Drum-type radioactive source implantation system

Abstract

The utility model discloses a drum-type radioactive source implantation system, which is characterized in that a motion platform is rotatably arranged on a main machine body, a main machine shell covers the outer parts of the main machine body and the motion platform, a push rod driving mechanism is arranged in the motion platform, the push rod driving mechanism drives a push rod to move back and forth along a push rod output channel, and a connecting piece is arranged on the front side of the main machine body; the connecting piece is provided with a plurality of connecting holes in the rotating track of the moving platform, each connecting hole is used for being connected with one end of a conveying guide pipe, and the moving platform is arranged in a roller shape and comprises a front-back moving module and a rotating moving module; the rotary motion module drives the motion platform to rotate around the axis of the motion platform so as to drive the tail end of the push rod output channel to be aligned with different connecting holes, and the front-back motion module is arranged in the motion platform and drives the tail end of the push rod output channel to move front and back. The device has a more reliable protection function, collision interference is avoided, and the device can be used clinically at ease.

Description

TECHNICAL FIELD

[0001] The utility model relates to medical instrument technical field especially a kind of roller type radioactive source implantation system. BACKGROUND

[0002] Radioactive particle implantation surgery is by puncture, many radioactive particles are directly implanted into tumor by puncture needle to do a local radiotherapy, the surgical indications of this surgery are very wide, including lung cancer, liver cancer, breast cancer, prostate cancer etc., and it has small wound, less bleeding, and relatively less surgical complications, but it can effectively inhibit the growth of tumor.

[0003] But the current surgery time is longer, and doctor needs close contact with particle in implantation process, suffers from great radiation damage, which limits the application and popularization of this kind of surgery. Therefore, particle implantation robot system emerges as the times require.

[0004] For example, a kind of multi-channel radioactive source implantation machine proposed in Chinese patent CN202310036388.X includes main body, first motion platform, connecting piece, push rod output channel, push rod, push rod driving mechanism and radioactive source supply part, push rod driving mechanism is arranged on main body, push rod driving mechanism is communicated with push rod output channel, push rod driving mechanism is used to drive push rod to move back and forth along push rod output channel, radioactive source supply part is used to set particle or particle chain at the front end of push rod, particle chain is strip-shaped object containing radioactive substance, push rod output channel is rigid structure or flexible bendable structure, connecting piece is distributed with multiple connecting holes, the other end of push rod output channel and connecting piece are fixed at the two ends of first motion platform respectively, first motion platform is used to control the relative position of the other end of push rod output channel and connecting piece in space, so that the other end of push rod output channel and one end of different connecting holes on connecting piece are connected, and particle or particle chain is output from different connecting holes, realizing multi-channel implantation.

[0005] However, in the above technical solution, since each accessory module on the first motion platform is exposed, it is easy to collide with the operator when starting operation, causing injury. UTILITY MODEL CONTENT

[0006] The utility model aims at providing a kind of roller type radioactive source implantation system to solve the technical defects of prior art and the technical requirements that cannot be achieved.

[0007] To achieve the above object, the utility model provides the following technical scheme:

[0008] A drum type radioactive source implantation system, comprising a main machine shell, a main machine body, a moving platform and a push rod driving mechanism, the moving platform is rotationally arranged on the main machine body, the main machine shell is arranged outside the main machine body and the moving platform, the push rod driving mechanism is arranged in the moving platform, the push rod driving mechanism drives the push rod to move forward and backward along a push rod output channel, so as to push the radioactive source arranged in front of the push rod to a target position, the front side of the main machine body is provided with a connecting piece, the connecting piece is provided with a plurality of connecting holes on the rotation track of the moving platform, each connecting hole is used for connecting one end of a delivery catheter respectively, the other end of each delivery catheter is connected with a puncture needle, the moving platform is arranged in a drum shape, and the moving platform comprises a forward and backward movement module and a rotary movement module.

[0009] The rotary movement module drives the moving platform to rotate around its axis, so as to drive the tail end of the push rod output channel to align with different connecting holes, the forward and backward movement module is arranged in the moving platform, the forward and backward movement module drives the tail end of the push rod output channel to move forward and backward, so that the push rod output channel is in communication with any delivery catheter on the connecting piece to form a delivery channel of the radioactive source, thereby realizing multi-channel implantation.

[0010] As preferred, the front side of the main machine body is a connecting piece panel, the connecting piece is mounted on the connecting piece panel, the mounting mode of the push rod driving mechanism is inclined to the connecting piece panel, the output end of the push rod driving mechanism is connected with the rear end of the push rod output channel, the push rod output channel is a flexible structure, and the front end of the push rod output channel is arranged perpendicularly to the connecting piece panel after being bent.

[0011] As preferred, a docking nozzle is further mounted in the moving platform, the mounting mode of the docking nozzle is perpendicular to the connecting piece panel, a radioactive source clip is mounted on the push rod driving mechanism, the push rod driving mechanism and the docking nozzle are connected through a flexible pipeline, at this time, the flexible pipeline is part of the push rod output channel, the outlet of the docking nozzle is the tail end of the push rod output channel, the docking nozzle is a floating docking nozzle and can float, so that self-adaptive centering docking is realized.

[0012] As preferred, an opening is arranged on the main machine shell, a module hatch is arranged at the opening of the main machine shell, the push rod driving mechanism and the moving platform are connected in a quick detachable structure, and an operator installs the push rod driving mechanism in the moving platform by opening the module hatch.

[0013] As preferred, the module door adopts a folding structure, including a first door plate and a second door plate, the opening of the main machine shell extends from the top surface to the side surface of the main machine shell, the first door plate and the second door plate block the top surface and the side surface of the main machine shell respectively, the second door plate is connected with the main machine shell or the main machine body through a flip hinge structure, the first door plate and the second door plate are connected through a hinge structure, when the module door is opened, the second door plate is flipped outward, and the first door plate is flipped inward; when the module door is completely opened, the first door plate and the second door plate can be folded and hung on one side of the main machine shell, and a door lock structure for facilitating quick opening is arranged between the first door plate and the main machine shell or the main machine body.

[0014] As preferred, under the guidance of the flip hinge structure, the operator flips the second door plate outward by more than 150 degrees, and the main machine shell is provided with a stop portion which abuts against the flipped second door plate to avoid the plate surface of the second door plate being completely parallel to the side surface of the main machine shell.

[0015] As preferred, a damping structure is further arranged in the hinge structure between the first door plate and the second door plate, the damping structure cooperates with the first elastic element to limit the angle between the first door plate and the second door plate, avoiding the first door plate from being flipped and falling under the action of gravity, and a detection switch for detecting whether the first door plate covers the top opening of the main machine shell is further arranged, the detection switch is a mechanical trigger switch or an inductive switch.

