CN119818816A - Semi-automatic particle implantation system for manually switching implantation pipeline and use method thereof - Google Patents

Abstract

The present invention discloses a semi-automatic particle implantation system with manually switched implantation pipelines and a method for using the system, comprising: a delivery catheter, one end of which is connected to a puncture needle, and the other end of which is docked with an implantation output interface; an implantation output interface, which is provided with one, and different delivery catheters can be manually installed with the implantation output interface, so as to realize manual switching of implantation channels; an implantation mechanism, which pushes a radiation source out of the implantation output interface, docks and installs the delivery catheter with the implantation output interface, and introduces the radiation source into a lesion along different delivery catheters and puncture needles through the implantation mechanism, so as to ensure a flexible connection between the implantation mechanism and the puncture needle and avoid pulling the puncture needle to scratch the patient; the problem of selective implantation of multiple needles is solved by manually switching the implantation and core extraction channels, and the radiation source can enter the lesion along different delivery catheters and puncture needles after core extraction.

Description

Semi-automatic particle implantation system for manually switching implantation pipeline and use method thereof

Technical Field

The invention relates to the field of medical instruments, in particular to a semi-automatic particle implantation system for manually switching an implantation pipeline and a use method thereof.

Background

The radioactive particle implantation surgery is to implant a plurality of radioactive particles into a tumor directly by means of puncture to perform local radiotherapy, and the surgery has wide application including lung cancer, liver cancer, breast cancer, prostate cancer and the like, has small wound and small bleeding, has relatively fewer surgical complications, and can effectively inhibit the growth of the tumor.

The basic procedure of this procedure is to first take a pre-operative CT and determine the penetration path and particle placement scheme in the TPS system, after which many needles are inserted into the tumor according to the plan. This process can be accomplished with the aid of a puncture guide template to ensure that the spacing and orientation between individual needles remain consistent with the preoperative plan. After confirming that all puncture needles reach the target position through CT, a doctor pushes a plurality of particles into the tumor according to preoperative planning through a channel established by the puncture needles, and the operation is completed. In addition, in order to avoid the blockage of the needle sheath after blood coagulation is poured into the puncture needle, a needle core is arranged in the puncture needle, so that the space in the needle is filled, the needle core is pulled out before implantation, and an implantation channel is established.

However, the current operation time is long, and doctors need to be in close contact with particles in the implantation process and are greatly damaged by radiation, so that the application and popularization of the operation are greatly limited. Accordingly, a radiation source implantation robot system, such as a particle implantation surgical robot as disclosed in chinese patent CN201910714054.7, has been developed, which is capable of performing penetration and particle implantation with high accuracy by installing an automatic particle implantation gun at the end of the robot.

However, the particle implantation gun is always rigidly connected with the puncture needle in the operation process, so that a patient is easily scratched, and particle implantation is performed immediately after the puncture is completed, so that the traditional manual operation process is changed, the shooting CT verification needs to be performed immediately after each puncture, and the number of shooting CT of the patient is greatly increased, so that the patient is subjected to larger radiation. And the device can not solve the difficult problem of implantation of a plurality of puncture needles.

Disclosure of Invention

The invention aims to provide a device for solving the defects and the technical requirements which cannot be achieved by the prior art.

The semi-automatic particle implantation system comprises a conveying conduit, an implantation output interface and an implantation mechanism, wherein one end of the conveying conduit is connected with a puncture needle, the other end of the conveying conduit is in butt joint with the implantation output interface, the implantation output interface is provided with one conveying conduit and the implantation output interface, different conveying conduits can be manually installed, so that the implantation channel can be manually switched, and the implantation mechanism pushes a radioactive source out of the implantation output interface, and after the conveying conduit and the implantation output interface are installed, the radioactive source can be conveyed to a preset position along the hollow channels of the conveying conduit and the puncture needle.

Preferably, the delivery catheter is connected with the implantation output interface through a quick-connection structure, and the quick-connection structure is a buckle structure or a threaded structure.

Preferably, the device further comprises a core pulling mechanism for pulling out the needle core in the conveying conduit, wherein the needle pulling mechanism is in butt joint with the tail part of the needle core, and the puncture needle and the needle core in the conveying conduit are pulled out, so that a hollow implantation channel is formed, and the core pulling mechanism is one or a combination of a friction core pulling mechanism, a reciprocating clamping core pulling mechanism and a winding core pulling mechanism.

Or besides the implantation output interface, the device also comprises a core pulling interface, one side of the core pulling interface is aligned with the core pulling mechanism, and the conveying guide pipe can be manually butted with the other side of the core pulling interface, so that the switching core pulling of different conveying guide pipes is realized;

Or the implantation output interface is a core pulling interface, and the device also comprises a channel switching assembly, wherein the channel switching assembly is used for switching the core pulling mechanism and the implantation mechanism to be respectively in butt joint with the implantation output interface, and the channel switching assembly is a moving platform.

Preferably, the motion platform comprises a reciprocating mechanism and a front-back butting mechanism, the reciprocating mechanism controls the core pulling mechanism and the implantation mechanism to reciprocate left and right or rotate, the core pulling mechanism or the implantation mechanism is driven to be aligned with the implantation output interface respectively, the front-back butting mechanism drives the core pulling mechanism or the implantation mechanism to move back and forth, the distance between the core pulling mechanism or the implantation mechanism and the implantation output interface is controlled, and the core pulling mechanism or the implantation mechanism is controlled to be butted with the implantation output interface.

Preferably, the implantation mechanism comprises a push rod, a push rod driving mechanism and a radioactive source feeding mechanism, the push rod driving mechanism drives the push rod to move back and forth, the radioactive source feeding mechanism is arranged in front of the push rod to push out the radioactive source when the push rod moves forward, the radioactive source is pushed into the implantation output interface to push out the puncture needle through the radioactive source to be implanted into the organism tissue, the radioactive source feeding mechanism is one or a combination of a particle cartridge clip, a particle chain feeding mechanism and a particle arrangement feeding mechanism, and the particle arrangement feeding mechanism is one or a combination of a grabbing type feeding mechanism, a notch arrangement feeding mechanism, a V-shaped groove arrangement feeding mechanism and a vibration disc feeding mechanism.

