CN119818817A - Semi-automatic particle implantation system capable of manually switching core pulling channels and application method thereof - Google Patents
Semi-automatic particle implantation system capable of manually switching core pulling channels and application method thereof Download PDFInfo
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- CN119818817A CN119818817A CN202410466321.4A CN202410466321A CN119818817A CN 119818817 A CN119818817 A CN 119818817A CN 202410466321 A CN202410466321 A CN 202410466321A CN 119818817 A CN119818817 A CN 119818817A
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Abstract
本发明公开了一种手动切换拔芯通道的半自动化粒子植入系统及其使用方法，其植入输出接口用于连接输送导管，输送导管前端连接有中空穿刺针；拔芯机构可与针芯的尾部对接，将输送导管与穿刺针内的针芯拔出，从而形成中空的植入通道；植入机构将放射源从植入输出接口推出，当拔芯机构将输送导管与穿刺针内的针芯拔出后，可将放射源沿着输送导管和穿刺针的中空通道输送至预设位置；拔针机构控制穿刺针从目标对象中向外拔出。本发明通过手动切换拔芯通道，通过拔芯机构将针芯从输送导管与穿刺针中抽出，形成中空的放射源植入通道，再由植入机构将放射源沿着输送导管与穿刺针植入生物体组织，有效减少放射源对操作人员的辐射影响。
The present invention discloses a semi-automatic particle implantation system with a manually switched core extraction channel and a method for using the system. The implantation output interface is used to connect a delivery catheter, and a hollow puncture needle is connected to the front end of the delivery catheter; the core extraction mechanism can dock with the tail of the needle core to extract the needle core in the delivery catheter and the puncture needle, thereby forming a hollow implantation channel; the implantation mechanism pushes the radioactive source out of the implantation output interface, and when the core extraction mechanism extracts the needle core in the delivery catheter and the puncture needle, the radioactive source can be transported to a preset position along the hollow channel of the delivery catheter and the puncture needle; the needle extraction mechanism controls the puncture needle to be extracted outward from the target object. The present invention manually switches the core extraction channel, extracts the needle core from the delivery catheter and the puncture needle through the core extraction mechanism, forms a hollow radioactive source implantation channel, and then the implantation mechanism implants the radioactive source into the biological tissue along the delivery catheter and the puncture needle, effectively reducing the radiation impact of the radioactive source on the operator.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a semi-automatic particle implantation system for manually switching a core pulling channel 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 equipment can not solve the difficult problem of core pulling 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.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a semi-automated particle implantation system for manually switching a pull core channel, comprising:
The implantation output interface is used for connecting a conveying catheter, the front end of the conveying catheter is connected with a hollow puncture needle, and an implantation channel is formed after the implantation output interface is connected with the conveying catheter;
the core pulling mechanism can be in butt joint with the tail part of the needle core, and the conveying guide pipe and the needle core in the puncture needle are pulled out, 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 implantation mechanism pushes the radioactive source out of the implantation output interface, and after the core pulling mechanism pulls out the conveying catheter and the needle core in the puncture needle, the radioactive source can be conveyed to a preset position along the hollow channels of the conveying catheter and the puncture needle;
a needle pulling mechanism for controlling the puncture needle to be pulled out from the target object;
the device also comprises a core pulling interface, wherein the implantation output interface and the core pulling interface are respectively provided with one or the implantation output interface is the core pulling interface, and different conveying pipes can be manually inserted with the other side of the core pulling interface, so that the manual switching of the core pulling channels of the different conveying pipes is realized.
Preferably, when the implantation output interface and the core pulling interface are respectively provided with one, one side of the core pulling interface is aligned with the core pulling mechanism, and different conveying pipes can be manually inserted into the implantation output interface or the core pulling interface, so that the manual switching of the implantation channel or the core pulling channel is realized, and the conveying pipes are connected with the implantation output interface or the conveying pipes are connected with the core pulling interface through a quick connection structure which is a buckle type structure or a threaded structure.
