CN119818819A

CN119818819A - Semi-automatic particle implantation system for manually pulling out needle and use method thereof

Info

Publication number: CN119818819A
Application number: CN202410466638.8A
Authority: CN
Inventors: 王学堂; 付光明; 雷星星; 万里
Original assignee: Hangzhou Dashi Technology Co ltd
Current assignee: Hangzhou Dashi Technology Co ltd
Priority date: 2023-12-13
Filing date: 2024-04-18
Publication date: 2025-04-15
Also published as: CN119818816A; CN119818818A; CN119818817A

Abstract

The invention discloses a semi-automatic particle implantation system for manually pulling out a needle and a use method thereof, wherein an implantation mechanism conveys a radioactive source to a preset position along a hollow channel of a conveying catheter entering a puncture needle, 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 implantation channel of the implantation mechanism is switched manually or automatically; the needle pulling mechanism is provided with a needle pulling driving position, different needle pulling driving heads along with the tube are manually arranged at the needle pulling driving position to pull different puncture needles, or the needle pulling mechanism is manually controlled to directly apply pushing force or pulling force to the inner tube or the outer tube, so that the inner tube and the outer tube are driven to move relatively, and the puncture needles are pulled out of a target object by the inner tube.

Description

Semi-automatic particle implantation system for manually pulling out needle 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 pulling out a needle 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.

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.

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 manual needle withdrawal, comprising:

The implantation mechanism is used for conveying the radioactive source to a preset position along a hollow channel of the conveying catheter entering the puncture needle, 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 the puncture needle inserted into the target object, the front end of the outer tube is propped against or connected with the target object, and the implantation channel of the implantation mechanism is switched manually or automatically.

The needle pulling mechanism comprises a needle pulling driving mechanism, and the inner tube and the outer tube can relatively move under the action of the needle pulling driving mechanism so as to enable the puncture needle to move in a direction away from a target object and pull the puncture needle out of the target object.

The needle pulling mechanism adopts manual needle pulling, the needle pulling mechanism is provided with a needle pulling driving position, and different puncture needles are pulled out by manually installing different tube-following needle pulling driving heads at the needle pulling driving position.

Or the needle pulling mechanism is controlled manually to directly apply pushing force or pulling force to the inner tube or the outer tube, so that the inner tube and the outer tube are driven to move relatively, and the inner tube pulls the puncture needle to be pulled out of the target object.

Preferably, when the needle drawing driving heads are manually arranged at the needle drawing driving positions to draw the different puncture needles, the needle drawing driving mechanism is in a tube drawing driving mode and comprises a tube drawing needle assembly, the tube drawing needle driving heads are used for driving the tube drawing needle assembly, and a needle drawing group of the tube drawing needle assembly is arranged on the inner tube or the outer tube.

The needle pulling group of the tube-following needle pulling assembly is connected with a power source of a needle pulling driving mechanism through a sleeve, the power source of the needle pulling driving mechanism drives the needle pulling group of the tube-following needle pulling assembly through driving wires, liquid and compressed gas in the sleeve, the driving mode is selective pushing, or selective clamping, then pushing/pulling or selective array friction, and the power source is manually driven by a person.

When the driving mode adopts selective pushing, the needle pulling group comprises pushing pieces, the needle pulling driving mechanism drives the pushing pieces of different needle pulling groups, and the pushing pieces push the inner tube or the outer tube, so that the inner tube and the outer tube are driven to relatively move, and the needle pulling is realized.

When the driving mode adopts pushing/pulling after selective clamping, the needle pulling group comprises clamping pieces, and the needle pulling driving mechanism drives the clamping pieces of different needle pulling groups to clamp the inner tube or the outer tube and simultaneously move, so that the inner tube or the outer tube is pushed/pulled, and the inner tube and the outer tube are driven to move relatively, so that the needle pulling is realized.