Preferably, the needle pulling device also comprises a needle pulling mechanism;

The needle pulling mechanism is provided with only one needle pulling driving position, and different puncture needles are pulled out by manually installing different conveying guide pipes or needle pulling driving heads along with the pipes at the needle pulling driving position;

Or the needle pulling mechanism is provided with a plurality of needle pulling driving positions, a plurality of conveying guide pipes or needle pulling driving heads along with the pipe are arranged at a plurality of different needle pulling driving positions, and different puncture needles are pulled through the automatic needle pulling channel switching mechanism, or each needle pulling driving position is respectively provided with a needle pulling unit, so that different needle pulling units can be selectively controlled to conduct needle pulling actions.

Preferably, the needle pulling mechanism adopts a direct pushing mode, the conveying catheter comprises an inner tube and an outer tube, the outer tube is sleeved outside the inner tube, the front end of the inner tube is connected with a puncture needle inserted into a target object, and the front end of the outer tube is propped against or connected with the target object;

The needle pulling mechanism is a telescopic ejector rod, when the needle pulling mechanism is configured with only one needle pulling driving position, the needle pulling driving position is arranged near the output interface, and after the inner tube of the conveying catheter is installed with the implantation output interface, the telescopic ejector rod can extend out of the needle pulling driving position and push the outer tube, so that the outer tube can move forwards relative to the inner tube, and the puncture needle can be pulled out of a target object.

Preferably, the needle pulling mechanism adopts a tube-following needle pulling assembly, and a needle pulling group of the tube-following needle pulling assembly is arranged on the inner tube or the outer tube;

The needle pulling group of the needle pulling assembly along with the tube is connected with a needle pulling driving mechanism or a power source at a needle pulling driving position through a sleeve, and the needle pulling driving mechanism or the power source drives the needle pulling group of the needle pulling assembly along with the tube to act through driving wires, liquid and gas in the sleeve in a driving mode of selectively pushing or selectively clamping and then pushing/pulling or selectively array friction type or selectively injecting liquid or gas.

A method of using a semi-automated particle implantation system for manually switching implantation conduits, comprising the steps of:

step one, inserting a plurality of puncture needles into the position of a target object according to a planned needle insertion route;

Connecting the tail part of one of the puncture needles with a conveying catheter, manually inserting the inner tube of the conveying catheter with a core pulling interface, or connecting the tail parts of all the puncture needles with one conveying catheter respectively, or connecting the tail parts of the puncture needles with the conveying catheter all the time, manually inserting the inner tube of one conveying catheter with the core pulling interface, adjusting the outer tube sleeved outside the inner tube, and pressing or connecting one end of the outer tube on a target object;

thirdly, the moving platform drives the core pulling mechanism to be in butt joint with the inner pipe which is inserted into the core pulling interface, or the core pulling mechanism is already in butt joint with the inner pipe of the core pulling interface, at the moment, a part of the flexible needle core exposed outside the inner pipe is just inserted into the core pulling mechanism, and then the core pulling mechanism extracts the flexible needle core from the conveying guide pipe and is accommodated in the accommodating device;

Step four, after the needle core is completely pulled out, the implantation quick connector is pulled out or moved away from the core pulling interface manually, then the implantation quick connector is butted on an implantation output interface corresponding to the implantation mechanism, or the core pulling mechanism is automatically controlled to move away from the implantation output interface through the channel switching assembly, and then the implantation mechanism is automatically controlled to be butted with the implantation output interface, so that the implantation output interface is butted with the conveying catheter to form an implantation channel;

Step five, a push rod driving mechanism of the implantation mechanism drives a push rod to move back and forth, when the push rod moves forward, a radioactive source arranged in front of the push rod of the radioactive source feeding mechanism is pushed out, the radioactive source is pushed into the implantation output interface and is pushed to the front end of the puncture needle along the conveying catheter, at the moment, acting force is applied to the inner tube and/or the outer tube under the action of the needle pulling mechanism, so that the inner tube and the outer tube relatively move, the needle pulling action is realized, and the implantation depth of the radioactive source is adjusted according to treatment requirements;

Step six, manually separating the inner tube of the conveying catheter from the implantation output interface, then switching to another puncture needle, repeating the step two to the step five until all puncture needles are implanted, and completing the particle implantation of the semiautomatic particle implantation system for manually switching the implantation pipeline. .

Compared with the prior art, the invention has the beneficial effects that:

1. The radioactive source is arranged in a butt joint way through the conveying guide pipe and the implantation output interface, and the implantation mechanism is used for enabling the radioactive source to enter the focus along different conveying guide pipes and the puncture needles, so that the flexible connection between the implantation mechanism and the puncture needles is ensured, and the patient is prevented from being scratched by pulling the puncture needles;

2. The needle pulling mechanism is arranged by adopting an inner tube and an outer tube, and the relative movement between the inner tube and the outer tube is controlled by automatic needle pulling or manual needle pulling to control the puncture needle to be pulled out so as to adjust the implantation depth of the radioactive source, so that operators can finish all operations at a place far away from the radioactive source, and the radiation influence of the radioactive source on the operators is effectively reduced;

3. the manual switching implantation and core pulling channels are adopted, the problem of selective implantation of a plurality of needles is solved, and the radioactive source can enter the focus along different delivery catheters and puncture needles after core pulling.

Drawings

FIG. 1 is a schematic overall structure of embodiment 1 of the present invention;

fig. 2 is a schematic structural view of a needle pulling mechanism according to embodiment 1 of the present invention;

FIG. 3 is an exploded view of the structure of the needle drawing control box according to embodiment 1 of the present invention;

FIG. 4 is a side cross-sectional view of the needle extraction drive shaft of example 1 of the present invention;

FIG. 5 is a schematic overall structure of embodiment 2 of the present invention;

FIG. 6 is a schematic view showing the internal structure of embodiment 2 of the present invention;

Fig. 7 is a schematic structural diagram of a second core-pulling mechanism according to embodiment 2 of the present invention;

fig. 8 is a side sectional view of a second core pulling mechanism of embodiment 2 of the present invention;

FIG. 9 is a side cross-sectional view of a particle chain conveyor apparatus according to example 2 of the present invention;

FIG. 10 is a sectional view showing the structure of a second inner tube and a second outer tube according to embodiment 2 of the present invention;

