Multi-channel radioactive source implantation system with core pulling mechanism

Abstract

The invention discloses a multichannel radioactive source implanting system with a core pulling mechanism, which comprises a first connecting part, a first motion platform, a radioactive source implanting device and the core pulling mechanism, the radioactive source implanting device comprises a push rod and a push rod output channel, and the push rod output channel can be used for guiding the push rod to move back and forth; the push rod pushes a radioactive source arranged in front of the push rod to be output out along the push rod output channel, the first connecting part and one end of the push rod output channel are installed on the two sides of the first motion platform respectively, and the core pulling mechanism and one end of the push rod output channel are arranged on the same side of the first motion platform in parallel. The first moving platform drives the first connecting part and one end of the push rod output channel to move relatively in the space, so that multi-channel implantation is realized; the first moving platform drives the first connecting part and the core pulling mechanism to move relatively in the space, and multi-channel core pulling is achieved.

Description

Technical Field

[0001] This invention relates to radioactive particle implantation technology equipment, and more particularly to a multi-channel radioactive source implantation system with a core-pulling mechanism. Background Technology

[0002] Radioactive particle implantation surgery involves inserting numerous radioactive particles directly into a tumor via puncture for localized radiotherapy. This procedure has a wide range of indications, including lung cancer, liver cancer, breast cancer, and prostate cancer. It is characterized by small incisions, minimal bleeding, and relatively few surgical complications, while effectively inhibiting tumor growth.

[0003] The basic procedure for this surgery is as follows: First, a preoperative CT scan is taken, and the puncture path and particle placement plan are determined using the TPS system. Then, according to the plan, multiple axially parallel puncture needles are inserted into the tumor. This process can be accomplished with the aid of a puncture guide template, ensuring that the spacing and direction between the needles are consistent with the preoperative plan. After confirming with CT that all puncture needles have reached their target positions, the surgeon removes the cores from each needle, creating a hollow implantation channel. Multiple particles are then pushed into the tumor along the implantation channel according to the preoperative plan, completing the surgery.

[0004] However, current procedures are lengthy, and doctors are exposed to significant radiation during implantation due to close contact with the particles, severely limiting their application and widespread use. Therefore, particle implantation robotic systems have emerged, such as the particle implantation surgical robot proposed in Chinese patent CN201910714054.7. This system features an automated particle implantation device at the end of the robot, enabling high-precision puncture and particle implantation. However, the implantation device remains rigidly connected to the puncture needle throughout the procedure, requiring immediate implantation after the puncture. This alters the traditional manual surgical process, necessitating CT scans immediately after each puncture, significantly increasing the number of CT scans required and exposing the patient to greater radiation. Furthermore, the rigid connection between the puncture needle and the implantation device, preventing rapid detachment and clamping, easily leads to patient injury. One approach is to use multiple flexible tubes to connect multiple puncture needles to the particle implantation device. The flexibility of the tubes can prevent scratching the patient. However, this presents a technical challenge: how to remove the needle core from the puncture needle before implantation. The needle core must be removed and implanted immediately, otherwise the blood flowing into the puncture needle will coagulate and cause internal blockage. Summary of the Invention

[0005] The purpose of this invention is to solve the problem of rigid connection between existing puncture needles and particle implantation devices causing scratches to patients. It proposes a multi-channel radiation source implantation system with a core removal mechanism. The system connects multiple puncture needles to the particle implantation device through multiple flexible tubes, and adjusts the position of the radiation source through a motion platform to achieve multi-channel implantation. It can also automatically remove the core from the flexible delivery catheter.

[0006] This invention is achieved through the following technical solution: a multi-channel radiation source implantation system with a core-pulling mechanism, comprising a first connecting part, a first motion platform, a radiation source implantation device, and a core-pulling mechanism. The radiation source implantation device includes a push rod and a push rod output channel. The push rod output channel can be used to guide the push rod to move back and forth. The push rod pushes the radiation source located in front of the push rod and outputs it out along the push rod output channel. One end of the first connecting part and one end of the push rod output channel are respectively installed on both sides of the first motion platform. The core-pulling mechanism and one end of the push rod output channel are arranged side by side on the same side of the first motion platform. The first motion platform drives the first connecting part and one end of the push rod output channel to move relative to each other in space to achieve multi-channel implantation; the first motion platform drives the first connecting part and the core-pulling mechanism to move relative to each other in space to achieve multi-channel core extraction.

[0007] Preferably, the first connecting part is connected to a connector, which has multiple connecting holes. The connecting holes have quick-connect structures for connecting to one end of the delivery catheter. The other end of the delivery catheter is connected to a puncture needle or has a quick-connect head for connecting to the puncture needle. The delivery catheter contains a needle core, the tail of which extends a short section from the tail of the delivery catheter and extends from the other side of the connecting hole. The needle core removal mechanism engages with the tail of the needle core in the delivery catheter and can remove the needle core from the delivery catheter, thereby forming a hollow implantation channel. The needle core removal mechanism adopts a friction needle core removal assembly. A part of the friction needle core removal assembly is pressed against the needle core, and the needle core is pulled out by the friction force generated by the pressing. The friction needle core removal assembly is one or more combinations of a friction wheel, a friction belt, and a reciprocating clamping assembly.

[0008] The first connecting part is one or more combinations of adhesive connecting part, welded connecting part, threaded connecting part, snap-fit ​​connecting part, and locking connecting part.

[0009] Preferably, the first motion platform drives the connector to move relative to one end of the push rod output channel in space, so that one end of the push rod output channel is connected to the connection hole, thereby outputting the radiation source from the delivery conduit connected to the connection hole. The first motion platform is one of the following:

[0010] A. The connector moves, while one end of the push rod output channel remains stationary;

[0011] B. The connector is stationary, and one end of the push rod output channel moves;

[0012] C. The connecting part moves, and one end of the push rod output channel moves;

[0013] The first motion platform is used to realize relative movement of at least two degrees of freedom between the connector and one end of the push rod output channel, wherein the relative movement is one of the following:

[0014] A. The connector is fixed, while one end of the push rod output channel moves back and forth in a linear motion and in a plane.

[0015] B. The connector moves back and forth in a straight line, and one end of the push rod output channel moves in a plane.

[0016] C. The connector moves within a plane, and one end of the push rod output channel moves back and forth in a straight line.

[0017] D. The connector moves back and forth in a linear motion and in a plane, while one end of the push rod output channel remains fixed.

[0018] The motion within a plane is one of the following: single-joint rotational motion, single-joint rotational motion combined with radial linear motion, double-joint rotational motion, or XY-axis linear motion.

[0019] The first motion platform includes a forward and backward motion module, a rotational motion module, and a radial motion module. The first motion platform realizes the movement of one end of the push rod output channel in three degrees of freedom in space through rotational motion in one direction and linear motion in two directions.

[0020] Alternatively, the first motion platform includes a forward and backward motion module, a left and right motion module, and a up and down motion module. The first motion platform realizes the movement of one end of the push rod output channel in three degrees of freedom in space through linear motion in three directions. Alternatively, the first motion platform is a multi-joint robotic arm, which can drive one end of the push rod output channel to move and position freely in three-dimensional space.

[0021] Preferably, the first motion platform is provided with a first front-to-back motion mechanism and a second front-to-back motion mechanism, which are respectively used for the front-to-back docking motion of the core-pulling mechanism and one end of the push rod output channel. First, the core-pulling mechanism is docked with the tail of the needle core in a delivery conduit on the connector, and the needle core is pulled out. After the core is pulled out, a new implantation channel is established. Under the drive of the first motion platform, the push rod output channel is docked and connected with the delivery conduit, and then implantation is performed through the newly established implantation channel.

[0022] Preferably, the device also includes a needle core storage mechanism, which is used to store the needle core pulled out from the needle core extraction mechanism. The needle core storage mechanism is located at the rear end of the needle core extraction mechanism. When the needle core is output from the rear end of the needle core extraction mechanism, the needle core storage mechanism dynamically stores it accordingly. Alternatively, the needle core storage mechanism is part of the needle core extraction mechanism, and the needle core is stored at the same time as the needle core is extracted. The needle core storage mechanism is a wheel-type storage mechanism or a sleeve. The wheel-type storage mechanism includes a storage wheel, and the needle core is wound around the inner or outer side of the storage wheel as the storage wheel rotates.

[0023] Preferably, the wheel-type storage mechanism adopts a winding wheel assembly, which includes a storage wheel and a storage wheel drive mechanism. The storage wheel is driven to rotate by the storage wheel drive mechanism, so that the needle core is wound on the outer surface of the storage wheel or the outer side of the outer surface of the storage wheel.