When the driving mode adopts the selective array friction type, the needle pulling group comprises friction wheels or friction belts, two friction wheels or friction belts are arranged, the circumferential surfaces of the two friction wheels or the two friction belts can press the inner tube or the outer tube under the action of the pressing mechanism, and the needle pulling driving mechanism drives the friction wheels of different needle pulling groups to rotate or the friction belts to transmit, so that the inner tube and the outer tube are driven to move relatively, and the needle pulling is realized.

Preferably, the device also comprises an implantation output interface for connecting the delivery catheter, and the implantation output interface is butted with the delivery catheter to form an implantation channel.

Preferably, the device further comprises a first channel switching assembly, a plurality of implantation output interfaces are arranged on the first channel switching assembly, each implantation output interface can be respectively provided with a conveying catheter, and the first channel switching assembly automatically switches implantation channels.

Or the implantation output interface is provided with one, and different conveying catheters and the implantation output interface can be manually installed, so that the implantation channel can be manually switched.

The delivery catheter is connected with the implantation output interface through a quick-connection structure, and the quick-connection structure is a buckle type structure or a threaded type 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 radioactive source from the puncture needle to implant the target object, 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 bell mouth arrangement feeding mechanism, a V-shaped groove arrangement feeding mechanism and a vibration disc feeding mechanism.

Preferably, the first channel switching component is a first motion platform, or the first channel switching component switches on the plurality of implantation channels by switching different reversing pipelines or rotating the reversing pipelines around the inlet axis.

When the first channel switching component is a first motion platform, a connecting piece is installed on the first motion platform, a plurality of connecting holes are formed in the connecting piece, one end of each connecting hole is in butt joint with a radioactive source output channel of an implantation mechanism, the other end of each connecting hole is an implantation output interface for installing a plurality of conveying pipes, and the first motion platform controls the relative motion of the connecting piece and the radioactive source output channel to be as follows:

A. The connecting piece moves, and one end of the radioactive source output channel is stationary;

B. the connecting piece is static, and one end of the radioactive source output channel moves;

C. the connecting piece moves, and one end of the radioactive source output channel moves;

the first motion platform comprises a plane displacement mechanism and a front-back docking mechanism, the implantation mechanism is arranged on the front-back docking mechanism, the implantation mechanism is driven to move on a plane through the plane displacement mechanism to select a corresponding connecting hole, and the front-back docking mechanism moves back and forth in the direction perpendicular to the direction to drive the implantation mechanism to dock or be far away from the connecting hole.

The plane displacement mechanism is a single-joint rotary motion mechanism, the plane displacement mechanism further comprises a rotary arm and a radial linear motion mechanism, the single-joint rotary motion mechanism drives the rotary arm to rotate in a plane, the radial linear motion mechanism is arranged on the rotary arm and drives a sliding block arranged on the rotary arm to radially move along the rotary arm, and the front-back butt joint mechanism is arranged on the side face of the sliding block.

When the first channel switching assembly is used for switching over a plurality of implantation channels by switching different reversing pipelines or rotating the reversing pipelines around an inlet axis, the first channel switching assembly comprises a switching assembly, the switching assembly comprises a connecting piece, a rotating group arranged on one side of the connecting piece and a butt joint bent pipe driven by the rotating group, a plurality of pairs of interfaces are arranged on the connecting piece in a circumferential array, the butt joint bent pipe is communicated with the butt joint, the butt joint bent pipe is driven to rotate by the rotating group and can be communicated with different butt joints, the conveying guide pipe is communicated with the butt joint bent pipe through the switching assembly, the switching assembly further comprises a front-back movement module used for driving the connecting piece and the butt joint bent pipe to move oppositely, so that the butt joint and the butt joint of the butt joint interfaces are guaranteed, and the rotating group adopts at least one of a gear transmission mechanism, a belt transmission mechanism, a worm gear mechanism and a chain transmission mechanism.