FIG. 11 is a diagram showing the whole construction of a manual needle-pulling implanter according to embodiment 3 of the present invention;

FIG. 12 is a side view of a manual pull needle implant according to example 3 of the present invention;

fig. 13 is a schematic structural diagram of the implanted output interface of embodiment 4 of the present invention when it is a core pulling interface;

Fig. 14 is a front view of embodiment 4 of the present invention;

fig. 15 is a schematic structural view of a needle drawing driving mechanism in embodiment 4 of the present invention;

FIG. 16 is a schematic view showing the structure of a particle cartridge clip according to example 4 of the present invention;

fig. 17 is a schematic view showing the structure of the invention in the case of the implantation and the needle extraction according to example 4.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Example 1

A semi-automated particle implantation system for manually switching implantation conduits, comprising:

A delivery catheter (e.g., the first inner tube 8111109 of this embodiment) having one end connected to the needle and the other end interfacing with the implant delivery interface;

the implantation output interface (such as the first implantation output interface 8111126 in the present embodiment) is provided with one, and different delivery catheters and implantation output interfaces can be manually installed, so as to realize manual switching of implantation channels;

The implantation mechanism (such as the radiation source implantation device 8111102 of this embodiment) pushes the radiation source out of the implantation output port, and after the delivery catheter is mounted to the implantation output port, the radiation source can be delivered to a predetermined location along the hollow channel of the delivery catheter and the spike.

The delivery catheter is connected with the implantation output interface through a quick-connection structure (such as an implantation quick connector 81112102 in the embodiment), and the quick-connection structure is a buckle structure or a threaded structure.

The device also comprises a core pulling mechanism (such as a first core pulling mechanism 8111103 in the embodiment) for pulling out the needle core in the conveying conduit, wherein the needle pulling mechanism is in butt joint with the tail part of the needle core, and pulls out the puncture needle and the needle core in the conveying conduit, so that a hollow implantation channel is formed, and the core pulling mechanism is one or a combination of a friction type core pulling mechanism, a reciprocating clamping type core pulling mechanism and a winding type core pulling mechanism.

The device comprises a core pulling interface (such as 8111127 in the embodiment) besides the implantation output interface, one side of the core pulling interface is aligned with the core pulling mechanism, and the conveying guide pipe can be manually butted with the other side of the core pulling interface, so that the switching core pulling of different conveying guide pipes is realized;

Or the implantation output interface is a core pulling interface, and the device also comprises a channel switching assembly, wherein the channel switching assembly is used for switching the core pulling mechanism and the implantation mechanism to be respectively in butt joint with the implantation output interface, and the channel switching assembly is a moving platform.

The motion platform comprises a reciprocating mechanism and a front-back butting mechanism, the reciprocating mechanism controls the core pulling mechanism and the implantation mechanism to reciprocate left and right or rotate, the core pulling mechanism or the implantation mechanism is driven to be aligned with the implantation output interface respectively, the front-back butting mechanism drives the core pulling mechanism or the implantation mechanism to move back and forth, the distance between the core pulling mechanism or the implantation mechanism and the implantation output interface is controlled, and the core pulling mechanism or the implantation mechanism is controlled to be butted with the implantation output interface.

The implantation mechanism comprises a push rod, a push rod driving mechanism and a radioactive source feeding mechanism, wherein the push rod driving mechanism drives the push rod to move back and forth, the radioactive source feeding mechanism is arranged in front of the push rod to push out a radioactive source when the push rod moves forward, the radioactive source is pushed into an implantation output interface to push out a puncture needle through the radioactive source, the puncture needle is implanted into organism tissues, the radioactive source feeding mechanism is one or a combination of a particle cartridge clip, a particle chain feeding mechanism and a particle arrangement feeding mechanism, and the particle arrangement feeding mechanism is one or a combination of a grabbing type feeding mechanism, a notch arrangement feeding mechanism, a V-shaped groove arrangement feeding mechanism and a vibration disc feeding mechanism.

The device also comprises a needle pulling mechanism;

The needle pulling mechanism is provided with only one needle pulling driving position, and different puncture needles are pulled out by manually installing different conveying guide pipes or needle pulling driving heads along with the pipes at the needle pulling driving position;

Or the needle pulling mechanism is provided with a plurality of needle pulling driving positions, a plurality of conveying guide pipes or needle pulling driving heads along with the pipe are arranged at a plurality of different needle pulling driving positions, and different puncture needles are pulled through the automatic needle pulling channel switching mechanism, or each needle pulling driving position is respectively provided with a needle pulling unit, so that different needle pulling units can be selectively controlled to conduct needle pulling actions.

The needle pulling mechanism adopts a direct pushing mode, the conveying catheter comprises an inner tube and an outer tube, the outer tube is sleeved outside the inner tube, the front end of the inner tube is connected with a puncture needle inserted into a target object, the front end of the outer tube is propped against or connected with the target object, and the inner tube and the outer tube can move relatively under the action of the needle pulling mechanism so as to enable the puncture needle to move in a direction away from the target object and pull out the puncture needle from the target object.

The needle pulling mechanism is a telescopic ejector rod, when the needle pulling mechanism is configured with only one needle pulling driving position, the needle pulling driving position is arranged near the output interface, and after the inner tube of the conveying catheter is installed with the implantation output interface, the telescopic ejector rod can extend out of the needle pulling driving position and push the outer tube, so that the outer tube can move forwards relative to the inner tube, and the puncture needle can be pulled out of a target object.

The needle pulling mechanism adopts a tube-following needle pulling assembly, and a needle pulling group of the tube-following needle pulling assembly is arranged on the inner tube or the outer tube;

The needle pulling group of the needle pulling assembly along with the tube is connected with a needle pulling driving mechanism or a power source at a needle pulling driving position through a sleeve, and the needle pulling driving mechanism or the power source drives the needle pulling group of the needle pulling assembly along with the tube to act through driving wires, liquid and gas in the sleeve in a driving mode of selectively pushing or selectively clamping and then pushing/pulling or selectively array friction type or selectively injecting liquid or gas.