[0024] Alternatively, the wheel-type storage mechanism may employ a concave storage wheel, which has an internally recessed structure and an opening on the side. The needle core extends into the concave storage wheel through the side opening. The concave storage wheel is rotatably or actively rotatably positioned behind the needle core extraction mechanism. Under the combined action of the needle core's own elasticity and the needle core extraction mechanism and the concave storage wheel, the needle core automatically winds around the internal recessed area of ​​the concave storage wheel.

[0025] Preferably, the cannula is any one of a straight cannula, a spiral cannula, or a thin-film cannula, and the material of the cannula is one or more combinations of metal, plastic, rubber, latex, silicone, or elastomer materials; the cannula is provided with a lubricant to facilitate the smooth insertion of the needle core, or a lubricating grease can be uniformly coated on the inner surface of the cannula or a lubricating coating can be used on the inner surface of the cannula to achieve a lubricating effect, and the lubricating coating material is Teflon; the inlet end of the cannula is provided with an elastic telescopic section, which can shorten under the action of extrusion pressure and automatically extend and return to its original position after the extrusion pressure is released.

[0026] Preferably, the device also includes a core insertion mechanism that can insert the needle core along the delivery conduit into the puncture needle.

[0027] Alternatively, the core-pulling mechanism may be the same as the core-insertion mechanism. The core-pulling mechanism employs a friction core-pulling assembly, in which a portion of the friction core-pulling assembly presses against the needle core. The friction core-pulling assembly can be driven in both forward and reverse directions, and the friction generated by the pressing action enables the needle core to be pulled out and inserted. The core-pulling mechanism is equipped with a position measuring device, which measures the actual displacement of the needle core, thereby precisely controlling the needle core from completely dislodging from the friction core-pulling assembly, facilitating the pulling out and insertion of the needle core. The displacement measuring device includes a measuring wheel that presses against the needle core and an angle sensor for measuring the rotation angle of the measuring wheel. When the needle core moves back and forth, it drives the measuring wheel to rotate, thereby calculating the actual displacement of the needle core based on the measurement value of the angle sensor.

[0028] Preferably, the tail of the needle core is provided with a stop step, and the needle insertion mechanism achieves precise positioning of the needle core by the limiting effect of the stop step of the needle core and the inlet end face of the delivery tube, so that the front end of the needle core reaches the front end of the puncture needle and does not continue to protrude forward.

[0029] The insert mechanism is equipped with a position measuring device. The displacement measuring device can measure the actual displacement of the needle core. When the displacement measuring device detects that the needle core has been inserted into the delivery tube and is in place, it controls the insert mechanism to stop operating.

[0030] Preferably, the radiation source implantation device includes a main body, a push rod driving mechanism, and a radiation source feeding section. The push rod driving mechanism is mounted on the main body, and the push rod output channel is connected to the push rod driving mechanism. The push rod driving mechanism drives the push rod to move back and forth along the push rod output channel. The radiation source feeding section is used to place a radiation source at the front end of the push rod, and the push rod can push the radiation source all the way to the target position. The radiation source feeding section is a cutting mechanism, in which case the push rod itself is a particle chain or a particle chain sleeve, or the front half of the push rod is connected to the cutting mechanism. The feed unit is equipped with a particle chain or particle chain sleeve capable of being cut. The rear half of the push rod is a push rod wire. The particle chain or particle chain sleeve of the target length is cut off from the front end of the push rod by the cutting mechanism, thereby realizing the feeding of the particle chain or particle chain sleeve. When the cut-off part is a particle chain sleeve, the radioactive source feeding unit also includes a particle embedding mechanism. The particle embedding mechanism enables the particles and / or spacers to be embedded into the particle chain sleeve from one end or side of the particle chain sleeve, thereby forming a complete particle chain. The cutting mechanism is located at any point in the push rod output channel.

[0031] Alternatively, the radioactive source feeding unit adopts a magazine feeding method, which is directly set in the push rod output channel. Particles or prefabricated particle chains or particle chain sleeves are loaded into the magazine's storage slots or storage holes. The particles or prefabricated particle chains or particle chain sleeves are placed at the front end of the push rod for feeding through a magazine feeding mechanism mounted on the magazine. When the magazine contains a particle chain sleeve, the radioactive source feeding unit also includes a particle embedding mechanism. The particle embedding mechanism enables the particles and / or spacers to be embedded into the particle chain sleeve from one end or side, thereby forming a complete particle chain.

[0032] Alternatively, the radioactive source feeding unit employs a particle chain feeding system. This system includes a particle chain driving mechanism, a particle chain output channel, and a cutting mechanism. The particle chain driving mechanism continuously outputs particle chains or particle chain sleeves, while the cutting mechanism cuts the particle chains or sleeves to a target length, thus feeding the particle chains or sleeves. When the particle chain driving mechanism outputs particle chain sleeves, the radioactive source feeding unit also includes a particle embedding mechanism. This mechanism allows particles and / or spacers to be embedded into the particle chain sleeve from one end or side, forming a complete particle chain. The particle chain driving mechanism is connected to the particle chain output channel, which is a rigid or flexible structure. The cut particle chain is positioned in front of the push rod via a branched tube or motion platform.

[0033] Therefore, the present invention has the following beneficial effects: The present invention uses a first motion platform to realize the relative movement between the connector and the push rod output channel, thereby realizing the rapid switching between multiple puncture channels, radiation source implantation device and core removal mechanism, thereby realizing core removal and implantation in multiple channels.

[0034] In this invention, the needle core extends from the delivery catheter into the puncture needle, thereby filling the space inside the puncture needle before and after implantation to prevent blood from flowing into the puncture needle and clotting, causing blockage. Before implantation, the needle core is pulled out by the core removal mechanism, thus forming a hollow implantation channel. After implantation, the needle core is then sent into the puncture needle along the delivery catheter. A stop step or position detection device ensures that the tip of the needle core does not continue to protrude after reaching the tip of the puncture needle, thus avoiding injury to biological tissue. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the overall structure of the radiation source implantation system of the present invention;

[0036] Figure 2 This is a schematic diagram of the installation structure of the core-pulling mechanism in this invention;

[0037] Figure 3 This is a schematic diagram of the structure of the first connecting part in this invention;

[0038] Figure 4 This is one of the structural schematic diagrams of the radiation source implantation device in this invention;

[0039] Figure 5 This is the second schematic diagram of the structure of the radiation source implantation device in this invention;

[0040] Figure 6 This is a schematic diagram of the overall structure of the friction wheel or friction belt core-pulling assembly in Embodiment 2 of the present invention;

[0041] Figure 7 This is a schematic diagram of the internal structure of the friction wheel or friction belt core-pulling assembly in Embodiment 2 of the present invention;

[0042] Figure 8 This is a schematic diagram of the rear structure of the friction wheel or friction belt core-pulling assembly in Embodiment 2 of the present invention;

[0043] Figure 9 This is a schematic diagram of the core-pulling mechanism (installation sleeve) according to Embodiment 2 of the present invention;

[0044] Figure 10 for Figure 9 Cross-sectional view of the core-pulling mechanism and the location of the bushing;

[0045] Figure 11 This is one of the schematic diagrams illustrating the working principle of the core-pulling mechanism in Embodiment 2 of the present invention;

[0046] Figure 12 This is the second schematic diagram illustrating the working principle of the core-pulling mechanism in Embodiment 2 of the present invention;

[0047] Figure 13 This is a three-dimensional structural diagram of Embodiment 3 of the present invention;

[0048] Figure 14 This is a schematic diagram of the core-pulling mechanism and the core-collecting mechanism in Embodiment 3 of the present invention;

[0049] Figure 15 This is a schematic diagram of the needle core storage state in Embodiment 3 of the present invention;

[0050] Figure 16 This is a partial cross-sectional view of the core-pulling mechanism and the core-collecting mechanism of Embodiment 3 of the present invention;

[0051] Figure 17 This is a schematic diagram of the structure of Embodiment 4 of the present invention;

[0052] Figure 18 This is the second structural schematic diagram of Embodiment 5 of the present invention;

[0053] Figure 19 This is the second structural schematic diagram of Embodiment 5 of the present invention;

[0054] Figure 20 This is a schematic diagram of the structure of Embodiment 5 of the present invention, excluding the first motion platform and the first core-pulling mechanism;

[0055] Figure 21 for Figure 20 The main view;

[0056] Figure 22 for Figure 21 A magnified view of a portion of the image;

[0057] Figure 23 This is a schematic diagram of the connection between the delivery catheter and the puncture needle in Embodiment 5 of the present invention;

[0058] Figure 24 This is a schematic diagram of the structure of Embodiment Six of the present invention;

[0059] Figure 25 This is an internal cross-sectional view of the particle chain magazine of Embodiment Six of the present invention;

[0060] Figure 26 This is a schematic diagram of the structure of Embodiment Seven of the present invention;

[0061] Figure 27 This is a top view of Embodiment Seven of the present invention;