When the rotary group adopts the gear transmission mechanism, the gear transmission mechanism comprises a shell, a driving gear and a driven gear, wherein the driving gear and the driven gear are arranged in the shell, the driving gear is driven by a second rotary motor, a through hole is formed in the driven gear shaft core, one end of the butt joint elbow is fixed on the driven gear and is communicated with the through hole, and the conveying guide pipe is communicated with the butt joint elbow through the through hole;

The needle pulling driving unit of the needle pulling mechanism is arranged on the reversing pipeline, and after the reversing pipeline is in butt joint with different implantation channels, the needle pulling driving unit can pass through a needle pulling port beside an implantation output interface to push the tube-following needle pulling driving head, and the tube-following needle pulling driving head drives the tube-following needle pulling assembly again, so that the inner tube and the outer tube can relatively slide to realize needle pulling.

Preferably, the device is further provided with a core pulling mechanism, the core pulling mechanism is in butt joint with the tail part of the needle core, the needle core in the puncture needle is pulled out, so that a hollow implantation channel is formed, and the core pulling mechanism adopts at least one of a friction type core pulling mechanism, a reciprocating clamping type core pulling mechanism and a winding type core pulling mechanism.

When the friction type core pulling mechanism is adopted by the core pulling mechanism, a part of the friction type core pulling mechanism is tightly pressed with the needle core, the needle core is pulled out through friction force generated by the pressing, and the friction type core pulling mechanism is one or a combination of a friction wheel and a friction belt.

When the core pulling mechanism adopts a reciprocating clamping type core pulling mechanism, the reciprocating clamping type core pulling mechanism comprises a clamping assembly and a reciprocating motion assembly, the clamping assembly controls clamping and loosening of the needle core, the reciprocating motion assembly controls the clamping assembly to reciprocate, when the reciprocating motion assembly drives the clamping assembly to move outwards, the clamping assembly clamps the needle core to realize outwards pulling out, and when the reciprocating motion assembly drives the clamping assembly to move inwards, the clamping assembly loosens the needle core.

When the core pulling mechanism adopts a winding type core pulling mechanism, the winding type core pulling mechanism comprises a winding core wheel, wherein the tail part of the needle core is directly fixed with the winding core wheel or is clamped by a passive clamping part, and then the needle core is pulled out through the rotation of the winding core wheel.

When the implantation output interface is provided with one, the implantation output interface 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 second channel switching assembly, wherein the second 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 second channel switching assembly is 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 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, and the core pulling mechanism or the implantation mechanism is controlled to be in butt joint with the implantation output interface.

Preferably, the first channel switching assembly further comprises a third moving platform, the third moving platform is a first transporting platform, the core pulling mechanism and the implantation mechanism are both installed on the same moving platform, the first moving platform is provided with a first front-back moving mechanism and a second front-back moving mechanism which are respectively used for the front-back butt joint movement of the core pulling mechanism and one end of the radioactive source output channel, the core pulling mechanism is firstly in butt joint with the tail part of a needle core in one implantation output interface, the needle core is pulled out, a new implantation channel is established after the core pulling is completed, the radioactive source output channel is in butt joint communication with the implantation output interface under the driving of the first moving platform, and then implantation is carried out through the newly established implantation channel.

Preferably, the power source comprises a manual needle pulling driving mechanism, the manual needle pulling driving mechanism drives the needle pulling assembly along with the tube to act, then the needle pulling assembly along with the tube drives the inner tube and the outer tube to slide relatively in a driving mode of push-pull driving, clamping driving, friction driving and meshing driving, the needle pulling group of the needle pulling assembly along with the tube is provided with power through driving wires, liquid and gas, and a measuring element for detecting driving displacement of the driving wires, the liquid and the gas is also arranged in the power source.

The measuring element may employ a displacement measuring device, wherein the displacement measuring device is one or a combination of a rotary encoder and a linear displacement sensor.