Referring specifically to fig. 1 to 4, in this embodiment, a single core pulling port 8111127 and a single first implant output port 8111126 are provided, and the radiation source implantation device 8111102 and the first core pulling mechanism 8111103 are respectively fixed on a fixing plate 81112101 and the fixing plate 81112101 is fixed on the tripod 81112104 by manually docking the delivery catheter with the core pulling port. One end of the first inner tube 8111109 is fixed with the implantation quick connector 81112102, the implantation quick connector 81112102 can be quickly butted with the first implantation output interface 8111126 and the core pulling interface 8111127 on the fixing plate 81112101, and the other end passes through the needle pulling mechanism 8111107 to be connected with a puncture needle (not shown in the figure), and the puncture needle passes through a hole on the human body template 8111105 to reach a focus. The core 81112103 is located within the first inner tube 8111109 and extends all the way to the tip of the needle, thereby filling the space within the needle to avoid blockage by blood clotting, and sleeving the first outer tube 8111106 outside the first inner tube 8111109, where one end of the first outer tube 8111106 abuts against the body template 8111105 and the other end abuts against one side of the needle withdrawal mechanism 8111107 (the needle withdrawal mechanism 8111107 is relatively slidable on the first inner tube 8111109).

As shown in fig. 3 and 4, the needle pulling mechanism includes a needle pulling driving shaft 8111113, the needle pulling driving shaft 8111113 and the needle pulling quick connector 8111108 are inserted into the hole from the rear side of the needle pulling control box 8111112 (corresponding to the needle pulling control assembly), the pull ring shaft 8111117 is fixedly connected with a movable pull ring 8111110, the pull ring shaft 8111117 is inserted into the hole from the front side of the needle pulling control box 8111112, at this time, the pull ring shaft 8111117 is rotated by 90 degrees, then the needle pulling driving shaft 8111113 and the pull ring shaft 8111117 are locked together and can slide in the hole of the needle pulling control box 8111112 together, the surface of the needle pulling control box 8111112 is provided with a pair of friction wheels 8111118, the sliding of the pull ring shaft 8111117 can drive the friction wheels 8111118 to rotate, and the rotary encoder 8111119 detects the rotation of the friction wheels 8111118 in real time, so as to calculate the distance of manual needle pulling, facilitate the implantation of particles or particle chains into the organism tissue at the same implantation rate as the needle pulling rate, and display on the screen, so as to observe the progress of needle pulling.

As shown in fig. 1 and 2, one end of a needle pulling driving tube 8111111 is fixed with a grip 8111121, the other end is fixed with a housing of a needle pulling mechanism 8111107, one end of a metal driving wire 8111123 is fixed with a pulling piece 8111125 in the needle pulling mechanism 8111107, the other end is fixed with a wire locking shaft 8111124, the wire locking shaft 8111124 is inserted into a guide shaft 8111122 from one side of the guide shaft 8111122 and can slide in the shaft, one end of the guide shaft 8111122 is provided with a stop step to prevent the wire locking shaft 8111124 from completely penetrating, the guide shaft 8111122 is fixed with the grip 8111121, and the needle pulling driving shaft 8111113 is connected with the wire locking shaft 8111124.

Pulling the pull ring 8111110 pulls the needle drawing drive shaft 8111113 and thus the pulling piece in the needle drawing mechanism 8111107, thereby pulling the first inner tube 8111109 connected to the puncture needle and realizing needle drawing. Before the needle is pulled out, the implantation quick connector 81112102 is manually abutted to the hole site corresponding to the inlet of the first core pulling mechanism 8111103, then the first core pulling mechanism 8111103 automatically pulls out the needle core 81112103 in the first inner tube 8111109 to the wire collecting wheel of the first core pulling mechanism 8111103, after the needle core 81112103 is completely pulled out, the implantation quick connector 81112102 is manually abutted to the hole site corresponding to the outlet of the radioactive source implantation device 8111102, then the radioactive source implantation device 8111102 pushes the radioactive source to the focus along the first inner tube 8111109 through the push rod, the pushing of the particle chain is detected by the encoder and accurately controlled by the implantation driving motor 8111114, and meanwhile, the rotary encoder 8111119 arranged on the needle pulling control box 8111112 can also detect the displacement of the pull ring 8111110 and reflect the information to the display screen on the needle pulling control box 8111112, so that an operator can conveniently pull out the needle synchronously. In order to perform the insertion implantation of different puncture needles, the operator needs to manually dock the different insertion quick connectors 81112102 with the corresponding holes on the fixed plate 81112101, dock the cores with the corresponding holes on the outlet of the radioactive source implantation device 8111102 after the completion of the insertion, and repeat the above process. While one of the pull-pin quick connector 8111108 and the implant quick connector 81112102 are in use, the other pull-pin quick connector 8111108 and implant quick connector 81112102 may be hung from the flat bracket 81112105.

Example 2

The needle pulling mechanism adopts a direct pushing mode, the conveying catheter comprises an inner tube and an outer tube, the outer tube is sleeved outside the inner tube, the front end of the inner tube is connected with a puncture needle inserted into a target object, the front end of the outer tube is propped against or connected with the target object, the inner tube and the outer tube can move relatively under the action of the needle pulling mechanism so as to enable the puncture needle to move in a direction away from the target object, and the puncture needle is pulled out from the target object

As shown in fig. 5 to 10, a single implant output interface is provided near the position of the withdrawal drive mechanism, a shield a81211101 is mounted to the tripod 81211104, a shield B81211103 is mounted to the shield a81211101, the second withdrawal mechanism 181222101 is secured to the shield B81211103, and the withdrawal receiving wheel 81211106 is secured to the second withdrawal mechanism 181222101. The particle chain conveyor 18122103 is fixed to the protection case B81211103, the push rod driving device 81211105 is fixed to the particle chain conveyor 18122103, and the storage box 18122106 is fixed to the particle chain conveyor 18122103.

The inner tube connector 18122111 is connected to the second inner tube 18122115, the second inner tube 18122115 is sleeved in the second outer tube 18122116, the core drawing driving device 81211109 is fixed on the second core drawing mechanism 18122101, the core drawing driving wheel a81211110, the core drawing driving wheel B81211111 and the core drawing driving wheel C81211112 are mounted on the second core drawing mechanism 181222101, and the wire guide tube 81211107 is mounted on the second core drawing mechanism 181222101. A flexible needle 81211113 is mounted to the second inner tube 18122115.