[0062] Figure 28 This is a schematic diagram of the cutting mechanism, particle chain driving mechanism, and flexible push rod driving mechanism of Embodiment 7 of the present invention;

[0063] Figure 29 This is a schematic diagram of the cutting mechanism according to Embodiment 7 of the present invention;

[0064] Figure 30 This is a schematic diagram of the structure when the particle chain is ejected in Embodiment 7 of the present invention. Detailed Implementation

[0065] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0066] In the description of this invention, it should be noted that the terms "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0067] Example 1

[0068] like Figure 1 , 2As shown: A multi-channel radioactive source implantation system with a core-removal mechanism includes a first connecting part 124, a first motion platform 12, a radioactive source implantation device 14, and a core-removal mechanism 10. The radioactive source implantation device 14 includes a push rod 1301 and a push rod output channel 13. The push rod output channel 13 can be used to guide the push rod 1301 to move back and forth. The push rod 1301 pushes the radioactive source located in front of the push rod 1301 and outputs it out along the push rod output channel 13. One end of the first connecting part 124 and one end of the push rod output channel 13 are respectively installed on both sides of the first motion platform 12. One end of the core-removal mechanism 10 and one end of the push rod output channel 13 are arranged side by side on the same side of the first motion platform 12. The first motion platform 12 drives the first connecting part 124 and one end of the push rod output channel 13 to move relative to each other in space to realize multi-channel implantation; the first motion platform 12 drives the first connecting part 124 and the core-removal mechanism 10 to move relative to each other in space to realize multi-channel core removal.

[0069] Preferably, the push rod output channel 13 is a flexible structure that can be bent, and the push rod 1301 is a flexible push rod that can be bent. The flexible push rod is an elastic filamentous structure that can be bent under external force and can return to a straight state after the external force is removed. The material of the flexible push rod is one or more combinations of nickel-titanium alloy, spring steel, elastomer material, and composite material. The length of the flexible push rod is greater than 300mm. The delivery conduit 15 is a flexible delivery conduit, and the needle core 6-7 is an elastic filamentous structure that can be bent under external force and can return to a straight state after the external force is removed. The material of the flexible needle core is one or more combinations of nickel-titanium alloy, spring steel, elastomer material, and composite material. The length of the flexible needle core is greater than 300mm.

[0070] Preferably, a connector 11 is connected to the first connecting part 124. The connector 11 has multiple connecting holes 111, and each connecting hole 111 has a quick-connect structure for connecting to one end of the delivery conduit 15. The quick-connect structure is one or more combinations of a threaded connection, a snap-fit ​​connection, and a locking connection. The other end of the delivery conduit 15 is connected to a puncture needle 16 or has a quick connector for connecting to the puncture needle 16. The quick connector and the puncture needle 16 are fixedly connected by one or more combinations of threads, locking, and adhesive. The tube 15 contains a needle core 6-7, which extends along the delivery catheter 15 and fills the space inside the puncture needle 16 connected to the front end of the delivery catheter 15, preventing blood from flowing into the puncture needle 16 and clotting to form a blockage. The tail of the needle core 6-7 extends a short section from the tail of the delivery catheter 15 and extends out from the other side of the connection hole 111. The core removal mechanism 10 can dock with the tail of the needle core 6-7 inside the delivery catheter 15 and pull out the needle core 6-7, thereby forming a hollow implantation channel.

[0071] The first connecting part 124 is one or more of the following: adhesive connecting part, welded connecting part, threaded connecting part, snap-fit ​​connecting part, and locking connecting part.

[0072] Preferably, the core-pulling mechanism 10 employs a friction core-pulling assembly. A portion of the friction core-pulling assembly presses against the needle core 6-7, and the friction generated by the pressing pulls out the needle core 6-7. The friction core-pulling assembly is one or more combinations of a friction wheel, a friction belt, and a reciprocating clamping assembly. The friction wheel assembly or friction belt assembly is provided with one or more sets of friction wheels or friction belts. The needle core 6-7 is pressed against one side of the friction wheel or friction belt, and the needle core 6-7 is pulled out by the rotational motion of the friction wheel or the cyclical motion of the friction belt. The reciprocating clamping assembly includes a reciprocating motion assembly and a clamping assembly. The clamping assembly is set on the reciprocating motion assembly and can reciprocate along a certain trajectory under the drive of the reciprocating motion assembly. The clamping assembly can clamp the needle core 6-7 and pull out the needle core when driven by the reciprocating motion assembly in the core-pulling direction, and release the needle core 6-7 when driven by the reciprocating motion assembly in the opposite direction, thereby resetting it.

[0073] Preferably, the first motion platform 12 drives the connector 11 to move relative to one end of the push rod output channel 13 in space, so that one end of the push rod output channel 13 is connected to the connection hole 111, thereby outputting the radiation source from the delivery conduit 15 connected to the connection hole 111. The first motion platform 12 is one of the following:

[0074] A. Connector 11 moves, and one end of push rod output channel 13 remains stationary;

[0075] B. Connector 11 is stationary, and one end of push rod output channel 13 moves;

[0076] C. When connector 11 moves, one end of push rod output channel 13 moves;

[0077] The first motion platform 12 is used to realize the relative movement of at least two degrees of freedom between the connector 11 and one end of the push rod output channel 13, and the relative movement mode is one of the following:

[0078] A. Connector 11 is fixed, while one end of the push rod output channel 13 moves back and forth in a straight line and in a plane.

[0079] B. Connector 11 moves back and forth in a straight line, and one end of push rod output channel 13 moves in a plane.

[0080] C. Connector 11 moves in a plane, and one end of push rod output channel 13 moves back and forth in a straight line.

[0081] D. Connector 11 performs linear motion and motion in a plane, while one end of push rod output channel 13 remains fixed.

[0082] Motion within a plane can be one of the following: single-joint rotational motion, single-joint rotational motion combined with radial linear motion, double-joint rotational motion, or XY-axis linear motion.

[0083] The first motion platform 12 includes a forward and backward motion module, a rotational motion module, and a radial motion module. The first motion platform 12 realizes the movement of one end of the push rod output channel in three degrees of freedom in space through rotational motion in one direction and linear motion in two directions.

[0084] Alternatively, the first motion platform 12 includes a forward and backward motion module, a left and right motion module, and a up and down motion module. The first motion platform 12 realizes the movement of one end of the push rod output channel 13 in three degrees of freedom in space through linear motion in three directions. Alternatively, the first motion platform 12 is a multi-joint robotic arm, which can drive one end of the push rod output channel 13 to move and position freely in three-dimensional space.

[0085] like Figure 1-3 As shown, this embodiment employs a first motion platform 12 comprising a forward / backward motion module, a rotational motion module, and a radial motion module. The first motion platform 12 achieves three degrees of freedom of movement in space for one end of the push rod output channel 13 through rotational motion in one direction and linear motion in two directions. Specifically, a particle implantation connector is also connected to the end of the push rod output channel 13 near the connector. The first motion platform 12 includes a forward / backward motion module 121, a rotational motion module 122, and a radial motion module 123. The forward / backward motion module 121 is used for the forward / backward movement of the particle implantation connector; the rotational motion module 122 is used to enable the particle implantation connector to rotate in a plane; and the radial motion module 123 is used to enable the particle implantation connector to move in the plane of rotation along the diameter or radius with the rotation center as the center. Since there are many specific driving methods for the forward / backward motion module 121, the rotational motion module 122, and the radial motion module 123, such as direct motor drive, gear and rack drive, synchronous belt drive, or drive through a lead screw and nut, etc., these will not be specifically described in this text.

[0086] Preferably, the first motion platform 12 is provided with a first front-back motion mechanism and a second front-back motion mechanism, which are respectively used for the front-back docking motion of the core-pulling mechanism 10 and one end of the push rod output channel 13. First, the core-pulling mechanism 10 is docked with the tail of the needle core 6-7 in a delivery conduit 15 on the connector 11, and the needle core 6-7 is pulled out. After the core is pulled out, a new implantation channel is established. Under the drive of the first motion platform 12, the push rod output channel 13 is docked and connected with the delivery conduit 15, and then implantation is performed through the newly established implantation channel.

[0087] Preferably, a needle core storage mechanism is also included. The needle core storage mechanism is used to store the needle core 6-7 pulled out from the needle core pulling mechanism 10. The needle core storage mechanism is located at the rear end of the needle core pulling mechanism 10. When the needle core 6-7 is output from the rear end of the needle core pulling mechanism 10, the needle core storage mechanism dynamically stores it accordingly. Alternatively, the needle core storage mechanism is part of the needle core pulling mechanism 10, and the storage of the needle core 6-7 is completed at the same time as the needle core is pulled out. The needle core storage mechanism is a wheel-type storage mechanism or a sleeve. The wheel-type storage mechanism includes a storage wheel. The needle core 6-7 is wound around the inner or outer side of the storage wheel as the storage wheel rotates.