[0016] As preferred, the door lock structure is an L-shaped door lock structure, the first door plate is provided with an L-shaped handle, the L-shaped handle is connected with a rotating column penetrating through the first door plate, the rotating column is provided with a clamping plate, the clamping plate is provided with a clamping hole, and a clamping column is fixedly connected to the main machine shell or the main machine body; after the module door is closed, the L-shaped handle is rotated to drive the rotating column and the clamping plate to rotate, so that the clamping hole in the clamping plate clamps the clamping column to lock and close the module door; when the L-shaped handle is rotated in the opposite direction, the clamping hole in the clamping plate is separated from the clamping column, and when the L-shaped handle is limited in the opposite direction, the included angle between the orientation of the L-shaped handle and the end surface of the connecting piece is less than 30 degrees.

[0017] As preferred, the working platform is provided with a connecting seat for mounting a docking mouth, the connecting seat is mounted on a connecting rod seat through a floating connection mechanism, the connecting rod seat is fixedly arranged on the front and rear movement module, the floating connection mechanism allows the docking mouth to float in a plane parallel to the connecting piece panel, and a front and rear floating mechanism is arranged between the docking mouth and the connecting seat, the front and rear floating mechanism allows the docking mouth to float in a direction perpendicular to the connecting piece panel.

[0018] Alternatively, the operating platform is internally provided with a connecting seat for mounting the docking mouth, the connecting seat is mounted on the connecting rod seat through a floating connection mechanism, the connecting rod seat is mounted on the front and rear movement module through a front and rear floating mechanism, the floating connection mechanism allows the docking mouth to float in a plane parallel to the connecting piece panel, and the front and rear floating mechanism allows the docking mouth to float in a direction perpendicular to the connecting piece panel.

[0019] As preferred, the end of the push rod output channel close to the push rod driving mechanism is fixedly connected with a quick connection pipe, the side surface of the push rod driving mechanism is provided with a quick connection seat, the quick connection pipe can be quickly mounted on the quick connection seat, a force sensor is arranged between the quick connection seat and the push rod driving mechanism, and the quick connection pipe is internally provided with a cleaning section for cleaning the surface of the push rod, and the cleaning section is elastic.

[0020] The utility model discloses beneficial effects are:

[0021] 1, the host computer shell cover is arranged at the outside of host computer body and movement platform, and the host computer shell has more reliable protection function, avoids the collision interference, makes the equipment can be at ease and carry out clinical use.

[0022] 2, the movement platform of drum shape can rotate, drives the end of push rod output channel and the different connecting hole on connecting piece alignment, makes push rod output channel and any conveying guide pipe on connecting piece intercommunication and forms the conveying channel of radioactive source, to realize multi -channel implantation;

[0023] 3, the foldable module hatch can be quickly opened, and the opening is large and faces the operator to fold, and the operator is convenient to close module hatch and disassembles each accessory module (such as push rod driving mechanism, magazine seat, docking mouth one or combination) in movement platform.

[0024] 4, the docking mouth not only can float in the plane parallel to the connecting piece panel, but also can float in the direction perpendicular to the connecting piece panel, to ensure that the docking mouth can still closely adhere to the docking surface of conveying guide pipe under the condition that the docking displacement amount has certain error, plays a buffering role simultaneously, avoids the damage of motor, and realizes the self -adaptation centering docking of docking mouth. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is the overall structure schematic diagram of example 1;

[0026] Figure 2 It is the overall structure schematic diagram of example 1;

[0027] Figure 3 It is the magazine seat structure schematic diagram of example 1;

[0028] Figure 4 It is the overall structure schematic diagram of example 1;

[0029] Figure 5 Figure 1 is a schematic diagram of the overall structure of an embodiment of the application;

[0030] Figure 6 Figure 2 is a schematic diagram of the drum motion platform structure of an embodiment of the application;

[0031] Figure 7 Figure 3 is a schematic diagram of the magazine seat mounting structure of an embodiment of the application;

[0032] Figure 8 Figure 4 is a schematic diagram of the core pull mechanism mounting structure of an embodiment of the application;

[0033] Figure 9 Figure 5 is a schematic diagram of the docking tray structure of an embodiment of the application;

[0034] Figure 10 Figure 6 is a schematic diagram of the docking tray internal structure of an embodiment of the application;

[0035] Figure 11 Figure 7 is an exploded view of the docking tray of an embodiment of the application;

[0036] Figure 12 Figure 8 is a side sectional view of the docking tray of an embodiment of the application;

[0037] Figure 13 Figure 9 is a partial enlarged view of Figure 12 Figure 10 is a partial enlarged view of

[0038] Figure 14 Figure 11 is a schematic diagram of the docking head mounted on the docking tray structure of an embodiment of the application;

[0039] Figure 15 Figure 12 is a partial enlarged view of Figure 14 Figure 13 is a partial enlarged view of

[0040] Figure 16 Figure 14 is a schematic diagram of the reflective scale strip structure of an embodiment of the application;

[0041] Figure 17 Figure 15 is a schematic diagram of the puncture needle implantation particle of an embodiment of the application;

[0042] Figure 18 Figure 16 is a schematic diagram of the overall structure of an embodiment of the application;

[0043] Figure 19 Figure 17 is a schematic diagram of the hatch opening structure of an embodiment of the application;

[0044] Figure 20 Figure 18 is a schematic diagram of the module hatch structure of an embodiment of the application;

[0045] Figure 21 Figure 19 is a schematic diagram of the clamping plate structure of an embodiment of the application;

[0046] Figure 22 Figure 20 is a schematic diagram of the electromagnet structure of an embodiment of the application;

[0047] Figure 23 is a structural schematic diagram of embodiment 3;

[0048] Figure 24 is a structural schematic diagram of a floating connection mechanism of embodiment 3;

[0049] Figure 25 is a side sectional view of a docking mouth of embodiment 3;

[0050] Figure 26 is a structural schematic diagram of a docking head of embodiment 3

[0051] Figure 27 is a structural schematic diagram of a particle push rod driving module of embodiment 3;

[0052] Figure 28 is a side sectional view of a quick connector seat of embodiment 3;

[0053] Figure 29 is a structural schematic diagram of embodiment 4;

[0054] Figure 30 is an enlarged structural view of Figure 29 ;

[0055] Figure 31 is an exploded view of a docking mouth of embodiment 4;

[0056] Figure 32 is a side sectional view of a guide rod of embodiment 4. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0058] Embodiment 1

[0059] As shown in Figures 1-16 , a drum-type radioactive source implantation system, a module cabin is a motion platform, the module cabin is arranged in a main machine shell, the module cabin has a one-way rotary motion and a one-way linear motion, a push rod driving mechanism, a core pulling mechanism and a cartridge seat are installed on the module cabin, a connecting piece adopts a docking disc, a connecting piece panel is a docking disc panel, the push rod driving mechanism is a particle push rod driving module, the needle pulling driving mechanism drives the inner tube or the outer tube of the needle pulling accessory to make relative sliding motion in a direct push-pull manner.