Preferably, when the implantation output interface is a core pulling interface, the device further comprises a second motion platform, the second motion platform comprises a reciprocating mechanism and a front-back butt joint mechanism, the reciprocating mechanism controls the core pulling mechanism and the implantation mechanism to move left and right in a reciprocating mode, the core pulling mechanism or the implantation mechanism is driven to be aligned with the implantation output interface respectively, the front-back butt joint 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, so that butt joint of the core pulling mechanism or the implantation mechanism and the implantation output interface is achieved, the conveying guide pipe 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 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 device further comprises a fixing plate, the core pulling mechanism and the implantation mechanism are arranged on one side of the fixing plate, an implantation output interface and a core pulling interface are arranged at positions of the fixing plate corresponding to the core pulling mechanism and the implantation mechanism, one end of the conveying catheter is fixedly connected with an implantation quick connector, the other end of the conveying catheter is connected with the puncture needle, and the implantation quick connector can be selectively aligned with the implantation output interface or the core pulling interface or inserted into or connected with the implantation quick connector, so that the switching between the implantation function and the core pulling function is realized.
Preferably, the implantation mechanism, the core pulling mechanism and the needle pulling mechanism are arranged in a protective shell, an implantation output interface and a core pulling interface are respectively arranged on the protective shell, a needle pulling opening is arranged near the implantation output interface, the conveying catheter is fixedly connected with an implantation quick connector, and the implantation quick connector can be selectively aligned with the implantation output interface or the core pulling interface or connected through a quick-release structure, so that the switching of the implantation function and the core pulling function is realized.
Preferably, the needle pulling mechanism is provided with a needle pulling driving position, and different puncture needles are pulled out by manually installing different conveying guide pipes or tube-following needle pulling driving heads at the needle pulling driving position, and the needle pulling driving position is arranged near the implantation output interface.
Preferably, the needle pulling mechanism comprises a needle pulling driving mechanism and a conveying catheter, 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 driving mechanism comprises a manual needle pulling driving mechanism or an automatic needle pulling driving mechanism, wherein the manual needle pulling driving mechanism or the automatic needle pulling driving mechanism directly drives the inner tube and the outer tube to slide relatively in a push-pull driving mode, a clamping driving mode, a friction driving mode and a meshing driving mode, or the manual needle pulling driving mechanism or the automatic needle pulling driving mechanism drives the needle pulling assembly to act along with the tube and then drives the inner tube and the outer tube to slide relatively in a push-pull driving mode, a clamping driving mode, a friction driving mode and a meshing driving mode along with the tube, and the manual needle pulling driving mechanism or the automatic needle pulling driving mechanism are provided with measuring elements for measuring the movement amount of the needle;
when the needle pulling driving mechanism directly drives the inner tube and the outer tube to slide relatively in a push-pull driving mode, the push-pull driving mechanism adopts a telescopic ejector rod, 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 is pulled out of a target object.
Preferably, the friction type core pulling mechanism adopts a friction core pulling assembly, a part of the friction core pulling assembly is tightly pressed with the needle core, the needle core is pulled out through friction force generated by the compaction, and the friction core pulling assembly is one or a combination of a friction wheel and a friction belt;
The reciprocating clamping type core pulling mechanism adopts a clamping assembly and a reciprocating motion assembly, the clamping assembly controls clamping and loosening of a needle core, the reciprocating motion assembly controls the clamping assembly to reciprocate, the clamping assembly clamps the needle core to realize outward pulling when the reciprocating motion assembly drives the clamping assembly to move outwards, and the clamping assembly loosens the needle core when the reciprocating motion assembly drives the clamping assembly to move inwards;
the winding type core pulling mechanism adopts a core pulling wheel assembly, the tail part of the needle core is directly fixed with the core winding wheel or tightly clamped by a passive clamping part, and then the core is pulled out by the rotation of the core winding wheel.
Preferably, the core pulling mechanism comprises a core pulling driving wheel set and a containing device, wherein the core pulling driving wheel set pulls out or returns the needle core to the conveying guide pipe, and the containing device is a core pulling containing wheel or a containing sleeve.