[0088] Preferably, the wheel-type storage mechanism uses a winding wheel assembly, which includes a storage wheel and a storage wheel drive mechanism. The storage wheel is driven to rotate by the storage wheel drive mechanism, so that the needle core is wound on the outer surface of the storage wheel or the outer side of the outer surface of the storage wheel.

[0089] Alternatively, the wheel-type storage mechanism adopts a concave storage wheel. The concave storage wheel has an internal recessed structure and an opening on the side. The needle core extends into the concave storage wheel from the side opening. The concave storage wheel is set behind the needle core pulling mechanism, which can rotate freely or actively. Under the combined action of the needle core's own elasticity and the needle core pulling mechanism and the concave storage wheel, the needle core automatically winds into the internal recessed area of ​​the concave storage wheel.

[0090] Preferably, the cannula is any one of a straight cannula, a spiral cannula, or a thin-film cannula, and the material of the cannula is one or more combinations of metal, plastic, rubber, latex, silicone, or elastomer materials; the cannula is provided with a lubricant to facilitate the smooth insertion of the needle core, or the inner surface of the cannula can be uniformly coated with grease or a lubricating coating to achieve lubrication, and the lubricating coating material is Teflon; the inlet end of the cannula is provided with an elastic telescopic section, which can shorten under the action of extrusion pressure and automatically extend and return to its original position after the extrusion pressure is released.

[0091] Preferably, the device also includes a core insertion mechanism, which can insert the needle core 6-7 into the puncture needle 16 along the delivery conduit 15, thereby filling the space inside the puncture needle 16 and preventing blood from flowing into the puncture needle 16 and clotting, causing blockage; or the core removal mechanism is the same as the core insertion mechanism. The core removal mechanism adopts a friction core removal assembly, in which a part of the friction core removal assembly is pressed against the needle core 6-7. The friction core removal assembly can be driven in both forward and reverse directions, and the friction force generated by the pressing is used to realize the extraction and insertion of the needle core 6-7; the core removal mechanism is equipped with a position measuring device, which can measure the actual displacement of the needle core, thereby accurately controlling the needle core from being completely removed from the friction core removal assembly, facilitating the extraction and insertion of the needle core. The displacement measuring device includes a measuring wheel that is pressed against the needle core and an angle sensor for measuring the rotation angle of the measuring wheel. When the needle core moves back and forth, it will drive the measuring wheel to rotate, thereby converting the actual displacement of the needle core according to the measurement value of the angle sensor.

[0092] Preferably, the tail of the needle core 6-7 is provided with a stop step. The insertion mechanism achieves precise positioning of the needle core 6-7 by the stop step of the needle core 6-7 and the limiting effect of the inlet end face of the delivery conduit 15, so that the front end of the needle core 6-7 reaches the front end of the puncture needle 16 and does not continue to protrude forward.

[0093] The insert mechanism is equipped with a position measuring device. The displacement measuring device can measure the actual displacement of the needle core 6-7. When the displacement measuring device detects that the needle core 6-7 has been inserted into the delivery conduit 15 and is in place, it controls the insert mechanism to stop operating. The position measuring device is similar in structure to the position detection device in the core pulling mechanism, so it will not be described in detail in this article.

[0094] The insertion mechanism and the extraction mechanism can be the same mechanism, and insertion or extraction can be achieved by controlling the forward and reverse operation. Alternatively, the insertion mechanism can be set up independently and controlled separately. The specific structure of the insertion mechanism can be similar to that of the extraction mechanism, for example, using one or more combinations of friction wheels, friction belts, and reciprocating clamping components. The friction wheel assembly or friction belt assembly has one or more sets of friction wheels or friction belts. The needle core is pressed against one side of the friction wheel or friction belt, and the needle core is driven to insert through the rotational motion of the friction wheel or the cyclical motion of the friction belt. The reciprocating clamping component includes a reciprocating motion component and a clamping component. The clamping component is set on the reciprocating motion component and can reciprocate along a certain trajectory under the drive of the reciprocating motion component. The clamping component can clamp and insert the needle core when driven by the reciprocating motion component in the direction of insertion, and release the needle core when driven by the reciprocating motion component in the opposite direction, thereby resetting it. Alternatively, the insertion mechanism can also adopt other structures, which will not be specifically described in this document.

[0095] As a preferred option, such as Figure 4 and Figure 5As shown: The radioactive source implantation device 14 includes a main body 1401, a push rod drive mechanism and a radioactive source feeding part 1402. The push rod drive mechanism is mounted on the main body 1401. The push rod output channel 13 is connected to the push rod drive mechanism. The push rod drive mechanism drives the push rod 1301 to move back and forth along the push rod output channel 13. The radioactive source feeding part 1402 is used to place the radioactive source at the front end of the push rod 1301. The push rod 1301 can push the radioactive source all the way to the target position.

[0096] The push rod drive mechanism adopts a friction drive assembly. A part of the friction drive assembly is pressed against the push rod 1301. The friction force generated by the pressing drives the push rod 1301. The friction drive assembly is one or more combinations of friction wheel, friction belt, and reciprocating clamping assembly. Specifically, the friction wheel is used as follows: it includes an active friction wheel 1403, a pressing friction wheel 1404, and a winding wheel 1405. The active friction wheel 1403 and the pressing friction wheel 1404 cooperate to clamp the push rod 1301 and drive it to move back and forth. The push rod 1301 is stored in the winding wheel 1405.

[0097] Preferably, the radioactive source is a particle or a particle chain, the particle chain being a strip containing radioactive material, the particle chain comprising particles and spacers, with adjacent particles directly abutting each other or separated by spacers, the spacers being made of a biodegradable material; or, the particle chain comprising particles and a particle chain sleeve, multiple particles being arranged close together or spaced apart in the particle chain sleeve, the particle chain sleeve being a closed tube or an open tube with grooves on the sides, the particle chain sleeve being a continuous long tube or a short tube connecting only two adjacent particles; the particle chain sleeve having a through structure inside or having a partition inside for axially positioning the particles; the particles and spacers being connected by adhesive or directly abutting each other, or the particle chain sleeve being fitted over the particles and spacers, the particle chain sleeve fixing the relative position of the particles and / or spacers; the particle chain sleeve being made of a biodegradable material; the biodegradable material being one or more combinations of collagen, polymers, gelatin, alginate, and biodegradable polyester materials.

[0098] Preferably, the radioactive source feeding section is a cutting mechanism. In this case, the push rod itself is a particle chain or a particle chain sleeve, or the front half of the push rod is a particle chain or a particle chain sleeve that can be cut by the cutting mechanism, and the rear half of the push rod is a push rod wire. The particle chain or particle chain sleeve of the target length is cut off from the front end of the push rod by the cutting mechanism, thereby realizing the feeding of the particle chain or particle chain sleeve. When the cut-off part is a particle chain sleeve, the radioactive source feeding section also includes a particle embedding mechanism. The particle embedding mechanism enables the particles and / or spacers to be embedded into the particle chain sleeve from one end or side of the particle chain sleeve, thereby forming a complete particle chain. The cutting mechanism is set at any point in the push rod output channel.

[0099] Alternatively, the radioactive source feeding unit adopts a magazine feeding method, which is directly set in the push rod output channel. Particles or pre-made particle chains or particle chain sleeves are loaded into the magazine's storage slots or storage holes. The magazine feeding mechanism installed on the magazine places the particles or pre-made particle chains or particle chain sleeves at the front end of the push rod for feeding. When the magazine contains a particle chain sleeve, the radioactive source feeding unit also includes a particle embedding mechanism, which enables the particles and / or spacers to be embedded into the particle chain sleeve from one end or side, thereby forming a complete particle chain.

[0100] Alternatively, the radioactive source feeding unit adopts a particle chain feeding method. The radioactive source feeding unit includes a particle chain driving mechanism, a particle chain output channel, and a cutting mechanism. The particle chain driving mechanism continuously outputs particle chains or particle chain sleeves, and the cutting mechanism cuts the particle chains or particle chain sleeves to the target length to achieve the feeding of particle chains or particle chain sleeves. When the particle chain driving mechanism outputs particle chain sleeves, the radioactive source feeding unit also includes a particle embedding mechanism. The particle embedding mechanism enables particles and / or spacers to be embedded into the particle chain sleeve from one end or side, thereby forming a complete particle chain. The particle chain driving mechanism is connected to the particle chain output channel, which is a rigid structure or a flexible bendable structure. The cut particle chain is positioned in front of the push rod through a branched tube or motion platform docking.