[0060] Includes main unit housing 2401, module door 2402, display screen 2403, emergency stop button 2404, transparent observation window 2405, docking plate panel 2406, docking plate 2407, door handle 2408, support column 2409, module compartment 24010, needle core locking handle 24032, connector locking handle 24033, core pulling mechanism 24011, particle push rod drive module 24012, magazine holder 24013, magazine 24014, force sensor 24023, measuring wheel 24024, encoder 24025, needle core storage wheel 24015, connecting tube 24016, and recovery tube 2401. 7. Delivery tube 24018, puncture needle handle 24021, particle push rod storage wheel 24020, motor 24019, cam A 24034, spring 24039, cam B 24036, inductive switch 24040, needle core pressure plate 24037, connector pressure plate 24038, connecting nozzle 24026, inner tube assembly 101508, outer tube assembly 101509, needle pull rod 24043, contact sensor 24027, connector 24029, rubber block 24041, reflective scale strip 24045, puncture needle 101504, particles 101505, human body template 101511.

[0061] The main body of the particle implantation machine includes a main casing 2401, a main body, a module door 2402, a display screen 2403, an emergency stop button 2404, a transparent observation window 2405, a docking plate panel 2406, a docking plate 2407, a door handle 2408, a support column 2409, and a module compartment 24010. The main casing 2401 is equipped with an emergency stop button 2404 and a transparent observation window 2405. The emergency stop button 2404 is used for emergency stopping of the equipment, and the transparent observation window 2405 facilitates observation of the installation and operation of the module compartment 24010 inside the main casing 2401. The support column 2409 is installed at the lower part of the main casing 2401 and can fix the lower end of the recovery tube 24017.

[0062] Before the operation begins, the module door 2402 is closed. Rotating the door handle 2408 opens the module door 2402, which is located on the left and / or right side of the main unit housing 2401. Accessories are installed inside the module compartment 24010, including the core-pulling mechanism 24011, the particle push rod drive module 24012 (equivalent to a push rod drive mechanism), and the magazine holder 24013, all positioned within the module compartment 24010. The core-pulling mechanism 24011 and the magazine holder 24013 are vertically mounted on the docking plate panel 2406. Figure 6), the rear side of the core pulling mechanism 24011 is provided with a needle core storage wheel 24015, and the rear side of the particle push rod driving module 24012 is provided with a particle push rod storage wheel 24020. The particle push rod storage wheel 24020 has a particle push rod (equivalent to a push rod) stored inside. The particle push rod is made of a memory alloy metal with certain toughness.

[0063] One end of the connecting pipe 24016 is connected with the particle push rod driving module 24012, and the other end is connected with the force sensor 24023 on the clip seat 24013. The connecting pipe 24016 is bent at a certain angle, so that the elastic force of the connecting pipe 24016 is not completely parallel to the measurement axis of the force sensor 24023, thereby avoiding the influence of the elasticity of the connecting pipe 24016 on the reading of the force sensor 24023. The clip 24014 is loaded into the clip seat 24013.

[0064] When the operation starts, a corresponding number of delivery catheters 24018 are prepared according to the number of puncture needles required by the operation. The implantation plan is set on the machine display screen 2403, the butt joint 24029 of the plurality of delivery catheters 24018 is loaded into the butt joint disc 2407 in turn, and then the needle core locking handle 24032 is rotated. The rotation of the internally connected cam A 24034 causes the needle core pressing plate 24037 to rotate and press the rubber block 24041 at the front end of the butt joint 24029. The rubber block 24041 simultaneously presses the needle core inside the delivery catheter 24018. After the pressing plate is locked, the cam controlling the movement of the pressing plate is detected by the inductive switch 24040 and feedback is fed back. The mechanism simultaneously locks the butt joint 24029 and the internal needle core of all the delivery catheters 24018 on the butt joint disc 2407. The other end of the delivery catheter 24018 is a puncture needle. The puncture needle handle 24021 is held to puncture the puncture needle at the predetermined operation position. After the puncture is completed, the needle core locking handle 24032 is loosened, the spring 24039 connected with the needle core pressing plate 24037 rebounds to loosen the pressed rubber block 24041 and the needle core. The above steps are repeated until the one end of all the delivery catheters 24018 is inserted into the butt joint disc 2407, and the other end is punctured into the target position. The joint locking handle 24033 is tightened, the internally connected cam B 24036 is rotated to make the joint pressing plate 24038 rotate and embed into the horizontal groove on the side of the butt joint 24029, so that the joint pressing plate 24038 clamps the butt joint 24029. When the butt joint 24029 is fixed on the butt joint disc 2407, the entrance of the butt joint 24029 will protrude from the back of the butt joint disc 2407, so as to better butt joint with the butt joint mouth 24026 of the clip seat 24013, and avoid the butt joint mouth 24026 of the sterile clip seat 24013 from contacting the butt joint disc 2407 which is unsterile.

[0065] When the user starts the device, the particle implantation machine begins operation. Motor 24019 controls the internal module compartment 24010 to rotate, causing the core-removing mechanism 24011 to move to the corresponding delivery conduit 24018 position. Simultaneously, the core-removing mechanism 24011 moves forward to remove the needle core from inside the delivery conduit 24018. The needle core is then fed into the needle core receiving wheel 24015 behind the core-removing mechanism 24011 and automatically winds around it under its own elasticity, driving the needle core receiving wheel 24015 to rotate synchronously. As the needle core is... After the needle core is completely pulled out of the delivery conduit 24018, the core-pulling mechanism 24011 retracts. The core-pulling mechanism 24011 moves back and forth via a linear motion mechanism, which can be one or a combination of a screw and nut mechanism, an electric push rod, or a gear and rack mechanism. The motor 24019 controls the rotation of the control module compartment 24010, causing the core-pulling mechanism 24011 to align with the recovery tube 24017. The core-pulling mechanism 24011 then operates to completely eject the internally wound needle core and deliver it into the recovery tube 24017 (e.g., ...). Figure 5 Subsequently, the motor 24019 drives the module compartment 24010 to rotate, aligning the magazine holder 24013 with the delivery guide tube 24019 from which the needle core has just been removed. The magazine holder 24013 then pushes forward to mate with the connector 24029 of the delivery guide tube 24018. The magazine holder 24013 moves back and forth via a linear motion mechanism, which is one or a combination of a screw and nut mechanism, an electric push rod, and a gear and rack mechanism. Then, the particle push rod drive module 24012 pushes out the particle push rod from the particle push rod receiving wheel 24020. The particle push rod moves through the connecting pipe 24016 to the magazine holder 24013 and sequentially pushes the particles inside the magazine 24014 into the docking nozzle 24026 at the front end of the magazine holder 24013. Simultaneously, the magazine holder 24013 has a driven measuring wheel 24 for pressing the particle push rod. 024, during the movement of the particle pusher, the measuring wheel 24024 is driven to rotate by friction. The rotation angle of the measuring wheel 24024 is measured by the encoder 24025, and the displacement of the particle pusher can be calculated by the encoder 24025. Since the particle pusher drive module 24012 also has an encoder module, the readings of the two encoders 24025 can be used to determine whether the measuring wheel is slipping. Thus, the reliability of the measurement results is ensured by the dual measurement unit. Multiple particles are pushed out repeatedly until a specified number is reached. Then, the particle pusher drive module 24012 drives the particle pusher to push the particles through the delivery conduit 24018 to the front end of the puncture needle. During this process, if the resistance encountered by the particle pusher increases during the movement, its reaction force will be transmitted to the force sensor 24023 connected to the connecting tube 24016 and fed back. In other embodiments, reflective scale lines 24045 can also be set at equal intervals on the outer surface of the particle pusher. Figure 16A photoelectric sensor is installed in the magazine holder 24013 or the particle pusher drive module 24012. When the particle pusher is relatively displaced with the photoelectric sensor, a pulse signal will be generated synchronously. The actual displacement of the particle pusher can be measured by sampling the pulse signal. This scheme can avoid the slippage between the measuring wheel 24024 and the particle pusher, which would affect the measurement accuracy and reliability of the encoder 24025.