The particle chain conveyor 18122103 is shown as being secured to the guard casing B81211103, the slitting device 18122108 is secured to the particle chain conveyor 18122103, the push rod drive device 81211105 is secured to the particle chain conveyor 18122103, the particle chain receiver 18122106 is secured to the particle chain conveyor 18122103, the particle chain 18122127 is received within the particle chain receiver 18122106, the head mount is mounted to the particle chain conveyor 18122103, and the inner tube fitting 18122111 is threadably secured to the guard casing B81211103. Rack 18122123 is mounted to push rod drive 81211105.

When the needle tube is used, the corresponding needle tube number is selected according to the requirement, in the first step, the inner tube connector 18122111 at the tail part of the hand-pinched needle tube is inserted into the hole position corresponding to the second core pulling mechanism 18122101 on the protective shell B81211103, when the inner tube connector 18122111 is inserted in place, a part of the flexible needle core 81211113 exposed out of the second inner tube 18122115 is just rolled in by the core pulling driving wheel A81211110 (friction wheel) rotating clockwise at high speed and is extracted from the second inner tube 18122115, and the flexible needle core 81211113 passes through the core pulling driving wheel A81211110, core pulling driving wheel B81211111, The core pulling driving wheel C81211112 is driven to push backward, finally, the flexible needle core 81211113 is retracted into the core pulling wire receiving wheel 81211108 along the wire guide tube 81211107, after the flexible needle core 81211113 is completely extracted from the second inner tube 18122115, the core pulling wire receiving wheel 81211108 is manually shifted to enable the flexible needle core 81211113 to be completely stored into the core pulling wire receiving wheel 81211108, the wire guide tube 81211107 is emptied to be ready for the next core pulling, or the flexible needle core 81211113 is not conveyed into the core pulling wire receiving wheel 81211108, the flexible needle core 81211113 is spit out or the flexible needle core 81211113 is inserted into a conveying guide tube to be ready for the next time, and the inner tube connector 18122111 is locked on a hole position of a slitting device corresponding to a particle chain feeding mechanism on the protective shell B81211103 through threads. The section of the second inner tube 18122115, which is close to the inner tube joint 18122111, is a rigid section and can be kept perpendicular to the protective shell B81211103, so that the guiding function of the outer tube pushing seat 81211102 is achieved, and the other end of the second inner tube 18122115 is a flexible section, so that the second inner tube 18122115 can be better abutted with the puncture needles 11 in different positions, adapt to the movement of the body of a patient, and ensure the safety of an operation. Then, the outer tube pushing seat 81211102 is moved along the second outer tube 18122116 to enable the front end face of the outer tube pushing seat 81211102 to be close to or attached to the protective shell B81211103, meanwhile, the metal ring is pressed by the adjusting locking knob, the outer tube pushing seat 81211102 and the second outer tube 18122116 are relatively fixed, and the metal ring 18122114 is used for avoiding flattening the flexible outer tube, so that relative movement between the inner tube and the outer tube cannot occur, namely, a needle cannot be pulled out. Third, a single needle implantation procedure is started, the operator is far away from the apparatus to avoid radiation, and then the protecting shell a81211101 can be covered, at this time, the particle chain conveying device 18122103 drives the particle chain 18122127 to advance, when the particle chain 18122127 passes through the slitting device 18122108, the slitting device 18122108 will slit the front section of the particle chain 18122127 into particle chains 18122127 with different lengths according to the setting, the severed particle chain 18122127 will be continuously pushed by the rear particle chain 18122127 to advance in the second inner tube 18122115, when the particle chain 18122127 reaches the tip of the puncture needle 11, at this time, the push rod driving device 81211105 and the particle chain conveying device 18122103 will synchronously respectively drive the rack 18122123 to forward to push the outer tube pushing seat 81211102 to complete the needle pulling action and drive the particle chain 18122127 to continue advancing to complete the implantation action. After simultaneous needle withdrawal and implantation of the particle chain 18122127, the truncated particle chain 18122127 remains in the human lesion and completes the implantation procedure. The remaining particle chain 18122127 will be retracted into the particle chain conveyor 18122103, awaiting the next implantation. The particle implantation in a semi-automatic mode can be completed by repeating the steps.

The radioactive source implantation mode can also adopt a flexible push rod to push the radioactive source to implant into organism tissues, the particle chain feeding mechanism can also adopt a particle cartridge clip to replace the radioactive source, at the moment, the radioactive source becomes particles instead of a particle chain, when the radioactive source is pushed out, the multiparticulates can be pushed out of the cartridge clip in sequence, then the multiparticulates are pushed out to the front end of the puncture needle together, and then are sequentially discharged (implantation is realized while pulling out), or the multiparticulates are pushed out of the cartridge clip in sequence, and only one particle is pushed out to the front end of the puncture needle at a time.

Example 3

When the needle pulling mechanism adopts a manual needle pulling driving mechanism to directly push the inner tube and/or the outer tube, the manual needle pulling driving mechanism comprises a manual pushing part, an operator manually pushes the manual pushing part to move along the axis direction of the outer tube, or the operator manually toggles a hand wheel to rotate, the hand wheel drives a friction wheel mechanism or a gear rack mechanism to indirectly drive the manual pushing part to move along the axis direction of the outer tube, one end of the manual pushing part directly pushes the end face of the outer tube or the step face of the outer tube, and at the moment, the inner tube is connected with an implantation output interface to form an implantation channel, so that the manual pushing part can drive the inner tube and the outer tube to generate relative displacement, and the needle pulling action is realized.

As shown in fig. 11 and 12, the needle pulling driving mechanism of the present embodiment adopts a manual driving mode, presses the feeding switch 1081220208, starts the manual needle pulling implanter 10812202 to operate, controls the flexible push rod (not shown in the figure) in the storage device 1081220201 to push out, pushes the particles placed in the particle clip 1081220202 into the focus along the delivery catheter and the puncture needle, and resets the flexible push rod;

Pushing a manual push plate 1081220204 according to the treatment requirement, pushing an outer tube to move forwards through the manual push plate 1081220204, controlling the inner tube and the outer tube to move relatively, and realizing a needle pulling action, wherein when pushing the manual push plate 1081220204, a push rod 1081220207 is driven to move forwards, a distance measuring friction wheel 1081220209 is driven to rotate while a push rod 1081220207 moves, and a displacement measurer A1081220206 detects corresponding angle change through the rotation of the distance measuring friction wheel 1081220209, so that the pulled distance is calculated (or replaced by a linear displacement sensor) so as to implant particles or particle chains at the same speed;

The manual push plate 1081220204 is pushed to match the concave pushing head with the third outer tube 1081220303 of the conveying pipe 10812203, and the end surface of the concave pushing head abuts against the push rod seat 1081220301 of the conveying pipe 10812203.