[0101] Example 2

[0102] like Figure 2 , 6As shown in Figures 7 and 8, the core-removing mechanism 10 and the connector 11 are respectively installed on both sides of the first motion platform 12. One end of multiple delivery conduits 15 containing needle cores 6-7 is installed on the connector 11, and the tail of the needle core 6-7 protrudes from the other end of the connector 11. The first motion platform 12 enables relative movement between the core-removing mechanism 10 and the connector 11 in space, adjusting the position and / or spacing between the core-removing mechanism 10 and the tails of different delivery conduits 15. The core-removing mechanism 10 automatically docks with the needle cores 6-7, allowing it to dock with different delivery conduits 15 one by one and extract the needle cores 6-7 from the delivery conduits 15, achieving multi-channel core removal. The needle core storage mechanism is... The sleeve, the front and rear movement module of the first motion platform 12 can change the relative distance between the core-pulling mechanism 10 and the sleeve. The front and rear movement module feeds forward, the core-pulling mechanism 10 docks with the needle core 6-7, the core-pulling mechanism 10 pulls out the needle core 6-7 and sends it into the sleeve. During the process of pulling out the needle core 6-7, the front and rear movement module feeds backward until the needle core 6-7 is completely pulled out. Then the front and rear movement module feeds forward again. Since most of the needle core 6-7 is still in the sleeve at this time, under the action of the friction between the needle core and the sleeve, the front end of the pulled-out needle core 6-7 will be disengaged from the tail end outlet of the core-pulling mechanism 10, thereby avoiding the newly pulled-out needle core 6-7 from blocking the core-pulling mechanism 10, which facilitates the sequential pulling out of multiple needle cores.

[0103] The needle core removal mechanism uses a friction wheel or friction belt needle core removal assembly, which includes multiple friction wheels 101 or multiple friction belts. A moving passage 102 is provided between the friction wheels 101 or the friction belts. The friction wheels 101 or friction belts contact the needle core in the delivery conduit and drive the needle core to move within the moving passage 102, thereby removing the entire needle core from the delivery conduit.

[0104] like Figure 6-8 As shown, the position measuring component includes one or more measuring wheels 103, which are disposed on one side of the moving path 102. The measuring wheels 103 are used to measure the amount of movement of the needle core within the moving path 102. The needle core contacts the outer circular surface of the measuring wheel. When the needle core passes through the side of the measuring wheel 103, it will drive the measuring wheel 103 to rotate. The position measuring component also includes a limit switch, which is a conductive limit switch. Utilizing the characteristic that the needle core itself is a conductor, the position of the needle core is determined based on the continuity of conduction. This includes elastic contacts or spring-loaded pins. Alternatively, the limit switch can be a mechanical switch, a photoelectric switch, or a Hall effect switch.

[0105] A transmission mechanism is provided between multiple friction wheels 101 or multiple friction belts to ensure that the multiple friction wheels 101 or multiple friction belts rotate synchronously and achieve smooth driving of the needle core. The transmission mechanism adopts one or more combinations of belt drive, gear drive, chain drive, and friction wheel drive.

[0106] One end of the first friction wheel 101-1 is connected to the first gear 104-1. The second friction wheel 101-2 is located below the first friction wheel 101-1. One end of the second friction wheel 101-2 is connected to the second gear 104-2. The first gear 104-1 meshes with the second gear 104-2. The other end of the second friction wheel 101-2 is connected to the first pulley 105-1. One end of the third friction wheel 101-3 is connected to the third gear 104-3. The fourth friction wheel 101-4 is located below the third friction wheel 101-1. Below wheel 101-3, one end of the fourth friction wheel 101-4 is connected to the fourth gear 104-4, and the third gear 104-3 meshes with the fourth gear 104-4. The other end of the fourth friction wheel 101-4 is connected to the second pulley 105-2. The first pulley 105-1 and the second pulley 105-2 are connected by the first belt 106-1. Below the first measuring wheel 103-1, the second measuring wheel 103-2 is provided, and one end of the second measuring wheel 103-2 is connected to the encoder 107. A first motor 109 is also provided on the side of the housing 108, and the output end of the first motor 109 is connected to the second pulley 105-2 by the second belt 106-2.

[0107] The friction core-pulling mechanism also includes a reciprocating motion mechanism, a toggle mechanism, or an active storage mechanism. These mechanisms disengage the needle core from the core-pulling channel, clearing the channel and preventing blockages during multi-core storage. The reciprocating motion mechanism alters the distance between the core-pulling and needle-receiving mechanisms. A spring tube component at the entrance of the core-receiving mechanism guides the needle core smoothly into the mechanism, and compresses the spring tube component when the distance between them shortens.

[0108] The reciprocating motion mechanism has the following motion patterns: A) driving the core-pulling mechanism to move back and forth while keeping the core-collecting mechanism fixed; B) keeping the core-pulling mechanism fixed while driving the core-collecting mechanism to move back and forth. The reciprocating motion mechanism is one or a combination of a screw and nut mechanism, a gear and rack mechanism, a belt drive mechanism, a pneumatic push rod, and a hydraulic push rod.

[0109] like Figure 9-12As shown, the reciprocating motion mechanism changes the distance between the needle core storage mechanism and the needle core extraction mechanism. The needle core storage mechanism 6-1 is limited within the storage mechanism connecting seat 6-2, which is fixed to the motor connecting plate. A rear fixing ring 6-3 is installed at the front end of the needle core storage mechanism 6-1, and a front fixing ring 6-4 is installed at the rear of the needle core extraction mechanism. A spring 6-5 is fixedly connected between the rear fixing ring 6-3 and the front fixing ring 6-4. A flexible film 6-6 or a second sleeve is installed between the rear fixing ring 6-3 and the front fixing ring 6-4 and inside the spring 6-5. The second sleeve can be inserted into the needle core storage mechanism, or the needle core storage mechanism can be inserted into the second sleeve.

[0110] The front fixing ring 6-4 is located behind the needle core pulling mechanism 10. The needle core pulling mechanism 10 pulls out the needle core 6-7 from the needle plate and collects the needle core 6-7 through the collection device 6-1. During the needle core pulling process, the needle core pulling mechanism 10 will move backward, which will push the front fixing ring 6-4 backward. When the needle core 6-7 is collected and ready for the second collection, the needle core pulling mechanism 10 will move forward again, and the front fixing ring 6-4 will return to its original position. Since most of the collected needle core is retained inside the collection device, it will be separated from the needle core pulling channel of the needle core pulling mechanism under the friction between the needle core and the inner wall of the collection device, thus clearing the needle core pulling channel of the needle core pulling mechanism and making room for the next needle core collection, avoiding blockage.

[0111] Example 3

[0112] Friction-type core-removing mechanisms also include reciprocating motion mechanisms, actuating mechanisms, or active storage mechanisms. These mechanisms disengage the needle core from the core-removing channel, clearing the channel and preventing blockages during multi-core storage.

[0113] like Figure 13-16As shown, the friction core-pulling mechanism is an active storage mechanism. A second core-pulling mechanism 40217401 is installed on the rotating arm. A rotating shaft 40217408 is installed behind the second core-pulling mechanism 40217401, and a synchronous pulley B 40217404 is installed on the rotating shaft 40217408. A synchronous pulley A 40217402 is installed on the friction wheel shaft 40217411 of the second core-pulling mechanism 40217401. Synchronous pulley A 40217402 and synchronous pulley B 40217404 are connected by a synchronous belt 40217403. The rotating shaft 40217408 is mounted on the fixed plate A 40217412 and the fixed plate B 40217413 via bearings 40217409. A receiving wheel 40217405 is provided at the end of the rotating shaft 40217408, and an elastic cover plate 40217406, which is a flexible component, is provided on the surface of the receiving wheel 40217405. A fixing nut 40217414 is provided on the rear side of the receiving wheel 40217405 to lock the receiving wheel 40217405. A guide tube 40217407 is provided on the rear side of the second core-pulling mechanism 40217401, and the other end of the guide tube 40217407 extends into the inner groove of the receiving wheel 40217405 through the gap between the elastic cover plate and the receiving wheel.

[0114] The working principle of this embodiment is as follows: When the second core-pulling mechanism 40217401 is working, the friction wheel shaft 40217411 rotates, and the synchronous pulley A 40217402 fixed to it rotates, which drives the synchronous pulley B 40217404 to rotate through the synchronous belt 40217403, so that the storage wheel 40217405 rotates synchronously.

[0115] When the second core-removing mechanism 40217401 removes the needle core 40217410, the needle core 40217410 is conveyed to the receiving wheel 40217405 through the guide tube 40217407. This is because the synchronous pulley A 40217402 and synchronous pulley B... 40217404 has a certain rotational speed ratio, which enables the needle core 40217410 pulled out by the second core-pulling mechanism 40217401 to be synchronously wound into the inside of the receiving wheel 402174. After the needle core 40217410 is wound into and leaves the friction wheel of the second core-pulling mechanism 40217401, the second core-pulling mechanism 40217401 will continue to work, and the rotational motion transmitted by the synchronous belt pulley will cause the receiving wheel 40217405 to rotate, so that the needle core 40217410 is completely stored in the receiving wheel 40217405. This completely pulls the needle core out of the core-pulling channel in the core-pulling mechanism, making room for the next needle core to be pulled out and avoiding multiple cores from blocking the channel. After multiple needle cores 40217410 are stored, the fixing nut 40217414 can be removed and the receiving wheel 40217405 can be taken out separately for recycling.