[0066] In other embodiments, a stop step can be added to the end of the particle pusher. The position of the stop step is set according to the following principle: when the front end of the particle pusher extends along the delivery conduit into the puncture needle and protrudes beyond a certain length from the front end of the puncture needle (preferably, this length is less than 5mm), the stop step is engaged with the second stop step in the particle pusher drive module, thereby achieving mechanical limiting and preventing the particle pusher from piercing into human tissue and causing damage, thus improving overall safety. Preferably, the stop step is the end face of the stop tube sleeved at the end of the particle pusher, and the second stop step is set on the particle pusher inlet end face in the particle pusher drive module.

[0067] In other embodiments, a connecting portion can be provided on the particle pusher receiving wheel 24020. This connecting portion is used to connect and fix the particle pusher to its end or middle. The position of this connecting portion satisfies the following principle: when the front end of the particle pusher extends along the delivery conduit into the puncture needle and protrudes beyond a certain length (preferably less than 5mm), the particle pusher is pulled back by the connecting portion, preventing it from advancing further. This achieves mechanical limiting, avoiding the particle pusher from piercing human tissue and causing injury, thus improving overall safety. The connecting portion is connected and fixed to the end or middle of the particle pusher using threaded connections, adhesive bonding, welding, snap-fit ​​connections, or other methods.

[0068] like Figure 17 As shown, when the multiple particles 101505 reach the position of the puncture needle 101504 of the delivery catheter, the particle pusher drive module 24012 will push a particle into the human body. Then, the needle removal pusher 24043 will push forward until it contacts the outer tube assembly 101509. At this time, the contact signal is sensed by the contact sensor 24027. The contact sensor is one or a combination of force sensor, mechanical switch, inductive switch, and photoelectric switch. Then, the needle removal pusher 24043 will continue to push the outer tube assembly 101509 forward. The other end of the outer tube assembly 101509 will abut against the surface of biological tissue or human template 101511 (or it can be a prostate stent or other device). When the outer tube assembly 101509 is pushed forward, the inner tube assembly 101508 will move relative to it and pull the puncture needle 101504 connected to the front end out of the human body. Then, the particle pusher drive module 24012 will continue to push the next particle 101505, and repeat the operation until multiple particles are implanted.

[0069] Wherein the docking mouth 24026 is arranged on the magazine seat 24013 through a floating connection mechanism, and when the docking mouth 24026 is not completely aligned with the docking disc 2407, the docking mouth 24026 can move and complete docking through the guiding effect of the guide structure.

[0070] Wherein the specific arrangement of the floating connection mechanism can refer to embodiment 3.

[0071] Embodiment 2

[0072] The same parts of this embodiment and embodiment 1 are not described again, and the difference is that the hatch adopts a folding structure.

[0073] The module hatch adopts a folding structure, including a first hatch plate and a second hatch plate, the opening of the main machine shell extends from the top surface to the side surface of the main machine shell, the first hatch plate and the second hatch plate block the top surface and the side surface of the main machine shell respectively, the second hatch plate is connected with the main machine shell or the main machine body through a flip hinge structure, the first hatch plate and the second hatch plate are connected through a hinge structure, when the module hatch is opened, the second hatch plate is flipped outward, and the first hatch plate is flipped inward; when the module hatch is completely opened, the first hatch plate and the second hatch plate can be folded and hung on one side of the main machine shell, and a door lock structure for quick opening is arranged between the first hatch plate and the main machine shell or the main machine body.

[0074] Under the guidance of the flip hinge structure, the operator flips the second hatch plate outward by more than 150 degrees, and the main machine shell is provided with a stop portion, which abuts against the flipped second hatch plate to avoid the plate surface of the second hatch plate being completely parallel to the side surface of the main machine shell.

[0075] The hinge structure between the first hatch plate and the second hatch plate is also provided with a damping structure, which cooperates with the first elastic element to limit the angle between the first hatch plate and the second hatch plate, so as to avoid the first hatch plate from flipping and falling under the action of gravity, and further comprising a detection switch for detecting whether the first hatch plate covers the top opening of the main machine shell, the detection switch is a mechanical trigger switch or an inductive switch.

[0076] The door lock structure is an L-shaped door lock structure, the first cabin door plate is provided with an L-shaped handle, the L-shaped handle is connected with a rotating column penetrating through the first cabin door plate, the rotating column is provided with a clamping plate, the clamping plate is provided with a clamping hole, a clamping column is fixedly connected on the main machine shell or the main machine body, after the module cabin door is covered, the L-shaped handle is rotated to drive the rotating column and the clamping plate to rotate, so that the clamping hole on the clamping plate clamps the clamping column, and the module cabin door is locked and closed; when the L-shaped handle is rotated in the opposite direction to drive the rotating column and the clamping plate, the clamping hole on the clamping plate is separated from the clamping column, and when the L-shaped handle is rotated to the opposite direction limit, the angle between the orientation of the L-shaped handle and the end face of the connecting piece is less than 30 degrees.

[0077] As shown in Figures 18-22 , comprising: a main machine shell 2401, a module cabin 24010, an electromagnet 240011, a mounting plate 240012, a clamping column 240013, a positioning column 240014, a foldable cabin door 24002, a first cabin door plate 240021, a first arc-shaped plate 2400211, a second cabin door plate 240022, a second arc-shaped plate 2400221, a hinge 240023, a metal plate 240024, a positioning hole 240025, a handle 24008, a rotating column 240081, a clamping plate 240082, and a clamping hole 240083.