A method for using a semi-automatic particle implantation system capable of manually switching a core pulling channel comprises the following steps of;
(1) Inserting a plurality of puncture needles into the target object according to the planned needle insertion route;
(2) The tail part of one puncture needle is connected with a conveying conduit, the inner tube of the conveying conduit is manually inserted into a core pulling interface of a core pulling mechanism, or the tail parts of all puncture needles are respectively connected with one conveying conduit, or the tail parts of the puncture needles are always connected with the conveying conduit, then the inner tube of one conveying conduit is manually inserted into the core pulling interface of the core pulling mechanism;
(3) The inner tube of the conveying conduit is manually pulled out or moved away from the core pulling interface and then is butted to the implantation output interface corresponding to the implantation mechanism, wherein the implantation output interface is butted with the conveying conduit to form an implantation channel;
(4) The push rod driving mechanism of the implantation 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 of the radioactive source feeding mechanism is pushed out, the radioactive source is pushed in from 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 driving mechanism, so that the inner tube and the outer tube relatively move, the inner tube pulls the puncture needle to move in a direction far away from a target object, and the needle pulling action is realized, so that the implantation depth of the radioactive source is adjusted;
(5) And (3) manually separating the inner tube of the conveying catheter from an implantation output interface corresponding to the implantation mechanism, switching to another puncture needle, and repeating the steps (2) to (4) until all puncture needles are implanted, thereby completing the semi-automatic particle implantation of manually switching the core pulling channel.
Compared with the prior art, the invention has the beneficial effects that:
1. The flexible conveying catheter is adopted to deliver the radioactive source, the inner tube and the outer tube are adopted to pull the needle, the relative movement between the inner tube and the outer tube is controlled through automatic needle pulling or manual needle pulling, the puncture needle is controlled to pull out to adjust the implantation depth of the radioactive source, the flexible connection between the needle pulling mechanism and the puncture needle is ensured, the puncture needle is prevented from being pulled to scratch a patient, an operator can complete all operations in a place far away from the radioactive source, and the radiation influence of the radioactive source on the operator is effectively reduced;
2. The method comprises the steps that a needle core is arranged in a conveying catheter and a puncture needle, so that liquid in biological tissues is prevented from flowing into the puncture needle to block the puncture needle, the needle core is pulled out of the conveying catheter and the puncture needle through a core pulling mechanism in the operation process, a hollow radioactive source implantation channel is formed, and then a radioactive source is implanted into the biological tissues along the conveying catheter and the puncture needle through an implantation mechanism;
3. the implantation and core pulling channels are manually switched, so that the problem of selective core pulling 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 diagram of an embodiment of a single implant output interface according to embodiment 1 of the present invention;
fig. 2 is a schematic structural view of a pulling piece in the needle pulling mechanism of embodiment 1 of the present invention;
FIG. 3 is a schematic view showing the structure of the needle-drawing drive shaft, the needle-drawing quick connector and the needle-drawing control box of the needle-drawing mechanism of embodiment 1 of the present invention;
fig. 4 is an internal cross-sectional view of the quick connector for needle withdrawal of example 1 of the present invention;
Fig. 5 is a schematic structural diagram of the implanted output interface of embodiment 2 of the present invention when it is a core pulling interface;
Fig. 6 is a front view of embodiment 2 of the present invention;
fig. 7 is a schematic structural view of a needle drawing driving mechanism in embodiment 2 of the present invention;
FIG. 8 is a schematic view of the structure of the particle cartridge clip according to example 2 of the present invention;
FIG. 9 is a schematic view showing the structure of the invention in the case of the implantation and the needle extraction according to embodiment 2;
FIG. 10 is a schematic view showing a structure in which a single implant output interface according to embodiment 3 of the present invention is disposed near the position of the needle extraction driving mechanism;
FIG. 11 is a schematic view showing the internal structure of a protecting shell A according to embodiment 3 of the present invention;
fig. 12 is a schematic structural diagram of a core drawing driving device according to embodiment 3 of the present invention;
FIG. 13 is a side sectional view of the core drawing drive apparatus of embodiment 3 of the present invention;
FIG. 14 is a side cross-sectional view of a radiation source delivery apparatus according to example 3 of the present invention;
Fig. 15 is a schematic view showing the structure of a puncture needle according to embodiment 3 of the present invention.
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-automatic particle implantation system for manually switching a core pulling channel comprises an implantation output interface (8111126 in the embodiment) for connecting a conveying catheter (inner tube 8111109 in the embodiment), wherein the front end of the conveying catheter is connected with a hollow puncture needle, and the implantation output interface and the conveying catheter are connected to form an implantation channel;
the core pulling mechanism (such as the core pulling mechanism 8111103 in the embodiment) can be in butt joint with the tail part of the needle core, and the conveying catheter and the needle core in the puncture needle are pulled out, 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;
An implanting mechanism (such as a radioactive source implanting device 8111102 in this embodiment) is configured to push out a radioactive source from the implantation output port, and when the core pulling mechanism pulls out the delivery catheter and the core in the puncture needle, the radioactive source can be delivered to a preset position along the hollow channels of the delivery catheter and the puncture needle;
The needle extraction mechanism (e.g., the needle extraction mechanism 8111107 of the present embodiment) controls the extraction of the needle from the target object.