[0116] Example 4

[0117] like Figure 17 As shown, this embodiment uses a first motion platform to achieve three degrees of freedom in space for one end of the push rod output channel and / or the connecting part through linear motion in three directions. The first motion platform 12 consists of three parts: a front-back motion module, a left-right motion module, and a top-down motion module, realizing three degrees of freedom of motion. Specifically: a particle gun three-axis robot includes a top-down motion module 1, a left-right motion module 2, a front-back motion module 3, a particle guiding module 4, a particle implantation gun 5, and a surgical robot flange 6. The top-down motion module 1 is used to realize the top-down motion of the particle gun; the left-right motion module 2 is used to realize the left-right motion of the particle gun; the front-back motion module 3 is used for the front-back motion of the push rod output channel and the core extraction mechanism (not shown in the figure) of the particle gun 5; the particle guiding module 4 is used to guide and fix the particle delivery pipe; the particle gun 5 is used to deliver particles; and the surgical robot flange 6 is used to connect with the surgical robot. Since there are many specific driving methods for the top-down motion module 1, the left-right motion module 2, and the front-back motion module 3, such as direct motor drive, gear and rack drive, synchronous belt drive, or drive through a lead screw and nut, etc., they will not be described in detail in this text.

[0118] Example 5

[0119] The radioactive source feeding section is a cutting mechanism. In this case, the push rod itself is a particle chain or a particle chain sleeve, or the front half of the push rod is a particle chain or a particle chain sleeve that can be cut by the cutting mechanism, and the rear half of the push rod is a push rod wire. The particle chain or particle chain sleeve of the target length is cut off from the front end of the push rod by the cutting mechanism, thereby realizing the feeding of the particle chain or particle chain sleeve. When the cut-off part is a particle chain sleeve, the radioactive source feeding section also includes a particle embedding mechanism. The particle embedding mechanism enables the particles and / or spacers to be embedded into the particle chain sleeve from one end or side of the particle chain sleeve, thereby forming a complete particle chain. The cutting mechanism is set at any point in the push rod output channel.

[0120] like Figure 18-23 As shown, this embodiment can achieve automatic switching of implantation channels. The radiation source feeding unit uses a cutting mechanism for feeding. At this time, the push rod itself is a particle chain or a particle chain sleeve. Then, the particle chain or particle chain sleeve is cut by the cutting mechanism to achieve feeding. When the particle chain sleeve is cut off, the radiation source feeding unit also includes a particle embedding mechanism. The particle embedding mechanism can embed the particles and / or spacers from one end or side of the particle chain sleeve into the particle chain sleeve, thereby forming a complete particle chain. The first motion platform is a first rotary arm mechanism.

[0121] It includes a first core-pulling mechanism 18122101, a first rotating arm mechanism 18122102, an ejection mechanism 18122103, a first docking plate 18122104, a first docking hole 18122105, a storage box 18122106, a conveying mechanism 18122107, a cutting blade 18122108, a linkage mechanism 18122109, a motor A 18122110, a docking motion seat 18122121, a docking rod 18122122, a particle chain 18122127, a spacer rod 18122126, a delivery conduit 15, and a puncture needle 16.

[0122] Its working principle is as follows: A conveying mechanism 18122107 is set on the pushing mechanism 18122103 of the first rotary arm mechanism 18122102. A storage box 18122106 is set at the end of the conveying mechanism 18122107. The storage box is used to store the particle chain 18122127. A docking rod 18122122 is set at the front end of the conveying mechanism. The docking rod 18122122 is fixed on the docking motion seat 18122121. There is a slot on the rear side of the docking rod 18122122. A motor A18122110 is set on the docking motion seat 18122121. 18122110 is fixed to the linkage mechanism 18122109, and the linkage mechanism 18122109 is connected to the cutting blade 18122108, which is located at the slot of the connecting rod 18122122.

[0123] During the puncture procedure, the first rotating arm mechanism 18122102 first aligns the first core-removing mechanism 18122101 with the first docking hole 18122105, thereby controlling the first core-removing mechanism 18122101 to remove the needle core inside the delivery catheter. Subsequently, the first rotating arm mechanism 18122102 operates to align the docking rod 18122122 with the first docking hole 18122105, and the ejection mechanism 18122103 ejects the docking rod 18122122 to align with the first docking hole 18122105. The conveying mechanism 18122107 pushes out the particle chain 18122127 inside the storage box 18122106. The particle chain 18122127 is mainly composed of particles and spacer bars 18122126. After pushing out the particle chain 18122127 of the target length, the motor A 18122110 rotates to drive the linkage mechanism 18122109 to work, rotating the cutting blade 18122108 and cutting off the spacer bars 18122126 of the particle chain 18122127 inside the docking rod 18122122. Then, the motor A... The operation 18122110 causes the cutting blade 18122108 to return to its initial position. The delivery mechanism 18122107 pushes out the particle chain 18122127, which has been cut at the front end, and delivers it into the body through the delivery conduit and the puncture needle 16 connected to it. At the same time, the external needle removal mechanism performs the needle removal operation. While removing the needle, the delivery mechanism 18122107 will simultaneously push out the particle chain 18122127. After the needle removal is completed, the cut particle chain 18122127 will remain at the lesion site and the implantation work will be completed.

[0124] Example 6

[0125] like Figure 24-25 As shown, the radioactive source feeding unit adopts a magazine feeding method. The radioactive source feeding unit is directly set in the push rod output channel. Particles or pre-made particle chains or particle chain sleeves are installed in the magazine's storage slots or storage holes. The particles or pre-made particle chains or particle chain sleeves are placed at the front end of the push rod for feeding through the magazine feeding mechanism installed on the magazine. When the magazine contains a particle chain sleeve, the radioactive source feeding unit also includes a particle embedding mechanism. The particle embedding mechanism enables the particles and / or spacers to be embedded into the particle chain sleeve from one end or side, thereby forming a complete particle chain.

[0126] It also includes a first motion platform (such as the rotary arm mechanism in this embodiment) and a connector. One end of multiple delivery conduits is mounted on the connector. One end of the push rod output channel is mounted on the first motion platform. The first motion platform is used to realize the relative movement between one end of the push rod output channel or one end of the mixed output channel and the connector in space, so that the push rod output channel or the mixed output channel is connected to any delivery conduit on the connector to form a delivery channel for particles or particle chains, thereby realizing multi-channel implantation.

[0127] The first motion platform is one of the following: A. The connector moves while one end of the push rod output channel remains stationary; B. The connector remains stationary while one end of the push rod output channel moves; C. The connector moves while one end of the push rod output channel moves.

[0128] In this embodiment, the first motion platform is also called the second rotary arm mechanism 2262202, the push rod output channel is the docking rod 2262210, the connecting part is stationary, and one end of the push rod output channel moves.

[0129] A magazine holder 2262201 is provided on one side of the second rotary arm mechanism 2262202, and a particle chain magazine 2262207 is provided inside the magazine holder 2262201. Limit switches A2262206 and B2262209 are respectively provided at both ends of the magazine holder 2262201. Multiple first particle chains 2262208 are provided inside the particle chain magazine 2262207. The first particle chain 2262208 is composed of multiple radioactive particles and spacers arranged in sequence.

[0130] Before implantation, different sizes of particle clips or particle chain clips 2262207 are selected according to the patient's needs. The second rotating arm mechanism 2262202 first controls the docking rod at the front end of the particle chain clip 2262207 to move to the position of the second docking hole 2262203 to be implanted. The other side of the second docking hole 2262203 is connected to the puncture needle tube 2262204. Then the second rotating arm mechanism 2262202 pushes out the docking rod 2262210 to make it cooperate with the second docking hole 2262203. The particle push rod 2262205 pushes out the particles or the first particle chain 2262208 from the particle magazine or particle chain magazine 2262207. The limit switches A2262206 and B2262209 inside the magazine holder 2262201 detect the current position of the particle push rod 2262205 and check whether it has pushed out the particles or the first particle chain 2262208. The particles or the first particle chain 2262208 are pushed out and pass through the puncture needle 2262204 to the lesion site in the human body.