Example 4

In this embodiment, the same content is referred to embodiment 1, and the description of this embodiment is omitted. The difference is that;

As shown in fig. 13-17, the drawing comprises 141321 radial arm mechanism, 141322 particle cartridge clip, 141323 outer tube pushing seat, 141324 third core pulling mechanism, 1413210 second implantation output interface, 141325 butt joint mouth, 141326 pushing rod, 142327 flexible pushing rod, 142328 pushing rod driving mechanism, 141329 butt joint disc, 1423210 wire feeding joint, 141321-1 electric pushing rod A,1413219 force sensor, 1413220 micro switch A, needle pulling driving position 1413221,1413218 motor A,1413212 micro switch B,1413213 micro switch C,1413214 roller A,1413215 roller B,1413216 guide block, 1413217 spring and 2 particles.

When the implantation output interface (e.g., the second implantation output interface 1413210 in this embodiment) is a core pulling interface, the device further includes a channel switching component, where the channel switching component is used to switch the core pulling mechanism and the implantation mechanism to interface with the implantation output interface, respectively, and the channel switching component is a motion platform.

The moving platform (such as the radial arm mechanism 141321 in this embodiment) includes a reciprocating mechanism and a front-back docking mechanism, where the reciprocating mechanism controls the core pulling mechanism and the implantation mechanism to reciprocate or rotate left and right, and drives the core pulling mechanism (such as the third core pulling mechanism 141324 in this embodiment) or the implantation mechanism to align with the implantation output interface, and the front-back docking mechanism drives the core pulling mechanism or the implantation mechanism to move back and forth, controls the distance between the core pulling mechanism or the implantation mechanism and the implantation output interface, and controls the core pulling mechanism or the implantation mechanism to dock with the implantation output interface.

The implantation mechanism comprises a push rod (such as a flexible push rod 142327 in the embodiment), a push rod driving mechanism (such as a push rod driving mechanism 142328 in the embodiment) and a radioactive source feeding mechanism (such as a particle cartridge clip 141322 in the embodiment), wherein the push rod driving mechanism drives the push rod to move back and forth, when the push rod moves forward, the radioactive source arranged in front of the push rod is pushed out, the radioactive source is pushed out of the puncture needle through a radioactive source pushing implantation output interface and is implanted into organism tissues, the radioactive source feeding mechanism is one or a combination of the particle cartridge clip, the particle chain feeding mechanism and the particle arrangement feeding mechanism, and the particle arrangement feeding mechanism is one or a combination of a grabbing type feeding mechanism, a notch arrangement feeding mechanism, a V-shaped groove arrangement feeding mechanism and a vibration disc feeding mechanism. The radiation source feeding mechanism of this embodiment is a particle cartridge.

The needle pulling mechanism is provided with only one needle pulling driving position 1413221, different puncture needles are pulled out by manually installing different conveying guide pipes or needle pulling driving heads along with the pipes at the needle pulling driving position, and the needle pulling driving position is arranged near an implantation output interface.

The needle pulling mechanism adopts a direct pushing mode, the conveying catheter comprises an inner tube and an outer tube, the outer tube is sleeved outside the inner tube, the front end of the inner tube is connected with a puncture needle inserted into a target object, the front end of the outer tube is propped against or connected with the target object, and the inner tube and the outer tube can move relatively under the action of the needle pulling mechanism so as to enable the puncture needle to move in a direction away from the target object and pull out the puncture needle from the target object.

The needle pulling mechanism is a telescopic ejector rod, when the needle pulling mechanism is configured with only one needle pulling driving position, the needle pulling driving position is arranged near the output interface, and after the inner tube of the conveying catheter is installed with the implantation output interface, the telescopic ejector rod can extend out of the needle pulling driving position and push the outer tube, so that the outer tube can move forwards relative to the inner tube, and the puncture needle can be pulled out of a target object.

As shown in fig. 13 to 17, in this embodiment, the moving platform is a radial arm mechanism, the implantation output interface is a core pulling interface, the needle pulling driving position is disposed below the implantation output interface, the radioactive source feeding mechanism is a particle cartridge feeding mechanism, and the needle pulling driving mechanism drives the inner tube or the outer tube of the needle pulling accessory to do relative sliding movement in a direct push-pull manner.

The workflow of the present embodiment:

1. Connecting the tail of one puncture needle with a conveying conduit, manually inserting the inner tube of the conveying conduit and the core pulling interface of the core pulling mechanism, or respectively connecting the tail of all puncture needles with one conveying conduit, or connecting the tail of the puncture needles with the conveying conduit all the time, adjusting the outer tube sleeved outside the inner tube, and pressing one end of the outer tube against or connecting one end of the outer tube with the target object;

2. The orifice of the third core pulling mechanism 141324 can be aligned with the second implantation output interface 1413210 of the butting disc 141329 by the cooperation of the rotating movement of the rotating arm mechanism 141321 and the front-back butting mechanism, then the inner tube of one conveying pipe is manually butted with the core pulling interface of the core pulling mechanism;

3. then the third core pulling mechanism 141324 drives the core pulling friction wheel to rotate so that the flexible needle core can be pulled out from the conveying guide pipe and stored in the storage device;

4. After the core pulling is finished, the rotating arm mechanism 141321 moves to send the docking nozzle 141325 to the hole on the docking tray 141329 to be aligned, and the second implantation output interface 1413210 is the core pulling interface, and the second implantation output interface 1413210 and the conveying conduit are implantation channels;

5. then the motor A1413218 drives the pushing rod 141326 and the force sensor 1413219 to advance through the corresponding hole of the butting disc 141329, and whether the pushing rod passes through the butting disc 141329 smoothly is judged through the value fed back by the force sensor 1413219 and the rotation angle of the motor A1413218;