The device also comprises a core pulling interface (such as 8111127 in the embodiment), wherein the implantation output interface and the core pulling interface are respectively provided with one or the implantation output interface is the core pulling interface, and different conveying pipes can be manually inserted with the other side of the core pulling interface, so that the manual switching of the core pulling channels of the different conveying pipes is realized
When the implantation output interface and the core pulling interface are respectively provided with one, one side of the core pulling interface is aligned with the core pulling mechanism, the other side of the transmission catheter and the core pulling interface can be manually inserted to realize the switching core pulling of different transmission catheters, the different transmission catheters can be manually inserted to the implantation output interface or the core pulling interface to realize the manual switching of the implantation channel or the core pulling channel, and the transmission catheter and the implantation output interface or the transmission catheter and the core pulling interface are connected through a quick connection structure (such as an implantation quick connector 81112102 in the embodiment), wherein the quick connection structure is a buckle structure or a threaded structure.
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 further comprises a fixing plate (such as the fixing plate 81112101 in the embodiment), the core pulling mechanism and the implantation mechanism are arranged on one side of the fixing plate, an implantation output interface and a core pulling interface are arranged at positions of the fixing plate corresponding to the core pulling mechanism and the implantation mechanism, one end of the conveying catheter is fixedly connected with an implantation quick connector, the other end of the conveying catheter is connected with the puncture needle, and the implantation quick connector can be selectively aligned with the implantation output interface or the core pulling interface or inserted into or connected with the implantation output interface or the core pulling interface, so that the switching between the implantation function and the core pulling function is realized.
The needle pulling mechanism comprises a needle pulling driving mechanism and a conveying guide pipe, wherein the conveying guide pipe comprises an inner pipe (such as an inner pipe 8111109 in the embodiment) and an outer pipe (such as an outer pipe 8111106 in the embodiment), 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, the front end of the outer pipe is propped against or connected with the target object (such as a human body template 8111105 in the embodiment), the inner pipe and the outer pipe can move relatively under the action of the needle pulling driving mechanism so as to enable the puncture needle to move in a direction far away from the target object and pull the puncture needle from the target object;
when the needle pulling driving mechanism directly drives the inner tube and the outer tube to slide relatively in a push-pull driving mode, the push-pull driving mechanism adopts a telescopic ejector rod, 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 is pulled out of a target object.
The friction type core pulling mechanism adopts a friction core pulling assembly, one part of the friction core pulling assembly is tightly pressed with a needle core (such as the needle core 81112103 in the embodiment), the needle core is pulled out by friction force generated by the pressing, and the friction core pulling assembly is one or a combination of a friction wheel and a friction belt;
The reciprocating clamping type core pulling mechanism adopts a clamping assembly and a reciprocating motion assembly, the clamping assembly controls clamping and loosening of a needle core, the reciprocating motion assembly controls the clamping assembly to reciprocate, the clamping assembly clamps the needle core to realize outward pulling when the reciprocating motion assembly drives the clamping assembly to move outwards, and the clamping assembly loosens the needle core when the reciprocating motion assembly drives the clamping assembly to move inwards;
the winding type core pulling mechanism adopts a core pulling wheel assembly, the tail part of the needle core is directly fixed with the core winding wheel or tightly clamped by a passive clamping part, and then the core is pulled out by the rotation of the core winding wheel.
The core pulling mechanism comprises a core pulling driving wheel set and a containing device, wherein the core pulling driving wheel set pulls out or returns the needle core to the conveying guide pipe, and the containing device is a core pulling containing wheel or a containing sleeve.
As shown in fig. 1 to 4, in this embodiment, one implant output interface 8111126 and one core pulling interface 8111127 are respectively provided, and the delivery catheter and the core pulling interface are manually inserted into each other.