[0131] Example 7

[0132] like Figure 26-30As shown, the radioactive source feeding unit adopts a particle chain feeding method. The radioactive source feeding unit includes a particle chain driving mechanism, a particle chain output channel, and a cutting mechanism. The particle chain driving mechanism continuously outputs particle chains or particle chain sleeves, and the cutting mechanism cuts the particle chains or particle chain sleeves to the target length to achieve the feeding of particle chains or particle chain sleeves. When the particle chain driving mechanism outputs particle chain sleeves, the radioactive source feeding unit also includes a particle embedding mechanism. The particle embedding mechanism enables particles and / or spacers to be embedded into the particle chain sleeve from one end or side, thereby forming a complete particle chain. The particle chain driving mechanism is connected to the particle chain output channel, which is a rigid structure or a flexible bendable structure. The cut particle chain is positioned in front of the push rod through a branched tube or motion platform docking.

[0133] The push rod output channel and the particle chain output channel converge into a single channel through a branch pipe. The first branch of the branch pipe is connected to the push rod output channel, the second branch of the branch pipe is connected to the particle chain output channel, the main pipe of the branch pipe is connected to the mixed output channel, and the mixed output channel is connected to the delivery conduit. The mixed output channel is a rigid structure or a flexible bendable structure.

[0134] When a particle or particle chain implantation device is needed, the particle chain of the target length, which has been cut, is delivered to the main channel of the branch tube through the particle chain drive mechanism. The particle chain drive mechanism then withdraws the uncut particle chain from the main channel of the branch tube. Subsequently, the push rod moves forward under the drive of the push rod drive mechanism and enters the main channel of the branch tube, pushing the particle chain of the target length forward together. The particle chain is pushed into the biological tissue along the delivery catheter and the puncture needle connected to the front end of the delivery catheter, thus completing the implantation of the particle chain in one go.

[0135] The branch tube can also be a multi-channel branch tube. The number of branches in a multi-channel branch tube is greater than 2, and it is equipped with multiple particle chain driving mechanisms that drive particle chains of different models or spacer lengths. The particle chain output channels of different particle chain driving mechanisms are connected to different branches of the branch tube, thereby converging different types of particle chains cut to the target length into the main channel. Different types of particle chains can be set according to surgical needs and implanted into biological tissues through push rods.

[0136] The cutting mechanism is located at any point in the particle chain output channel, the branch tube, or the mixing output channel.

[0137] The main pipe of the branch pipe is equipped with a one-way check mechanism to prevent the particle chain from flowing back in the opposite direction. The one-way check mechanism is a damping block or an elastic check element.

[0138] The cutting mechanism adopts one or more combinations of guillotine cutting mechanism, scissor cutting mechanism, and ring cutting mechanism. The guillotine cutting mechanism completes the cutting by moving a single blade, the scissor cutting mechanism completes the cutting by moving two blades simultaneously towards each other, and the ring cutting mechanism completes the cutting by moving at least three blades simultaneously towards the center point.

[0139] It also includes a power source for cutting off, which is connected to the cutting mechanism through a cutting transmission mechanism or directly connected to the cutting mechanism, thereby transmitting power to the cutting mechanism to complete the cutting action. The cutting transmission mechanism is one or more of a linkage mechanism, a lead screw and nut mechanism, a gear mechanism, a belt drive mechanism, and a cam mechanism. The power source for cutting off is one or more of a motor, a pneumatic push rod, a pneumatic motor, a hydraulic push rod, and a hydraulic motor.

[0140] In this embodiment, the third rotating arm mechanism 2026216 inserts the docking nozzle 2026215 into the hole on the needle plate to complete the docking with the implantation channel 2026213. The second particle chain 202621 is cut and sent into the docking nozzle 2026215 after being cut by the particle chain driving mechanism 202623, limit switch C2026212, limit switch D202627, limit switch E2026210 and the cutting mechanism 202622. The second flexible push rod 202624 moves forward through the flexible push rod driving mechanism 2026211, pushing the cut second particle chain 202621 forward together into the human body, thus completing the particle implantation in one go.

[0141] The cutting mechanism 202622 in this embodiment can also be placed at the docking nozzle (i.e., after the pipe converges). In this way, the second particle chain can be driven to the docking nozzle first, then cut off, and then withdrawn from the docking nozzle, and then the second flexible push rod can be used to push the second particle chain.

[0142] The bifurcation tube can be replaced by a docking motion platform. First, the output channel of the particle or particle chain is docked with the mixed output channel or delivery conduit, and the particle or particle chain is pushed into the mixed output channel or delivery conduit. Then, the push rod output channel is docked with the mixed output channel or delivery conduit, and the particle or particle chain is pushed forward until it is implanted into the biological tissue.

[0143] Particle chain implantation process:

[0144] 1. The third rotary arm mechanism 2026216 operates (through the cooperation of one rotary component and two linear motion components) to insert the docking nozzle 2026215 into the corresponding connection hole of the implantation channel 2026213 for this implantation, thus completing the docking with the implantation channel 2026213.

[0145] Second: The second particle chain 202621 (a chain-like implant composed of particles and spacers) is delivered into the sub-channel of the delivery pipe 202625 via the particle chain drive mechanism 202623.

[0146] Three: After conveying to the specified length ( Figure 28 Afterwards, the cutting mechanism 202622 cuts off the material (limit switch C2026212 marks the zero position, limit switch D202627 determines whether the second particle chain is used up). The cutting blade 202622-2 is connected to the electric push rod 202622-3. When the electric push rod 202622-3 moves forward, it will drive the cutting blade 202622-2 forward together to complete the cutting. The cutting blade 202622-2 is equipped with a guide post 202622-4 along the cutting direction to ensure that the cutting blade does not deviate from the cutting direction. Figure 29 ).

[0147] 4. The particle chain drive mechanism 202623 continues to drive the second particle chain 202621 forward. (Since the cutting process will compress and deform the second particle chain 202621, a guide port 202622-5 is provided at the cut to guide it, in order to ensure that the cut second particle chain 202621 can continue to move forward. See...) Figure 29 After the severed second particle chain 202621 enters the front end of the docking nozzle, it is retracted back into the particle chain winding wheel 202628. (The front end of the docking nozzle is equipped with damping 2026215-1 to prevent the position of the severed second particle chain from shifting during the retraction of the second particle chain. See...) Figure 30 ).

[0148] Fifth: The second flexible push rod 202624 moves forward through the flexible push rod drive mechanism 2026211 (detected and recorded by the limit switch E2026210) and merges into the main pipe from the branch pipe of the delivery pipe 202625 (the main pipe and the docking nozzle are relatively fixed). Pushing the cut second particle chain 202621 forward together, it enters the human body to complete the particle implantation in one go. Then the second flexible push rod 202624 is retracted into the flexible push rod winding wheel 202629.

[0149] Six: The third rotating arm mechanism works again to insert the docking nozzle into the corresponding connection hole of the next implantation channel to be implanted, repeating the above implantation action until the implantation is completed. To save time, step one can be completed simultaneously during steps two to four.

[0150] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the scope of the invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0151] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A multi-channel radioactive source implantation system with a coring mechanism, characterized in that, The first connecting part, the first movement platform, the radioactive source implanting device and the core pulling mechanism are provided, the radioactive source implanting device comprises a push rod and a push rod output channel, the push rod output channel is used for guiding the push rod to move forward and backward, the push rod pushes the radioactive source arranged in front of the push rod to output along the push rod output channel, the first connecting part and one end of the push rod output channel are respectively arranged on two sides of the first movement platform, the core pulling mechanism is arranged on the same side of the first movement platform in parallel with one end of the push rod output channel, the first movement platform drives the first connecting part and one end of the push rod output channel to relatively move in space, and multi-channel implanting is realized; the first movement platform drives the first connecting part and the core pulling mechanism to relatively move in space, and multi-channel core pulling is realized.

2. The multi-channel radioactive source implantation system with a coring mechanism of claim 1, wherein, The connecting part is connected with a connecting piece, a plurality of connecting holes are arranged on the connecting piece, a quick connecting structure for connecting one end of a delivery catheter is arranged on the connecting hole, the other end of the delivery catheter is connected with a puncture needle or is provided with a quick connecting head for connecting the puncture needle, a needle core is arranged in the delivery catheter, the tail of the needle core extends out of the tail of the delivery catheter by a small section, and extends out of the other side of the connecting hole, the core pulling mechanism is in butt joint with the tail of the needle core in the delivery catheter, the needle core can be pulled out of the delivery catheter, and a hollow implanting channel is formed, the core pulling mechanism adopts a friction core pulling assembly, a part of the friction core pulling assembly is in pressure contact with the needle core, the needle core is pulled out through the friction force generated by the pressure contact, and the friction core pulling assembly is one or a plurality of combinations of a friction wheel, a friction belt and a reciprocating clamping assembly. The first connecting part is one or a plurality of combinations of a viscose connecting part, a welding connecting part, a threaded connecting part, a buckle connecting part and a lock connecting part.

