the docking piece and the positioning reference block. The base mechanism is provided with two transfer block detection components arranged at intervals along the moving direction of the particle transfer block. The main body is provided with two transfer sensing blocks arranged at intervals for detecting the material receiving position and the material pushing position of the particle transfer block. The main body is slidably connected to the base mechanism via a second guide rail assembly.

7. The ring-shaped clip-rod type nuclide automatic loading device according to claim 6, characterized in that: The particle pushing mechanism includes a push pin mounting seat, a particle pushing pin mounted on the push pin mounting seat, and a pushing drive unit for driving the push pin mounting seat to move up and down. The particle pushing pin extends through the docking member into the hole and the filling hole to push the rod-shaped nuclide into the vertical channel of the annular magazine. The push drive unit includes a push support seat, a second screw motor installed on the push support seat, and a screw slider connected to the nut of the second screw motor. The push pin mounting seat is fixedly connected to the screw slider, and the push pin mounting seat is provided with two push pin detection components arranged up and down. The push support seat is provided with a push sensor sheet that cooperates with the two push pin detection components. When the particle push pin is in the initial position, the two push pin detection components are located above the push material sensing piece, the particle push pin begins to descend, and the two push pin detection components detect the push material sensing piece in sequence from bottom to top. When the push pin detection component located above cannot detect the push material sensing piece, the particle push pin is in the working position.

8. The ring-shaped clip-rod type nuclide automatic loading device according to claim 6, characterized in that: The magazine control mechanism includes a shift fork and a shift fork driving unit for driving the shift fork to move toward or away from the annular magazine. The annular magazine is provided with an operating member for loading. The shift fork drives the operating member to load the rod-shaped nuclides entering the vertical channel into the annular channel. Two shift fork detection components are provided at intervals in the moving direction of the shift fork, for limiting the front and rear positions of the shift fork; The fork drive unit includes a third screw motor and a second support supporting the third screw motor. The first end of the fork extends into the docking member and the second end is connected to the nut of the third screw motor. The second end of the fork is provided with a fork detection block, and the two fork detection components are respectively installed above and below the fork detection block.

9. The ring-shaped clip-rod type nuclide automatic loading device according to claim 4, characterized in that: It also includes a shell mechanism, and the particle sorting mechanism, particle pushing mechanism, magazine installation mechanism, particle transport mechanism, magazine control mechanism, base mechanism, and control unit are all accommodated in the shell mechanism.

10. The method of the annular clip rod type nuclide automatic loading device according to claim 1, characterized in that: The following steps are involved: S1. Place the annular magazine on the magazine installation mechanism and transport the annular magazine to the loading position, then position the annular magazine and add rod-shaped nuclides into the particle sorting mechanism; S2. The particle sorting mechanism starts to operate. The rod-shaped nuclides start to move forward along the vibrating plate, pass through the first and second pressing parts, and then enter the discharge slot at the bottom of the particle pressing plate. After passing through the drop-through slot, the particles enter the feeding groove and continue to move into the discharge pipe. Then, they enter the docking hole of the docking part of the particle transport mechanism and further fall into the hole on the particle transport block. When the particle arrival detection component detects that the rod-shaped nuclides are in place, the particle sorting mechanism stops operating. S3, the particle transport mechanism starts to operate, and the particle transport block slides with the rod-shaped nuclide on the positioning reference block until it reaches the loading hole. When the push detection component detects the rod-shaped nuclide, the particle transport mechanism stops operating; S4, the magazine control mechanism starts to operate, the shift fork moves toward the annular magazine and drives the operating member to move, and the operating member drives the particle sheet in the annular magazine to move to make way for the vertical channel for loading particles; S5, the magazine control mechanism stops running, the particle pushing mechanism starts running, the particle pushing needle moves downward, passes through the docking piece and the particle transport block into the filling hole, pushes the rod-shaped nuclide into the vertical channel and abuts against the top of the blocking component, the particle pushing needle and the particle transport block return to their initial positions, the particle sorting mechanism operates, and the next rod-shaped nuclide enters the hole on the particle transport block. When the particle in-place detection component detects that the rod-shaped nuclide is in place, the particle sorting mechanism stops running; the magazine control mechanism operates, and drives the operating member through the shift fork to make the pulled particle sheet cross the vertical channel and away from the annular channel, and the magazine control mechanism is started again, so that the pulled particle sheet clamps the annular channel and keeps the first rod-shaped nuclide in the annular channel; S6. Start the transfer procedure for the second rod-shaped nuclide, and repeat steps S3 and S5 until all rod-shaped nuclides are loaded.

Images