6. The flexible push rod 142327 is conveyed forward by the push rod driving mechanism 142328, the flexible push rod 142327 enters the particle cartridge through the wire feeding connector 1423210 at the side part of the particle cartridge 141322, then the particle 2 at the lowest part in the particle cartridge 141322 is pushed to move forward, when the particle 2 touches the roller B1413215, the roller B1413215 drives the guide block 1413216 to compress the spring 1413217 to move towards the direction of the microswitch B1413212 under the action of the spring 1413217 to trigger the microswitch B, and at the moment, the push length is recorded and controlled by the push rod driving mechanism 142328;

7. When the flexible push rod 142327 pushes the particles 2 to a preset position (focus of a human body), the flexible push rod 142327 is recovered to the rear of the roller A1413214 by the push rod driving mechanism 142328 (a micro switch C1413213 is not triggered to be in-place signals), meanwhile, the motor A1413218 pushes the push rod 141326 forwards, when the force sensor 1413219 detects pressure, the push rod 141326 touches the push seat 141323 of the push outer tube, the initial point of needle pulling is recorded, then the push rod 141326 continues to push forwards, the pushing distance is the length of needle pulling, the push rod 141326 pushes forwards to enable the inner tube and the outer tube to move relatively, and the inner tube pulls the puncture needle to move in a direction far away from a target object so as to realize needle pulling action;

8. after implantation, the push rod is retracted to the position of the micro switch A, the electric push rod A141321-1 drives the whole device to retract and reset, at the moment, the inner tube of the conveying catheter can be manually separated from the second implantation output interface 1413210 corresponding to the implantation mechanism by an operator, and then the operation is switched to another puncture needle until all puncture needles are implanted, and the semiautomatic particle implantation of manually switching the core pulling channel can be completed.

In the embodiment, the multiparticulates can be sequentially pushed out from the cartridge clip when pushed out, then pushed to the front end of the puncture needle together, then sequentially discharged, and simultaneously pushed forward by the pushing rod 141326 to realize needle pulling, thereby controlling the implantation depth of different particles.

Example 5

A method of using a semi-automated particle implantation system for manually switching implantation conduits, comprising the steps of:

step one, inserting a plurality of puncture needles into the position of a target object according to a planned needle insertion route;

Connecting the tail part of one of the puncture needles with a conveying catheter, manually inserting the inner tube of the conveying catheter with a core pulling interface, or connecting the tail parts of all the puncture needles with one conveying catheter respectively, or connecting the tail parts of the puncture needles with the conveying catheter all the time, manually inserting the inner tube of one conveying catheter with the core pulling interface, adjusting the outer tube sleeved outside the inner tube, and pressing or connecting one end of the outer tube on a target object;

Thirdly, the moving platform drives the core pulling mechanism to be in butt joint with an inner pipe which is inserted into the core pulling interface, or the core pulling mechanism is already in butt joint with the inner pipe of the core pulling interface, at the moment, a part of flexible needle cores exposed outside the inner pipe are just inserted into a core pulling friction wheel in the core pulling mechanism, and then the core pulling mechanism drives the core pulling friction wheel to rotate so as to draw out the flexible needle cores from a conveying guide pipe and store the flexible needle cores in a storage device;

Step four, after the needle core is completely pulled out, the implantation quick connector is pulled out or moved away from the core pulling interface manually, then the implantation quick connector is butted on an implantation output interface corresponding to the implantation mechanism, or the core pulling mechanism is automatically controlled to move away from the implantation output interface through the channel switching assembly, and then the implantation mechanism is automatically controlled to be butted with the implantation output interface, so that the implantation output interface is butted with the conveying catheter to form an implantation channel;

Step five, a push rod driving mechanism of the implantation mechanism drives a push rod to move back and forth, when the push rod moves forward, a radioactive source arranged in front of the push rod of the radioactive source feeding mechanism is pushed out, the radioactive source is pushed into the implantation output interface and is pushed to the front end of the puncture needle along the conveying catheter, at the moment, acting force is applied to the inner tube and/or the outer tube under the action of the needle pulling mechanism, so that the inner tube and the outer tube relatively move, the needle pulling action is realized, and the implantation depth of the radioactive source is adjusted according to treatment requirements;

step six, manually separating the inner tube of the conveying catheter from the implantation output interface, then switching to another puncture needle, repeating the step two to the step five until all puncture needles are implanted, and completing the particle implantation of the semiautomatic particle implantation system for manually switching the implantation pipeline.

While the fundamental and principal features of the invention and advantages of the invention have been shown and described, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims (10)

1. A semi-automated particle implantation system for manually switching implantation conduits, comprising:

Delivery catheter: one end is connected with the puncture needle, and the other end is in butt joint with the implantation output interface;

The implantation output interface is provided with one, and different conveying pipes and the implantation output interface can be manually installed, so that the implantation channel can be manually switched;

The implantation mechanism pushes the radioactive source out of the implantation output interface, and after the conveying catheter and the implantation output interface are installed, the radioactive source can be conveyed to a preset position along the hollow channels of the conveying catheter and the puncture needle.

2. The semiautomatic particle implantation system for manually switching an implantation tube according to claim 1, wherein the delivery catheter is connected to the implantation output port by a quick-connection structure, and the quick-connection structure is a snap-on structure or a screw-on structure.

3. The semi-automated particle implantation system of claim 1, further comprising a core pulling mechanism for pulling out the core in the delivery conduit, the needle pulling mechanism interfacing with the tail of the core and pulling out the needle and the core in the delivery conduit, thereby forming a hollow implantation passageway, the core pulling mechanism being one or a combination of a friction core pulling mechanism, a reciprocating grip core pulling mechanism, a coiled core pulling mechanism.

4. A semiautomatic particle implantation system for manually switching an implantation tube according to claim 3, comprising a core pulling interface in addition to the implantation output interface, wherein one side of the core pulling interface is aligned with the core pulling mechanism, and the conveying conduit can be manually abutted with the other side of the core pulling interface, so as to realize the switching core pulling of different conveying conduits;

Or the implantation output interface is a core pulling interface, and the device also comprises a channel switching assembly, wherein the channel switching assembly is used for switching the core pulling mechanism and the implantation mechanism to be respectively in butt joint with the implantation output interface, and the channel switching assembly is a moving platform.