3. The multi-channel radioactive source implantation system with coring mechanism of claim 2, wherein, The first movement platform drives the connecting piece and one end of the push rod output channel to relatively move in space, so that one end of the push rod output channel is in butt joint communication with the connecting hole, and the radioactive source is output out of the delivery catheter connected with the connecting hole, and the first movement platform is one of the following modes: A, the connecting piece moves, and one end of the push rod output channel is static; B, the connecting piece is static, and one end of the push rod output channel moves; C, the connecting piece moves, and one end of the push rod output channel moves; The first movement platform is used for realizing relative movement of at least two degrees of freedom of the connecting piece and one end of the push rod output channel, and the relative movement mode is one of the following modes: A, the connecting piece is fixed, and one end of the push rod output channel moves linearly forward and backward and moves in a plane; B, the connecting piece moves linearly forward and backward, and one end of the push rod output channel moves in a plane; C, the connecting piece moves in a plane, and one end of the push rod output channel moves linearly forward and backward; D, the connecting piece moves linearly forward and backward and moves in a plane, and one end of the push rod output channel is fixed; The movement in the plane is one of single-joint rotary motion, single-joint rotary motion combined with radial linear motion, double-joint rotary motion or XY-axis linear motion. The first motion platform comprises a front-back motion module, a rotary motion module and a radial motion module, and the first motion platform realizes the motion of one end of the push rod output channel in three degrees of freedom in space through rotary motion in one direction and linear motion in two directions. Alternatively, the first motion platform comprises a front-back motion module, a left-right motion module and an up-down motion module, and the first motion platform realizes the motion of one end of the push rod output channel in three degrees of freedom in space through linear motion in three directions.

4. The multi-channel radioactive source implantation system with a coring mechanism of claim 2, wherein, The first motion platform is provided with a first front-back motion mechanism and a second front-back motion mechanism, which are respectively used for front-back docking motion of the core pulling mechanism and one end of the push rod output channel. First, the core pulling mechanism is docked with the tail of the needle core in one conveying guide tube on the connecting piece, and the needle core is pulled out. After the core pulling is completed, a new implantation channel is established. Under the driving of the first motion platform, the push rod output channel is docked and communicated with the conveying guide tube, and then implantation is performed through the newly established implantation channel.

5. The multi-channel radioactive source implantation system with a coring mechanism of claim 2, wherein, The needle core receiving mechanism is used for receiving the needle core pulled out from the core pulling mechanism, and the needle core receiving mechanism is arranged at the rear end of the core pulling mechanism. When the needle core is output from the rear end of the core pulling mechanism, the needle core receiving mechanism is dynamically received accordingly. Alternatively, the needle core receiving mechanism is part of the core pulling mechanism, and the receiving of the needle core is completed at the same time as the core pulling. The needle core receiving mechanism is a wheel type receiving mechanism or a sleeve.

6. The multi-channel radioactive source implantation system with a coring mechanism of claim 5, wherein, The wheel type receiving mechanism adopts a wire winding wheel assembly, and the wire winding wheel assembly comprises a receiving wheel and a receiving wheel driving mechanism. The receiving wheel is driven to rotate by the receiving wheel driving mechanism, so that the needle core is wound on the outer surface of the receiving wheel or the outside of the outer surface of the receiving wheel. Alternatively, the wheel type receiving mechanism adopts an inner recess type receiving wheel. The inner recess type receiving wheel has an inner recess structure and is provided with an opening on the side surface. The needle core is inserted into the inner recess type receiving wheel from the side opening. The inner recess type receiving wheel is freely rotatable or actively rotatable and is arranged behind the core pulling mechanism. Under the joint action of the self-elastic force of the needle core and the core pulling mechanism and the inner recess type receiving wheel, the needle core is automatically wound in the inner recess area of the inner recess type receiving wheel.

7. The multi-channel radioactive source implantation system with a coring mechanism of claim 5, wherein, The sleeve is any one of a straight sleeve, a spiral sleeve and a film type sleeve. The material of the sleeve is one or a combination of metal, plastic, rubber, latex, silicone and elastomer. A lubricant is arranged in the sleeve to facilitate the smooth insertion of the needle core. Alternatively, the inner surface of the sleeve is uniformly coated with lubricating grease or the inner surface of the sleeve adopts a lubricating coating to realize the lubricating effect. The material of the lubricating coating is Teflon. The inlet end of the sleeve is provided with an elastic expansion section. The elastic expansion section can be shortened under the action of extrusion force and automatically elongated and reset after the extrusion force is released.

8. The multi-channel radioactive source implantation system with a coring mechanism of claim 2, wherein, The insertion mechanism can send the needle core into the puncture needle along the conveying guide tube. Or the core pulling mechanism is a plug-in core mechanism, the core pulling mechanism adopts a friction core pulling assembly, a part of the friction core pulling assembly is pressed against the needle core, the friction core pulling assembly can be driven in forward and reverse directions, and the needle core is pulled out and inserted through friction generated by the pressing; The core pulling mechanism is provided with a position measuring device, the displacement measuring device can measure the actual displacement of the needle core, so as to accurately control the needle core from being completely separated from the friction core pulling assembly, facilitate the pulling and insertion of the needle core, the displacement measuring device includes a measuring wheel pressed against the needle core and an angle sensor for measuring the rotation angle of the measuring wheel, when the needle core moves forward and backward, the measuring wheel will rotate, so as to convert the actual displacement of the needle core according to the measurement value of the angle sensor.

9. The multi-channel radioactive source implantation system with a coring mechanism of claim 8, wherein, The tail of the needle core is provided with a stop step, the plug-in core mechanism realizes accurate positioning of the needle core through the limiting action of the stop step of the needle core and the inlet end face of the delivery guide tube, so that the front end of the needle core reaches the front end of the puncture needle without continuing to expose forward; The plug-in core mechanism is provided with a position measuring device, the displacement measuring device can measure the actual displacement of the needle core, when the displacement measuring device detects that the needle core is inserted into the delivery guide tube and is in place, the plug-in core mechanism is controlled to stop moving.

10. The multi-channel radioactive source implantation system with a coring mechanism of claim 1, wherein, The radioactive source implanting device comprises a main body, a push rod driving mechanism and a radioactive source feeding part, the push rod driving mechanism is arranged on the main body, the push rod output channel is connected with the push rod driving mechanism, the push rod driving mechanism drives the push rod to move forward and backward along the push rod output channel, and the radioactive source feeding part is used for arranging the radioactive source at the front end of the push rod. The push rod can push the radioactive source to be implanted to the target position; the radioactive source feeding part is a cutting mechanism, at this time the push rod itself is a particle chain or a particle chain sleeve, or the front half of the push rod is a particle chain or a particle chain sleeve which can be cut off by the cutting mechanism, and the rear half of the push rod is a push rod wire. The particle chain or the particle chain sleeve of the target length is cut off from the front end of the push rod through the cutting mechanism, so as to realize the feeding of the particle chain or the particle chain sleeve; when the particle chain sleeve is cut off, the radioactive source feeding part further comprises a particle embedding mechanism, the particle embedding mechanism can embed particles or / and spacing rods into the particle chain sleeve from one end or side of the particle chain sleeve, so as to form a complete particle chain; the cutting mechanism is arranged at any position of the push rod output channel; Or, the radioactive source feeding part adopts a clip feeding, the radioactive source feeding part is directly arranged in the push rod output channel, particles or prefabricated particle chains or particle chain sleeves are arranged in the bullet storage groove or bullet storage hole in the clip, and the clip feeding mechanism arranged on the clip is used for placing the particles or prefabricated particle chains or particle chain sleeves at the front end of the push rod for feeding; when the particle chain sleeve is arranged in the clip, the radioactive source feeding part further comprises a particle embedding mechanism, the particle embedding mechanism can embed particles or / and spacing rods into the particle chain sleeve from one end or side of the particle chain sleeve, so as to form a complete particle chain. Alternatively, the radioactive source supply part adopts particle chain supply, the radioactive source supply part includes particle chain driving mechanism, particle chain output channel, cutting mechanism, and continuously outputs particle chain or particle chain sleeve through the particle chain driving mechanism and cuts the particle chain or particle chain sleeve of the target length through the cutting mechanism, realizes the supply of the particle chain or the particle chain sleeve, when the particle chain driving mechanism outputs the particle chain sleeve, the radioactive source supply part further includes particle embedding mechanism, the particle embedding mechanism can make the particle or / and the spacer rod from one end or side of the particle chain sleeve embedded in the particle chain sleeve, so as to form a complete particle chain; the particle chain driving mechanism is connected with the particle chain output channel, the particle chain output channel is rigid structure or flexible and foldable structure, and the cut particle chain is arranged in front of the push rod through the butt joint of the bifurcated pipe or the movement platform.

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