[0078] A drum type radioactive source implantation system comprises a main machine shell 2401 and a foldable hatch 24002, a module cabin 240010 is arranged in the main machine shell 2401, and an opening of the main machine shell 2401 is communicated from a top surface to a side surface of the main machine shell 2401, the opening is large and faces an operator, so that the operator can conveniently disassemble and assemble modules in the module cabin 24010; the foldable hatch 24002 is arranged at the opening of the main machine shell 2401, the foldable hatch 24002 comprises a first hatch plate 240021 and a second hatch plate 240022, the first hatch plate 240021 and the second hatch plate 240022 cover the opening of the top surface and the side surface of the module cabin 240010 respectively, the second hatch plate 240022 is hinged to the main machine shell 2401, a handle 24008 is arranged on the first hatch plate 240021, first and second arc-shaped plates 2400211 and 2400221 with certain radii are arranged at the connection positions of the first and second hatch plates 240021 and 240022 respectively, and the first and second arc-shaped plates 2400211 and 2400221 are spliced and fit the edge radii of the main machine shell 2401 after splicing, so that the transition is natural and beautiful, the first and second arc-shaped plates 2400211 and 2400221 are connected through a hinge 240023, when the first hatch plate 240021 and the second hatch plate 240022 are hung on one side of the main machine shell 2401 after the foldable hatch 24002 is opened, the first and second hatch plates 240021 and 240022 can be automatically folded together and vertically arranged in a U-shaped folding state on one side of the main machine shell 2401, so that the floor space of the main machine shell 2401 is effectively reduced, the user can conveniently approach the equipment to install each module, and the structure is more compact; a damping is further arranged in the hinge 240023, the damping limits the included angle between the first and second hatch plates 240021 and 240022, so that the first hatch plate 240021 is prevented from falling down under the action of gravity. Transparent observation windows are arranged on the first and second hatch plates 240021 and 240022, so that the user can conveniently observe the movement of internal mechanisms.

[0079] The second hatch plate 240022 is connected to the main machine shell 2401 through a turnover hinge structure, under the guidance of the turnover hinge structure, the operator can turn the second hatch plate 240022 outward by more than 150 degrees, and the main machine shell 2401 is provided with a stop portion, the stop portion abuts against the second hatch plate 240022 after being turned over, so that the plate surface of the second hatch plate 240022 is prevented from being completely parallel to the side surface of the main machine shell.

[0080] A detection switch for detecting whether the first hatch plate 240021 covers the top opening of the main machine shell 2401 is arranged between the first hatch plate 240021 and the main machine shell 2401 or the main machine body.

[0081] As Figure 20 andFigure 21 The handle 24008 is L-shaped, and the handle 24008 is connected with a rotating column 240081 penetrating through the first hatch plate 240021, the rotating column 240081 is provided with a clamping plate 240082, the clamping plate 240082 is provided with a clamping hole 240083, the inside of the main machine shell 2401 is fixedly connected with a mounting plate 240012, the mounting plate 240012 is fixedly connected with a clamping column 240013 clamped with the clamping hole 240083, after the foldable hatch 24002 covers the module cabin 240010, the rotating handle 24008 drives the rotating column 240081 and the clamping plate 240082 to rotate, so that the clamping hole 240083 on the clamping plate 240082 clamps the clamping column 240013, and the foldable hatch 24002 is locked and closed; when the rotating handle 24008 drives the rotating column 240081 and the clamping plate 240082 rotate in the opposite direction, the clamping hole 240083 on the clamping plate 240082 is separated from the clamping column 240013, and when the rotating handle 24008 rotates to the opposite direction limit, the angle between the handle 24008 and the docking disc panel is less than 30 degrees.

[0082] As Figure 21 And Figure 22 , the first hatch plate 240021 and the main machine shell 2401 are further provided with an electronic lock for preventing the module cabin door from being opened by mistake by the operator, the electronic lock adopts an electromagnetic lock, and the module cabin door is locked by the way of electromagnetic adsorption or electromagnetic push rod extending the door bolt. The first hatch plate 240021 is provided with a metal plate 240024, and the inside of the main machine shell 2401 is provided with an electromagnet 240011 adsorbing the metal plate 240024, the electromagnet 240011 is provided with a positioning column 240014, the metal plate 240024 is provided with a positioning hole 240025, the positioning hole 240025 is provided with an inductive switch, the positioning column 240014 is clamped into the positioning hole 240025, and the inductive switch is triggered, so that the foldable hatch 24002 is detected to be closed. Alternatively, the positioning column 240014 and the positioning hole 240025 can be exchanged, or other positioning elements such as positioning pins, positioning blocks, positioning balls, etc. can be used instead. When the particle implanting machine works, the electromagnet 240011 is electrified and has magnetism, and the metal plate 240024 is adsorbed, so as to prevent the foldable hatch 24002 from being opened by mistake by the operator when the particle implanting machine works, and the safety is effectively improved. The module cabin 240010 is further provided with an inductive switch, and an inductive signal is sent to the main machine when the foldable hatch 24002 is closed, so that the main machine starts the working process when confirming that the foldable hatch 24002 is closed. The electromagnet 240011 can also be replaced by other forms of electronic lock.

[0083] Example 3

[0084] The same parts of the embodiment as those of the structure of embodiment 1 will not be described again, and the difference is that:

[0085] Specifically, as shown in Figures 23-28 The module cabin assembly includes a module cabin 24010, a particle push rod driving module 24012, and a docking nozzle module 24050. The particle push rod driving module 24012 and the docking nozzle module 24050 are installed at corresponding positions in the module cabin 24010. The docking nozzle module 24050 is vertically installed at the front end face of the module cabin 24010. The particle push rod driving module 24012 is parallel or inclined at a certain angle to the front end face of the module cabin 24010. The particle push rod driving module 24012 is installed with a radioactive source clip. The particle push rod driving module 24012 is connected with the docking nozzle module 24050 through a connecting pipe 24016. The docking nozzle module 24050 is installed in the module cabin 24010 through a front-back movement module 24052 to realize the front-back movement of the docking nozzle module 24050 and the docking with different external transport guide tubes on the external connecting member. After the docking is completed, the particle push rod driving module 24012 drives the flexible push rod to pass through the radioactive source clip, so as to push out the radioactive source in the radioactive source clip, and then push the radioactive source at the front end of the flexible push rod. The radioactive source is pushed into the external transport guide tube through the docking nozzle module 24050, and is implanted into the target position through the puncture needle connected at the end of the external transport guide tube.

[0086] The front-back movement module 24052 is one or a combination of a screw nut mechanism, an electric push rod, and a gear and rack mechanism.

[0087] The docking nozzle module 24050 includes a docking nozzle 24026 and a floating connection mechanism. The docking nozzle 24026 is installed on the front-back movement module 24052 through the floating connection mechanism. The floating connection mechanism allows the docking nozzle 24026 to float in the plane parallel to the faceplate of the connecting member.