The manual needle pulling driving mechanism comprises a needle pulling control assembly and an operating handle, wherein the needle pulling control assembly is provided with a needle pulling hole, different needle pulling driving heads along with the tube can be selectively arranged at one end of the needle pulling hole, the operating handle is in butt joint with the needle pulling driving heads along with the tube, an operator drives the needle pulling driving heads along with the tube by sliding or rotating the operating handle, and the needle pulling driving heads along with the tube can drive driving wires, liquid and gas to move relative to a sleeve of the needle pulling assembly along with the tube, so that power is provided for a needle pulling group at the other end of the sleeve.

Preferably, when the inner tube or the outer tube is directly subjected to pushing force or pulling force by the manual control needle pulling mechanism so as to drive the inner tube and the outer tube to move relatively, so that the inner tube is used for pulling the puncture needles out of the target object to pull different puncture needles, the 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 pushes a hand wheel to rotate, the hand wheel is driven by the hand wheel to drive a friction wheel mechanism or a rack-and-pinion 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 is used for driving relative displacement between the inner tube and the outer tube, and the needle pulling action is realized.

A method for using a semi-automatic particle implantation system for manually pulling out a needle comprises the following steps;

(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 catheter, the inner tube of the conveying catheter is manually inserted with the core pulling interface of the core pulling mechanism, or the tail parts of all puncture needles are respectively connected with one conveying catheter, or the tail parts of the puncture needles are always connected with the conveying catheter, then one conveying catheter is manually butted on a single implantation output interface corresponding to the implantation mechanism, or a plurality of conveying catheters are manually butted on a plurality of implantation output interfaces corresponding to the implantation mechanism, the implantation mechanism is controlled to be butted with one implantation output interface through a first channel switching component, so that the implantation output interface is butted with the conveying catheter to form an implantation channel;

(3) The push rod driving mechanism of the implantation mechanism drives the push rod to move back and forth, and 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 into the implantation output interface and is pushed to the front end of the puncture needle along the conveying catheter; the displacement sensor detects the pulling distance of the manual needle pulling, so that the push rod driving mechanism can implant the radioactive source into organism tissues at the same implantation rate as the needle pulling rate, and adjust the implantation depth of the radioactive source according to the treatment requirement;

(4) In the case of an implantation mechanism with only a single implantation output interface, an operator needs to manually dock another delivery catheter with the implantation output interface and repeat the process, in the case of an implantation mechanism with a plurality of implantation output interfaces, the implantation mechanism is controlled to dock with other implantation output interfaces through the first channel switching component and repeat the process, and the particle implantation of the semi-automatic particle implantation system for manually pulling out the needles can be completed until all the puncture needles have been implanted.

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

1. The implantation channel is switched manually or automatically, the implantation mechanism is controlled to select different implantation channels, the radioactive source enters the focus along different puncture needles, the puncture needles are pulled out through manual needle pulling after implantation is finished, an operator can judge whether the puncture needles start to be pulled out or not based on hand feeling, at the moment, the needle pulling depth can be determined more accurately, the implantation precision of the radioactive source is improved, the operator can complete implantation and needle pulling operation at a place far away from the radioactive source, and the radiation influence of the radioactive source on the operator is effectively reduced;

2. The needle pulling mechanism is arranged by adopting an inner tube and an outer tube, and the inner tube is used for pulling the puncture needle out of a target object by controlling the relative movement between the inner tube and the outer tube through manual needle pulling, so that the puncture needle is prevented from being rigidly connected with equipment, and the safety of an operation is improved;

3. The implantation channel and the core pulling channel are switched by adopting a moving platform, and the moving platform enables the core pulling channel and the implantation channel to freely select different channels through rotation and translation, so that the operation efficiency is improved;

4. The needle core is arranged in the conveying catheter and the puncture needle to prevent liquid in the organism tissue from rushing into the puncture needle to block the puncture needle, the needle core is pulled out of the conveying catheter and the puncture needle through the core pulling mechanism in the operation process to form a hollow radioactive source implantation channel, and then the implantation mechanism implants the radioactive source into the organism tissue along the conveying catheter and the puncture needle.