The source implant device 8111102 and the core extractor 8111103 are each secured to a fixed plate 81112101, and the fixed plate 81112101 is secured to a tripod 81112104. One end of the inner tube 8111109 is fixed with the implantation quick connector 81112102, the implantation quick connector 81112102 can be quickly inserted into a hole on the fixing plate 81112101, the other end of the inner tube 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 needle pulling mechanism 8111107 comprises a needle pulling driving shaft 8111113, the needle pulling driving shaft 8111113 and a needle pulling quick connector 8111108 are inserted into the hole from the rear side of the needle pulling control box 8111112 together, the pull ring shaft 8111117 is inserted into the hole from the front side of the needle pulling control box 8111112, at the moment, 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, the rotary encoder 8111119 detects the rotation of the friction wheels 8111118 in real time, so that the distance of manual needle pulling is calculated, and particles or particle chains are conveniently implanted into organism tissues at the same implantation speed as the needle pulling speed by the equipment and displayed on a screen, and the progress of needle pulling is conveniently observed.
One end of the needle pulling driving tube 8111111 is fixed with the grip 8111121, the other end is fixed with the shell of the needle pulling mechanism 8111107, one end of the metal driving wire 8111123 is fixed with the poking piece 8111125 in the needle pulling mechanism 8111107, the other end is fixed with the wire locking shaft 8111124, the wire locking shaft 8111124 is inserted into the 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.
The core 81112103 is located within the 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 outer tube 8111106 outside the inner tube 8111109, with one end of the outer tube 8111106 against the body template 8111105 and the other end against one side of the needle withdrawal mechanism 8111107 (the needle withdrawal mechanism 8111107 is slidable relative to the inner tube 8111109). One end of a needle pulling driving tube 8111111 is fixed with the outer side of the needle pulling mechanism 8111107, the other end of the needle pulling driving tube 8111111 is fixed with a needle pulling quick connector 8111108, one end of a metal driving wire 8111123 passes through the needle pulling driving tube 8111111 to be fixed with a wire locking shaft 8111124 in the needle pulling quick connector 8111108 after being fixed with a pulling piece 8111125 in the needle pulling mechanism 8111107, the wire locking shaft 8111124 is connected with a needle pulling driving shaft 8111113, the needle pulling driving shaft 8111113 can relatively slide in the needle pulling quick connector 8111108, the needle pulling quick connector 8111108 can be connected and matched with a needle pulling control box 8111112, a pull ring 8111110 on the needle pulling control box 8111112 can be connected and matched with the needle pulling driving shaft 8111113, the pulling ring 8111110 is pulled, the needle pulling driving shaft 8111113 is pulled, and then the pulling piece in the needle pulling mechanism 8111107 can clamp the inner tube 8111109 connected with a puncture needle, and thus the needle pulling is realized.
A method for using a semi-automatic particle implantation system capable of manually switching a core pulling channel comprises the following steps of;
(1) Inserting a plurality of puncture needles into the target object according to the planned needle insertion route;
(2) The tail of one puncture needle is connected with a conveying conduit, the inner tube of the conveying conduit is manually inserted into a core pulling interface of a core pulling mechanism, or the tail of all puncture needles are respectively connected with one conveying conduit, or the tail of the puncture needle is always connected with the conveying conduit, then the inner tube of one conveying conduit is manually connected with the core pulling interface of the core pulling mechanism;
(3) After the needle core 81112103 is completely pulled out, the implantation quick connector 81112102 is manually pulled out or moved away from the core pulling interface and is butted on a hole site of an implantation output interface corresponding to the outlet of the radioactive source implantation device 8111102, and the implantation output interface is butted with the conveying catheter to form an implantation channel;
(4) The push rod driving mechanism of the radioactive source implanting device 8111102 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 of the radioactive source feeding mechanism is pushed out, the radioactive source is pushed in from the implanting 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 driving mechanism, so that the inner tube and the outer tube relatively move, and the inner tube pulls the puncture needle to move in a direction far away from a target object to realize needle pulling action, thereby adjusting the implanting depth of the radioactive source;
(5) And (3) manually separating the inner tube of the conveying catheter from an implantation output interface corresponding to the implantation mechanism, switching to another puncture needle, and repeating the steps (2) to (4) until all puncture needles are implanted, thereby completing the semi-automatic particle implantation of manually switching the core pulling channel. While one of the quick connector 8111108 and the quick connector 81112102 are in use, the other quick connector 8111108 and the quick connector 81112102 can be hung on the flat bracket 81112105, and the flat bracket 81112105 is fixed on the front side of the fixing plate 81112101.