[0088] As shown in Figure 24As shown: the floating connection mechanism adopts two rotary joint modules, the floating connection mechanism includes a first connecting rod 2405002 and a second connecting rod 2405003, the front and rear movement module 24052 is provided with a connecting rod seat 2405004, the second connecting rod 2405003 is rotatably arranged on the connecting rod seat 2405004 through a first rotating shaft 2405005, and the rotation of the second connecting rod 2405003 is reset through a third elastic element, the first connecting rod 2405002 is rotatably arranged on the second connecting rod 2405003 through a second rotating shaft 2405006, and the rotation of the first connecting rod 2405002 is reset through a fourth elastic element, the docking nozzle 24026 is connected with the first connecting rod 2405002 through a connecting seat 2402601, the third elastic element and the fourth elastic element can be torsion spring structures respectively, two torsion springs are arranged at the first rotating shaft 2405005 and the second rotating shaft 2405006 respectively; or the third elastic element and the fourth elastic element are the same elastic plate 2405013, the elastic plate 2405013 has a special shape, one end of the elastic plate 2405013 is fixed on the connecting rod seat 2405004, and the other end of the elastic plate 2405013 is fixed on the first connecting rod 2405002. When the front and rear movement module 24052 moves forward to dock, when the docking nozzle 24026 is not centered with the external conveying pipe on the external connecting piece, the conical surface of the docking nozzle 24026 is in contact with the external conveying pipe, the first connecting rod 2405002 and the second connecting rod 2405003 can rotate in a small range, so as to realize self-adaptive centering and docking; when the front and rear movement module 24052 moves backward to reset, under the action of the third elastic element and the fourth elastic element, the first connecting rod 2405002 and the second connecting rod 2405003 are automatically reset, so as to prepare for the next docking.

[0089] The front and rear floating mechanism is arranged between the docking nozzle and the connecting seat, and the front and rear floating mechanism allows the docking nozzle to float in a direction perpendicular to the connecting piece panel.

[0090] As Figure 25The front and rear floating mechanism comprises a limiting sleeve 2402602 slidingly arranged in a connecting seat 2402601, the connecting seat 2402601 is provided with a limiting structure preventing the limiting sleeve 2402602 from being completely taken out, the limiting structure adopts a limiting rod 2402603, the side surface of the limiting sleeve 2402602 is provided with a limiting groove, one end of the limiting rod 2402603 is fixed in the connecting seat 2402601, the other end of the limiting rod 2402603 is inserted in the limiting groove of the limiting sleeve 2402602, so that the limiting sleeve 2402602 slides within a certain range but cannot be completely taken out, the butt joint nozzle 24026 is sleeved in the limiting sleeve 2402602, the butt joint nozzle 24026 is fixed on the flexible pipeline (connecting pipe 24016) in a sleeved manner, the fixing manner can be adhesion, the front end of the butt joint nozzle 24026 extends out of the limiting sleeve 2402602, and the end of the butt joint nozzle 24026 extending out of the limiting sleeve 2402602 is provided with a conical head portion 2402604 facilitating butt joint, the front end of the limiting sleeve 2402602 is provided with a conical head, the conical head portion 2402604 and the conical head are respectively adapted to butt joint with the butt joint surface of the delivery conduit, the coaxiality of butt joint can be ensured during butt joint, the continuity of the channel is ensured, and the like Figure 26The butt joint surface of the tail of the delivery conduit comprises a first tapered surface 2402901 and a second tapered surface 2402902, and a transition cylindrical surface 2402903 is arranged between the first tapered surface 2402901 and the second tapered surface 2402902, the cylindrical surface 2402903 can be replaced by a small tapered surface, the front end of the tapered head 2402604 is a tapered surface matched with the second tapered surface 2402902, the tapered head of the front end of the limiting sleeve 2402602 is matched with the first tapered surface 2402901, the tapered head 2402604 is provided with a ring groove 240260401 on the side close to the tapered head, when the tapered head 2402604 is clamped into the second tapered surface 2402902, the ring groove 240260401 makes the side surface of the tapered head 2402604 have a certain gap with the cylindrical surface 2402903 (or small tapered surface) of the butt joint, so that the tapered head 2402604 is pulled out of the cylindrical surface 2402903 (or small tapered surface), avoiding being clamped, the rear end of the butt joint nozzle 24026 is provided with a convex ring 2402605 matched with the rear end of the limiting sleeve 2402602, the connecting seat 2402601 is threadedly connected with a abutting sleeve 2402606, the abutting sleeve 2402606 and the butt joint nozzle 24026 are provided with a second elastic element 2402607, the two ends of the second elastic element 2402607 are respectively matched with the abutting sleeve 2402606 and the butt joint nozzle 24026, when the butt joint nozzle 24026 and the limiting sleeve 2402602 are resisted by the delivery conduit during butt joint, the butt joint nozzle 24026 and the limiting sleeve 2402602 can compress the second elastic element 2402607 and slide backward, when the butt joint nozzle 24026 and the limiting sleeve 2402602 are separated from the resistance of the delivery conduit, the butt joint nozzle 24026 and the limiting sleeve 2402602 can slide forward and reset through the elasticity of the second elastic element 2402607, the second elastic element 2402607 is an elastic tube or a spring, when the butt joint nozzle 24026 is butt jointed with the external delivery conduit on the external connecting piece, the butt joint nozzle 24026 has a fault tolerance displacement, so as to ensure that the butt joint nozzle 24026 can still closely contact the butt joint surface of the delivery conduit in the case that there is a certain error in the butt joint displacement, and simultaneously plays a buffering role, avoiding damage of the motor.

[0091] The docking nozzle 24026, the connecting pipe 24016, the second elastic element 2402607 and the abutting sleeve 2402606 can be assembled as a component. The docking nozzle 24026 is inserted from the rear end of the connecting seat 2402601, and then the abutting sleeve 2402606 is tightened to ensure that the convex ring 2402605 of the docking nozzle 24026 abuts against the rear end of the limiting sleeve 2402602, and the two ends of the second elastic element 2402607 abut against the abutting sleeve 2402606 and the docking nozzle 24026 respectively, until the abutting sleeve 2402606 is completely tightened, and the docking nozzle 24026 and the limiting sleeve 2402602 move to the most front end position.

[0092] As Figure 26 and Figure 27 The end of the connecting pipe 24016 close to the particle push rod driving module 24012 is fixedly connected with a quick connecting pipe 2401601, one side of the particle push rod driving module 24012 is provided with a quick connecting seat 2401602, the quick connecting pipe 2401601 can be quickly installed on the quick connecting seat 2401602 and communicate with the internal passage of the particle push rod driving module 24012, the quick installation structure is at least one of a threaded connection structure, a buckle connection structure and a lock buckle connection structure, the quick connecting seat 2401602 is installed on the particle push rod driving module 24012 or the module cabin 24010 through a force sensor 2401603, the quick connecting seat 2401602 is fixedly connected with the force measuring end of the force sensor 2401603, the force sensor 2401603 is installed on the particle push rod driving module 24012 or the module cabin 24010 through a connecting plate 2401604, when the flexible push rod encounters resistance in the process of pushing the radioactive source, the flexible push rod will drive the connecting pipe 24016 to move forward together, and the delivery force of the flexible push rod can be detected through the force sensor 2401603, the quick connecting pipe 2401601 is provided with a cleaning section 2401605 for cleaning the surface of the flexible push rod, the cleaning section 2401605 is elastic, and the inner diameter of the cleaning section 2401605 is smaller than the outer diameter of the flexible push rod, the cleaning section 2401605 is an elastic pipe, when the flexible push rod is delivered and then retracts into the particle push rod driving module 24012, the cleaning section 2401605 can scrape off the blood stains attached to the outer surface of the flexible push rod to achieve cleaning.