Drawings

FIG. 1 is a schematic diagram of a semi-automated particle implantation system for manual needle withdrawal according to example 1 of the present invention;

FIG. 2 is a schematic diagram of a dial plate in the needle pulling mechanism of the present invention;

FIG. 3 is a schematic view of 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 the present invention;

FIG. 4 is an internal cross-sectional view of the pull-out quick connector of the present invention;

FIG. 5 is a schematic diagram of a semi-automated particle implantation system for manual needle withdrawal according to example 2 of the present invention;

FIG. 6 is a schematic diagram of the manual switching of the core drawing channel and the needle drawing channel according to embodiment 3 of the present invention;

fig. 7 is a schematic structural diagram of a channel switching assembly according to embodiment 4 of the present invention;

FIG. 8 is a schematic diagram of a semi-automated particle implantation system for manual needle withdrawal according to example 5 of the present invention;

fig. 9 is a front view of a semi-automated particle implantation system for manual needle withdrawal according to example 5 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 withdrawing a needle comprises

The implantation mechanism (such as the particle chain implantation device 8111102 in this embodiment) is configured to convey the radiation source into the hollow channel of the puncture needle to a preset position along a conveying catheter (such as the inner tube 8111109 in this embodiment), wherein the conveying catheter includes an inner tube (such as the inner tube 8111109 in this embodiment) and an outer tube (such as the outer tube 8111106 in this embodiment), the outer tube is sleeved on the inner tube, the front end of the inner tube is connected with the puncture needle inserted into the target object (such as the guide template 8111105 in this embodiment), the front end of the outer tube abuts against or is connected with the target object, and the implantation channel of the implantation mechanism is switched manually or automatically, and the implantation channel of the implantation mechanism in this embodiment is switched automatically.

The needle pulling mechanism (such as the needle pulling mechanism 8111107 in the present embodiment) includes a needle pulling driving mechanism, and the inner tube and the outer tube can relatively move under the action of the needle pulling driving mechanism, so that the puncture needle moves in a direction away from the target object, and the puncture needle is pulled out from the target object;

The needle pulling mechanism adopts a manual needle pulling mode, the needle pulling mechanism is provided with a needle pulling driving position, and different puncture needles are pulled out by manually installing different tube-following needle pulling driving heads (such as a needle pulling quick connector 8111108 in the embodiment) at the needle pulling driving position;

Preferably, when the different needle-following-tube drawing driving heads are manually arranged at the needle drawing driving positions to draw the different puncture needles, the needle drawing driving mechanism adopts a tube-following driving mode and comprises a tube-following drawing needle assembly, the tube-following drawing needle driving heads drive the tube-following drawing needle assembly, and a needle drawing group of the tube-following drawing needle assembly is arranged on the inner tube or the outer tube;

The needle pulling group of the tube-following needle pulling assembly is connected with a power source of a needle pulling driving mechanism through a sleeve (such as a needle pulling driving tube 8111111 in the embodiment), the power source of the needle pulling driving mechanism drives the needle pulling group of the tube-following needle pulling assembly through driving wires, liquid and compressed gas in the sleeve in a selective pushing mode, or selectively clamped and then pushed/pulled, or selectively array friction type, and the power source is manually driven;

When the driving mode adopts selective pushing, the needle pulling group comprises pushing pieces, the needle pulling driving mechanism drives the pushing pieces of different needle pulling groups, and the pushing pieces push the inner tube or the outer tube, so that the inner tube and the outer tube are driven to relatively move, and the needle pulling is realized;

when the driving mode adopts pushing/pulling after selective clamping, the needle pulling group comprises clamping pieces, and the needle pulling driving mechanism drives the clamping pieces of different needle pulling groups to clamp the inner tube or the outer tube and simultaneously move, so that the inner tube or the outer tube is pushed/pulled, and the inner tube and the outer tube are driven to relatively move, so that the needle pulling is realized;

Preferably, the device also comprises an implantation output interface used for connecting a conveying catheter, the front end of the conveying catheter is connected with a hollow puncture needle, and the implantation output interface is in butt joint with the conveying catheter to form an implantation channel.