5. The semi-automated particle implantation system for manually switching an implantation tube according to claim 4, wherein the motion platform comprises a reciprocating mechanism and a front-back docking mechanism, the reciprocating mechanism controls the core pulling mechanism and the implantation mechanism to reciprocate or rotate left and right, the core pulling mechanism or the implantation mechanism is driven to align with the implantation output interface respectively, the front-back docking mechanism drives the core pulling mechanism or the implantation mechanism to move back and forth, the distance between the core pulling mechanism or the implantation mechanism and the implantation output interface is controlled, and the core pulling mechanism or the implantation mechanism is controlled to dock with the implantation output interface.

6. The semi-automatic particle implantation system for manually switching an implantation tube according to claim 1, wherein the implantation mechanism comprises a push rod, a push rod driving mechanism and a radiation source feeding mechanism, the push rod driving mechanism drives the push rod to move back and forth, the radiation source feeding mechanism is arranged in front of the push rod to push out the radiation source when the push rod moves forward, the radiation source is pushed out of the puncture needle through the radiation source pushing-in implantation output interface to be implanted into a living tissue, the radiation source feeding mechanism is one or a combination of a particle clip, a particle chain feeding mechanism and a particle arrangement feeding mechanism, and the particle arrangement feeding mechanism is one or a combination of a grabbing type feeding mechanism, a notch arrangement feeding mechanism, a V-shaped groove arrangement feeding mechanism and a vibration disc feeding mechanism.

7. The semi-automated particle implantation system of claim 1, further comprising a needle extraction mechanism;

The needle pulling mechanism is provided with only one needle pulling driving position, and different puncture needles are pulled out by manually installing different conveying guide pipes or needle pulling driving heads along with the pipes at the needle pulling driving position;

Or the needle pulling mechanism is provided with a plurality of needle pulling driving positions, a plurality of conveying guide pipes or needle pulling driving heads along with the pipe are arranged at a plurality of different needle pulling driving positions, and different puncture needles are pulled through the automatic needle pulling channel switching mechanism, or each needle pulling driving position is respectively provided with a needle pulling unit, so that different needle pulling units can be selectively controlled to conduct needle pulling actions.

8. The semiautomatic particle implantation system for manually switching an implantation pipeline according to claim 7, wherein the needle pulling mechanism adopts a direct pushing mode, the conveying catheter comprises an inner pipe and an outer pipe, the outer pipe is sleeved outside the inner pipe, the front end of the inner pipe is connected with a puncture needle inserted into a target object, and the front end of the outer pipe is propped against or connected with the target object;

The needle pulling mechanism is a telescopic ejector rod, when the needle pulling mechanism is configured with only one needle pulling driving position, the needle pulling driving position is arranged near the output interface, and after the inner tube of the conveying catheter is installed with the implantation output interface, the telescopic ejector rod can extend out of the needle pulling driving position and push the outer tube, so that the outer tube can move forwards relative to the inner tube, and the puncture needle can be pulled out of a target object.

9. The semi-automatic particle implantation system for manually switching an implantation tube according to claim 7, wherein the needle pulling mechanism adopts a tube-following needle pulling assembly, and a needle pulling group of the tube-following needle pulling assembly is arranged on the inner tube or the outer tube;

The needle pulling group of the needle pulling assembly along with the tube is connected with a needle pulling driving mechanism or a power source at a needle pulling driving position through a sleeve, and the needle pulling driving mechanism or the power source drives the needle pulling group of the needle pulling assembly along with the tube to act through driving wires, liquid and gas in the sleeve in a driving mode of selectively pushing or selectively clamping and then pushing/pulling or selectively array friction type or selectively injecting liquid or gas.

10. A method of using a semi-automatic particle implantation system for manually switching an implantation line, using a semi-automatic particle implantation system for manually switching an implantation line according to any one of claims 1 to 9, comprising the steps of:

step one, inserting a plurality of puncture needles into the position of a target object according to a planned needle insertion route;

Connecting the tail part of one of the puncture needles with a conveying catheter, manually inserting the inner tube of the conveying catheter with a core pulling interface, or connecting the tail parts of all the puncture needles with one conveying catheter respectively, or connecting the tail parts of the puncture needles with the conveying catheter all the time, manually inserting the inner tube of one conveying catheter with the core pulling interface, adjusting the outer tube sleeved outside the inner tube, and pressing or connecting one end of the outer tube on a target object;

thirdly, the moving platform drives the core pulling mechanism to be in butt joint with the inner pipe which is inserted into the core pulling interface, or the core pulling mechanism is already in butt joint with the inner pipe of the core pulling interface, at the moment, a part of the flexible needle core exposed outside the inner pipe is just inserted into the core pulling mechanism, and then the core pulling mechanism extracts the flexible needle core from the conveying guide pipe and is accommodated in the accommodating device;

Step four, after the needle core is completely pulled out, the implantation quick connector is pulled out or moved away from the core pulling interface manually, then the implantation quick connector is butted on an implantation output interface corresponding to the implantation mechanism, or the core pulling mechanism is automatically controlled to move away from the implantation output interface through the channel switching assembly, and then the implantation mechanism is automatically controlled to be butted with the implantation output interface, so that the implantation output interface is butted with the conveying catheter to form an implantation channel;

Step five, a push rod driving mechanism of the implantation mechanism drives a push rod to move back and forth, when the push rod moves forward, a radioactive source arranged in front of the push rod of the radioactive source feeding mechanism is pushed out, the radioactive source is pushed into the implantation output interface and is pushed to the front end of the puncture needle along the conveying catheter, at the moment, acting force is applied to the inner tube and/or the outer tube under the action of the needle pulling mechanism, so that the inner tube and the outer tube relatively move, the needle pulling action is realized, and the implantation depth of the radioactive source is adjusted according to treatment requirements;

step six, manually separating the inner tube of the conveying catheter from the implantation output interface, then switching to another puncture needle, repeating the step two to the step five until all puncture needles are implanted, and completing the particle implantation of the semiautomatic particle implantation system for manually switching the implantation pipeline.