[0093] In addition, in the case where the radioactive source cartridge is installed in the particle push rod driving module 24012, the cleaning section 2401605 can be made of a material with a large friction coefficient, such as silica gel, latex, rubber, etc. At this time, after the radioactive source is pushed out of the radioactive source cartridge by the flexible push rod and passes through the cleaning section 2401605, the flexible push rod is retracted. At this time, if the pipeline is inclined downward, the radioactive source will be stuck in the cleaning section 2401605 due to the large friction coefficient of the cleaning section 2401605 when the radioactive source is retracted along the pipeline under the action of gravity, thereby preventing the radioactive source from being retracted into the radioactive source cartridge and causing abnormal discharge of the radioactive source cartridge.

[0094] Alternatively, the cleaning section 2401605 is replaced by a pipeline with frosted internal surface or a pipeline with elastic damping blocks or elastic damping rings inside.

[0095] Embodiment 4

[0096] This embodiment refers to the working principle of embodiment 3, and the difference between this embodiment and embodiment 3 is that;

[0097] The movement platform is provided with a connecting seat for mounting the docking nozzle, the connecting seat is mounted on the connecting rod seat through a floating connection mechanism, the connecting rod seat is mounted on the front and rear movement modules through a front and rear floating mechanism, the floating connection mechanism allows the docking nozzle to float in a plane parallel to the connecting piece panel, and the front and rear floating mechanism allows the docking nozzle to float in a direction perpendicular to the connecting piece panel;

[0098] Specifically as Figure 29 and Figure 32 The connecting seat 2402601 is provided with a rotating cover 240260101, one side of the rotating cover 240260101 is rotatably connected with the connecting seat 2402601, and the other side of the rotating cover 240260101 is locked on the connecting seat 2402601 through a bolt 240260102. The docking nozzle 24026 is clamped between the rotating cover 240260101 and the connecting seat 2402601. The connecting seat 2402601 is provided with a clamping groove, and the tail protruding ring 2402605 of the docking nozzle 24026 is clamped in the clamping groove, so as to fix the docking nozzle 24026 between the connecting seat 2402601 and the rotating cover 240260101. The docking nozzle 24026 can be installed from the side, instead of being inserted and installed from the tail of the limiting sleeve 2402602 as in embodiment 3, so as to prevent the front end of the docking nozzle 24026 from being contaminated.

[0099] The front ends of the connecting seat 2402601 and the rotating cover 240260101 are combined to form a conical head. The conical head part 2402604 and the conical head are respectively adapted to the docking surfaces of the delivery catheter. During docking, the coaxiality of the docking can be ensured, and the continuity of the channel can be ensured. The docking surface of the tail of the delivery catheter includes a first conical surface 2402901 and a second conical surface 2402902 (as shown in Figure 26), and a transition cylindrical surface 2402903 is arranged between the first tapered surface 2402901 and the second tapered surface 2402902, which can be replaced by a small tapered surface. The tapered head 2402604 has a tapered surface at the front end matched with the second tapered surface 2402902. The front end of the connecting seat 2402601 and the rotating cover 240260101 are combined to form a tapered head matched with the first tapered surface 2402901. The tapered head 2402604 is provided with a ring groove 240260401 on the side close to the tapered head. When the tapered head 2402604 is clamped into the second tapered surface 2402902, the ring groove 240260401 allows the side surface of the tapered head 2402604 to have a certain gap with the cylindrical surface 2402903 (or small tapered surface) of the butt joint head, so that the tapered head 2402604 can be pulled out of the cylindrical surface 2402903 (or small tapered surface), avoiding being clamped.

[0100] The butt joint nozzle 24026 is installed on the connecting rod seat 2405004 through a floating connection mechanism. The specific structure of the floating connection mechanism can be referred to in Embodiment 3. The front and rear floating mechanisms include a guide rail structure 240260103. The connecting rod seat 2405004 is installed on the front and rear movement seats of the front and rear movement module 24052 through the guide rail structure 240260103. The front and rear movement seats are provided with a guide rod 240260104. The connecting rod seat 2405004 is slidingly arranged on the guide rod 240260104. The fifth spring 240260105 is sleeved on the guide rod 240260104. When the butt joint nozzle 24026 is butt jointed with the delivery guide tube, the butt joint nozzle 24026 has a fault tolerance displacement through the elasticity of the fifth spring 240260105, so that the butt joint nozzle 24026 can still closely contact the butt joint surface of the delivery guide tube in the case that there is a certain error in the butt joint displacement amount, and at the same time, the fifth spring 240260105 plays a buffering role, avoiding damage to the motor of the front and rear movement module 24052. The front and rear floating mechanisms are provided with a photoelectric switch 240260106 for detecting the position of the connecting rod seat 2405004 relative to the front and rear movement seats. When the butt joint nozzle 24026 is butt jointed, the connecting rod seat 2405004 moves backward relative to the front and rear movement seats under the thrust, and the detection light blocking piece on the side of the connecting rod seat 2405004 is clamped into the photoelectric switch 240260106. Whether the butt joint nozzle 24026 is butt jointed is detected by the photoelectric switch 240260106. If there is no delivery guide tube installed in the connecting hole aligned by the butt joint nozzle 24026 (for example, the user forgets or sets incorrectly), the butt joint nozzle 24026 will not be subjected to the thrust during the butt joint process. At this time, the photoelectric switch 240260106 will not be triggered, and the system will report an error at this time, which can ensure the correct operation of the surgery.

[0101] The particle recovery container 24026017 is provided, after the operation, when the radioactive source clip on the particle push rod driving module 24012 still has radioactive sources, the docking mouth 2402606 is removed from the connecting seat 2402601, and then inserted into the particle recovery container 24026017, the push rod of the particle push rod driving module 24012 pushes all the remaining radioactive sources in the radioactive source clip into the particle recovery container 24026017, then the information of the radioactive sources in the chip built in the radioactive source clip is removed, and the information of the radioactive sources is burned and written into the chip built in the particle recovery container 24026017, so that the information of the radioactive sources is consistent with the information of the chip in the radioactive source storage container.