Alternatively, in the above method of using a semi-automated particle implantation system with manually switched core extraction channels, in step (4), the radioactive source implantation device 8111102 may be a particle chain implantation device. The particle chain implantation device cuts the particle chain into short particle chains with a certain length, the particle chain (the particle chain at this time is equivalent to a push rod) pushes the cut short particle chain to a focus through the inner tube 8111109, the pushing of the particle chain is detected by the encoder and precisely controlled by the implantation driving motor 8111114, meanwhile, a rotary encoder (not shown in the figure) arranged on the needle drawing control box can also detect the displacement of the pull ring 8111110 and reflect the information to a display screen on the needle drawing control box 8111112, thereby facilitating the synchronous needle drawing of an operator, and because the puncture needle also needs to synchronously draw the needle at the same speed when the particle chain is about to be pushed out, the puncture needle itself can be elastically pulled by human tissues, the needle pulling mechanism 8111107 and the needle pulling driving tube 8111111 are provided with gaps, so that the starting point of the needle pulling cannot be accurately controlled by equipment, the needle pulling driving is manually completed by an operator (but because the needle pulling driving tube 8111111 is longer, the radiation damage of the radioactive source implantation device 8111102 and a particle chain in a patient body to the operator is smaller at the moment), the starting point of the needle pulling is judged through the hand feeling of the operator, when the operator senses that the puncture needle is pulled out, the operator can press a control button (not shown in the figure), the position of the pull ring 8111110 is taken as a zero position at the moment, and the implantation driving motor 8111114 for controlling the particle chain based on the displacement detected by the rotary encoder arranged on the needle pulling control box 8111112 synchronously pushes the particle chain with higher synchronous precision, so that the particle chain is pushed out; in order to perform needle-pulling implantation on different puncture needles, an operator needs to manually dock different implantation quick connectors 81112102 with corresponding hole sites on the fixed plate 81112101, dock with corresponding hole sites on the outlet of the radioactive source implantation device 8111102 after the wire is completed, and repeating the above process until all the puncture needles are implanted, and then completing the semi-automatic particle implantation by manually switching the core drawing channels.
Example 2
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. 5-9, the drawing comprises 141321 radial arm mechanism, 141322 particle cartridge clip, 141323 outer tube pushing seat, 141324 core pulling mechanism, 1413210 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 (such as the implantation output interface 1413210 in this embodiment) is a core pulling interface, different conveying pipes can be manually inserted with the other side of the core pulling interface, so that the core pulling channels of the different conveying pipes can be manually switched.
The device also comprises a second motion platform (such as a radial arm mechanism 141321 in the embodiment), the second motion platform comprises a reciprocating mechanism and a front-back butt joint mechanism, the reciprocating mechanism controls the core pulling mechanism (such as the core pulling mechanism 141324 in the embodiment) and the implantation mechanism to reciprocate left and right, the core pulling mechanism or the implantation mechanism is driven to be aligned with the implantation output interface respectively, the front-back butt joint 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, so that the butt joint between the core pulling mechanism or the implantation mechanism and the implantation output interface is realized, the conveying guide pipe and the implantation output interface are connected through a quick joint structure, and the quick joint structure is a buckle structure or a threaded structure.
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 a 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 comprises a needle pulling driving mechanism and a conveying guide pipe, wherein the conveying guide pipe comprises an inner pipe and an outer pipe, the outer pipe is sleeved on the inner pipe, the front end of the inner pipe is connected with a puncture needle inserted into a target object, the front end of the outer pipe is propped against or connected with the target object, the inner pipe and the outer pipe can move relatively under the action of the needle pulling driving mechanism so as to enable the puncture needle to move in a direction far away from the target object and pull out the puncture needle from the target object, the needle pulling driving mechanism comprises a manual needle pulling driving mechanism or an automatic needle pulling driving mechanism, and the manual needle pulling driving mechanism or the automatic needle pulling driving mechanism directly drives the inner pipe and the outer pipe to slide relatively through push-pull driving, clamping driving, friction driving and meshing driving modes, or the manual needle pulling driving mechanism or the automatic needle pulling driving mechanism drives the inner pipe and the outer pipe to move relatively through driving modes of push-pull driving, clamping driving, and the friction driving mode and the automatic needle pulling driving mechanism is provided with measuring elements for measuring the movement of the puncture needle;
When the needle pulling driving mechanism directly drives the inner tube and the outer tube to slide relatively in a push-pull driving mode, the push-pull driving mechanism adopts a telescopic ejector rod, 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 is pulled out of a target object. The needle drawing driving mechanism of the embodiment adopts an automatic needle drawing driving mechanism.