[0102] The basic principle and main features of the present application and the advantages of the present application are shown and described above, and for those skilled in the art, it is obvious that the present application is not limited to the details of the above exemplary embodiments, and the present application can be realized in other specific forms without departing from the spirit or basic characteristics of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0103] In addition, it should be understood that although the present application is described in the specification, each embodiment does not contain only one independent technical solution, and the description manner of the specification is only for the sake of clarity, and those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments which can be understood by those skilled in the art.

Claims

1. A drum-type radioactive source implant system, characterized by, The utility model relates to a multi-channel implantation device, including host shell, host body, motion platform and push rod drive mechanism, the motion platform rotation is arranged on host body, the host shell cover is equipped with outside the motion platform of host body, the push rod drive mechanism is arranged in the motion platform, and push rod drive mechanism drives push rod and moves back and forth along push rod output channel, thereby pushes and sends the radioactive source that sets up in the front of push rod to target position, and the front side of host body is equipped with connecting piece, and connecting piece is equipped with a plurality of connecting holes on the rotation track of motion platform, and each connecting hole is used for connecting one end of a conveying guide tube respectively, and the other end of each conveying guide tube is connected with puncture needle, and the motion platform is arranged in the shape of a roller, and the motion platform includes forward and backward motion module and rotation motion module. The rotation motion module drives the motion platform to rotate around its axis, thereby driving the end of the push rod output channel to align with different connecting holes, and the forward and backward motion module is arranged in the motion platform, and the forward and backward motion module drives the end of the push rod output channel to move forward and backward, so that the push rod output channel is in communication with any conveying guide tube on the connecting piece to form a conveying channel for the radioactive source, thereby realizing multi-channel implantation.

2. A drum-type radioactive source implant system according to claim 1, characterized in that, The front side of the host body is a connecting piece panel, the connecting piece is installed on the connecting piece panel, the installation mode of the push rod drive mechanism is inclined to the connecting piece panel, the output end of the push rod drive mechanism is connected with the rear end of the push rod output channel, the push rod output channel is a flexible structure, and the front end of the push rod output channel is perpendicular to the connecting piece panel after being bent.

3. A barrel type radioactive source implant system as defined in claim 2, wherein, A docking nozzle is also installed in the motion platform, the installation mode of the docking nozzle is perpendicular to the connecting piece panel, a radioactive source cartridge is installed on the push rod drive mechanism, the push rod drive mechanism and the docking nozzle are connected through a flexible pipeline, at this time the flexible pipeline is part of the push rod output channel, and the outlet of the docking nozzle is the end of the push rod output channel, the docking nozzle is a floating docking nozzle and can float, thereby realizing self-adaptive centering docking.

4. A barrel type radioactive source implant system as defined in claim 1, wherein, An opening is arranged on the host shell, a module hatch door is arranged at the opening of the host shell, the push rod drive mechanism and the motion platform are connected through a quick-release structure, and an operator installs the push rod drive mechanism in the motion platform by opening the module hatch door.

5. A barrel type radioactive source implant system as defined in claim 4, wherein, The module hatch door adopts a folding structure, including a first hatch door panel and a second hatch door panel, the opening of the host shell extends from the top surface to the side surface of the host shell, the first hatch door panel and the second hatch door panel block the top surface and the side surface of the host shell respectively, the second hatch door panel is connected with the host shell or the host body through a flip hinge structure, the first hatch door panel and the second hatch door panel are connected through a hinge structure, when the module hatch door is opened, the second hatch door panel is flipped outward, and the first hatch door panel is flipped inward; when the module hatch door is completely opened, the first hatch door panel and the second hatch door panel can be folded and arranged on one side of the host shell, and a door lock structure is arranged between the first hatch door panel and the host shell or the host body to facilitate quick opening.

6. A barrel type radioactive source implant system as defined in claim 5, wherein, Under the guidance of the flip hinge structure, the operator flips the second cabin door plate outwardly by more than 150 degrees, and the main machine shell is provided with a stop portion abutting against the flipped second cabin door plate to avoid the plane of the second cabin door plate being completely parallel to the side surface of the main machine shell.

7. A barrel type radioactive source implant system as claimed in claim 5, wherein, The hinge structure between the first cabin door plate and the second cabin door plate is further provided with a damping structure element, which cooperates with the first elastic element to limit the angle between the first cabin door plate and the second cabin door plate, so as to avoid the first cabin door plate from being flipped and falling under the action of gravity.

8. A barrel type radioactive source implant system as defined in claim 5, wherein, The door lock structure is an L-shaped door lock structure, the first cabin door plate is provided with an L-shaped handle, the L-shaped handle is connected with a rotating column penetrating through the first cabin door plate, the rotating column is provided with a clamping plate, the clamping plate is provided with a clamping hole, and a clamping column is fixedly connected to the main machine shell or the main machine body. After the module cabin door is covered, the rotating L-shaped handle drives the rotating column and the clamping plate to rotate, so that the clamping hole on the clamping plate clamps the clamping column, and the module cabin door is locked and closed; when the rotating L-shaped handle drives the rotating column and the clamping plate to rotate in the opposite direction, the clamping hole on the clamping plate is detached from the clamping column, and when the rotating L-shaped handle rotates to the limit in the opposite direction, the angle between the orientation of the L-shaped handle and the end surface of the connecting piece is less than 30 degrees.

9. A barrel type radioactive source implant system as defined in claim 3, wherein, The motion platform is provided with a connecting seat for mounting the docking mouth, the connecting seat is mounted on a connecting rod seat through a floating connection mechanism, the connecting rod seat is fixedly arranged on the front and rear motion modules, and the floating connection mechanism allows the docking mouth to float in a plane parallel to the connecting piece panel; the front and rear floating mechanisms are arranged between the docking mouth and the connecting seat, and the front and rear floating mechanisms allow the docking mouth to float in a direction perpendicular to the connecting piece panel. Alternatively, the motion platform is provided with a connecting seat for mounting the docking mouth, the connecting seat is mounted on a connecting rod seat through a floating connection mechanism, the connecting rod seat is mounted on the front and rear motion modules through front and rear floating mechanisms, the floating connection mechanism allows the docking mouth to float in a plane parallel to the connecting piece panel, and the front and rear floating mechanisms allow the docking mouth to float in a direction perpendicular to the connecting piece panel.

10. A barrel type radioactive source implant system as defined in claim 1, wherein, The end of the push rod output channel close to the push rod driving mechanism is fixedly connected with a quick connection pipe, one side of the push rod driving mechanism is provided with a quick connection seat, the quick connection seat is mounted on the push rod driving mechanism or the motion platform through a force sensor, the quick connection pipe can be quickly mounted on the quick connection seat and communicate with the internal channel of the push rod driving mechanism, the delivery force of the push rod can be detected through the force sensor, the quick connection pipe is provided with a cleaning section for cleaning the surface of the push rod, the cleaning section is elastic, and the inner diameter of the cleaning section is smaller than the outer diameter of the push rod.

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