As shown in fig. 5 to 9, in this embodiment, the second motion 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 motion in a direct push-pull manner.
The workflow of the present embodiment:
1. The method comprises the steps of inserting a plurality of puncture needles into a target object position according to a planned needle insertion route, connecting the tail part of one puncture needle with a conveying guide pipe, manually inserting the inner pipe of the conveying guide pipe with a core pulling interface of a core pulling mechanism, or connecting all the tail parts of the puncture needles with one conveying guide pipe respectively, or connecting the tail parts of the puncture needles with the conveying guide pipes all the time, enabling an orifice of a core pulling mechanism 141324 to be aligned with an implantation output interface of a butting disc 141329 through the cooperation of the rotating motion of a rotating arm mechanism 141321 and a front butting mechanism and a rear butting mechanism;
2. The 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;
3. because the implantation output interface is the core pulling interface, the implantation output interface and the delivery catheter are implantation channels at the moment, and the outer tube sleeved outside the inner tube is adjusted to enable one end of the outer tube to be pressed against or connected with a target object;
4. then, the electric push rod A14132-1 drives the docking nozzle 141325 to move forward to dock with the docking tray 141329;
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 implantation output interface corresponding to the implantation mechanism by an operator, and then the implantation is switched to another puncture needle until all puncture needles are implanted, and then the semiautomatic particle implantation of manually switching the core pulling channel can be completed.
In this embodiment, when pushing out, the multiparticulates may be pushed out from the cartridge in sequence, then pushed to the front end of the puncture needle together, and then discharged in sequence (while pulling out and implanting, thereby realizing spaced implantation), or pushed out from the cartridge in sequence, and only pushing one particle to the front end of the puncture needle each time.
Example 3
In this embodiment, the same content is referred to embodiment 1, and the description of this embodiment is omitted. The difference is that;
The implantation mechanism (such as the radiation source conveying device 18122103 in this embodiment), the core pulling mechanism (such as the second core pulling mechanism 18122101 in this embodiment) and the needle pulling mechanism are installed in a protective shell (such as the protective shell a81211101 and the protective shell B81211103 in this embodiment), an implantation output interface (such as the second implantation output interface 18122102 in this embodiment) and a core pulling interface (such as the second core pulling interface 18122104 in this embodiment) are respectively arranged on the protective shell, a needle pulling port (such as the needle pulling port 18122105 in this embodiment) is arranged near the implantation output interface, and the conveying catheter is fixedly connected with an implantation quick connector, and the implantation quick connector can be selectively aligned with the implantation output interface or the core pulling interface or connected through a quick-release structure, so that the switching of the implantation function and the core pulling function is realized.
The needle pulling mechanism is provided with a needle pulling driving position, different puncture needles are pulled out by manually installing different conveying guide pipes or needle pulling driving heads along with the pipe at the needle pulling driving position, and the needle pulling driving position is arranged near an implantation output interface.
As shown in fig. 10 to 15, the single implantation output interface is disposed near the position of the needle extraction driving mechanism, the protection shell a81211101 is mounted on the tripod 81211104, the protection shell B81211103 is mounted on the protection shell a81211101, the second core extraction mechanism 181222101 is fixed on the protection shell B81211103, and the core extraction receiving device 81211106 is fixed on the second core extraction mechanism 18122101. The radiation source delivery device 18122103 is fixed to the shield B81211103, the push rod drive device 81211105 is fixed to the radiation source delivery device 18122103, and the storage box 18122106 is fixed to the radiation source delivery device 18122103.
The inner pipe joint 18122111 is connected to the second inner pipe 18122115, the second inner pipe 18122115 is installed in the second outer pipe 18122116 in a sleeved mode, the core drawing driving device 81211109 is fixed to 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 installed in the second core drawing mechanism 181222101, and the wire guide pipe 81211107 is installed in the second core drawing mechanism 181222101. A flexible needle 81211113 is mounted to the second inner tube 18122115.
The illustrated radiation source delivery device 18122103 is secured to the shield B81211103, the slitting device 18122108 is secured to the radiation source delivery device 18122103, the push rod drive device 81211105 is secured to the radiation source delivery device 18122103, the particle chain receiver 18122106 is secured to the radiation source delivery device 18122103, the particle chain 18122127 is received within the particle chain receiver 18122106, the head mount is mounted to the radiation source delivery device 18122103, and the inner tube fitting 18122111 is threadably secured to the shield B81211103. The ejector ram 18122123 is mounted to the ram 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 site of the second core pulling interface 18122104 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 ejected or the flexible needle core 81211113 is inserted into a conveying catheter to be ready for the next time, and the inner tube connector 18122111 is locked on a hole position of a second implantation output interface 18122102 of a cutting device corresponding to a radioactive source 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, and meanwhile, the adjusting locking knob is pressed against the second outer tube 18122116 or is clamped with a clamping groove on the second outer tube 18122116 through a clamping buckle, so that the outer tube pushing seat 81211102 and the second outer tube 18122116 are relatively fixed, and further, relative movement cannot occur between the inner tube and the outer tube, namely, a needle cannot be pulled out. Third, a single needle implantation procedure is started, the operator is far away from the device to avoid radiation, then the protecting shell A81211101 can be covered, at this time, the radioactive source conveying device 18122103 drives the particle chain 18122127 to advance, when the particle chain 18122127 passes through the slitting device 18122108, the front section of the particle chain 18122127 is slit into particle chains 18122127 with different lengths by the slitting device 18122108 according to the setting, the severed particle chain 18122127 continues to push and advance in the second inner tube 18122115 by the rear particle chain 18122127, and when the particle chain 18122127 reaches the tip of the puncture needle 11, the push rod driving device 81211105 drives the push rod 18122123 to pass through the needle pulling opening 18122105 forward and push the outer tube pushing seat 81211102 to complete the needle pulling 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 radiation source delivery device 18122103 to await the next implantation. The particle implantation in a semi-automatic mode can be completed by repeating the steps.
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)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311707108 | 2023-12-13 | ||
| CN202311707108X | 2023-12-13 |
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| CN119818817A true CN119818817A (en) | 2025-04-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410466306.XA Pending CN119818816A (en) | 2023-12-13 | 2024-04-18 | Semi-automatic particle implantation system for manually switching implantation pipeline and use method thereof |
| CN202410466638.8A Pending CN119818819A (en) | 2023-12-13 | 2024-04-18 | Semi-automatic particle implantation system for manually pulling out needle and use method thereof |
| CN202410466321.4A Pending CN119818817A (en) | 2023-12-13 | 2024-04-18 | Semi-automatic particle implantation system capable of manually switching core pulling channels and application method thereof |
| CN202410466634.XA Pending CN119818818A (en) | 2023-12-13 | 2024-04-18 | Semi-automatic particle implantation system for manually switching needle pulling pipeline and use method thereof |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410466306.XA Pending CN119818816A (en) | 2023-12-13 | 2024-04-18 | Semi-automatic particle implantation system for manually switching implantation pipeline and use method thereof |
| CN202410466638.8A Pending CN119818819A (en) | 2023-12-13 | 2024-04-18 | Semi-automatic particle implantation system for manually pulling out needle and use method thereof |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410466634.XA Pending CN119818818A (en) | 2023-12-13 | 2024-04-18 | Semi-automatic particle implantation system for manually switching needle pulling pipeline and use method thereof |
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| Country | Link |
|---|---|
| CN (4) | CN119818816A (en) |
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2024
- 2024-04-18 CN CN202410466306.XA patent/CN119818816A/en active Pending
- 2024-04-18 CN CN202410466638.8A patent/CN119818819A/en active Pending
- 2024-04-18 CN CN202410466321.4A patent/CN119818817A/en active Pending
- 2024-04-18 CN CN202410466634.XA patent/CN119818818A/en active Pending
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| CN119818816A (en) | 2025-04-15 |
| CN119818818A (en) | 2025-04-15 |
| CN119818819A (en) | 2025-04-15 |
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