Preferably, the device also comprises a first channel switching component, wherein a plurality of implantation output interfaces are arranged on the first channel switching component, each implantation output interface can be respectively provided with a conveying catheter, and the first channel switching component automatically switches implantation channels;

Preferably, the first channel switching component is a first motion platform (such as a radial arm hole selecting mechanism 8111101 in the embodiment), or the first channel switching component switches on a plurality of implantation channels by switching different reversing pipelines or rotating the reversing pipelines around the inlet axis;

When the first channel switching component is a first motion platform, a connecting piece (such as an implantation butt joint plate 8111104 in this embodiment) is installed on the first motion platform, a plurality of connecting holes are formed in the connecting piece, one end of each connecting hole is in butt joint with a radiation source output channel of an implantation mechanism, the other end of each connecting hole is an implantation output interface for installing a plurality of conveying pipes, and the relative motion between the connecting piece and the radiation source output channel is controlled by the first motion platform to be as follows:

the first motion platform comprises a plane displacement mechanism and a front-back docking mechanism, the implantation mechanism is arranged on the front-back docking mechanism, the implantation mechanism is driven to move on a plane through the plane displacement mechanism to select a corresponding connecting hole, and the front-back docking mechanism moves back and forth in the direction perpendicular to the direction to drive the implantation mechanism to dock or be far away from the connecting hole;

The plane displacement mechanism is a single-joint rotary motion mechanism, the plane displacement mechanism further comprises a rotary arm and a radial linear motion mechanism, the single-joint rotary motion mechanism drives the rotary arm to rotate in a plane, the radial linear motion mechanism is arranged on the rotary arm and drives a sliding block arranged on the rotary arm to radially move along the rotary arm, and the front-back butt joint mechanism is arranged on the side face of the sliding block;

Preferably, a core pulling mechanism (such as a core pulling mechanism 8111103 in the embodiment) is further provided, the core pulling mechanism is in butt joint with the tail part of the needle core, 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 adopts 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;

when the friction type core pulling mechanism is adopted by the core pulling mechanism, a part of the friction type core pulling mechanism is tightly pressed with the needle core, the needle core is pulled out through friction force generated by the pressing, and the friction type core pulling mechanism is one or a combination of a friction wheel and a friction belt;

When the core pulling mechanism adopts a reciprocating clamping type core pulling mechanism, the reciprocating type core pulling mechanism comprises a clamping assembly and a reciprocating motion assembly, the clamping assembly controls clamping and loosening of the needle core, the reciprocating motion assembly controls the clamping assembly to reciprocate, when the reciprocating motion assembly drives the clamping assembly to move outwards, the clamping assembly clamps the needle core to realize outwards pulling out, and when the reciprocating motion assembly drives the clamping assembly to move inwards, the clamping assembly loosens the needle core;

When the core pulling mechanism adopts a winding type core pulling mechanism, the winding type core pulling mechanism comprises a winding core wheel, wherein the tail part of the needle core is directly fixed with the winding core wheel or is clamped by a passive clamping part, and then the needle core is pulled out by rotating the winding core wheel;

the implantation output interface is a core pulling interface and also comprises a second channel switching assembly, the second 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 second channel switching assembly is a second motion platform;

Preferably, the power source comprises a manual needle pulling driving mechanism, wherein the manual needle pulling driving mechanism drives the needle pulling assembly along with the tube to act, and then the needle pulling assembly along with the tube drives the inner tube and the outer tube to slide relatively in a driving mode of push-pull driving, clamping driving, friction driving and meshing driving;

The measuring element may be a displacement measuring device, wherein the displacement measuring device is one or a combination of a rotary encoder (such as rotary encoder 8111119 in the present embodiment) and a linear displacement sensor;

As shown in fig. 1-4, the radial arm hole selection mechanism 8111101 (which is equivalent to the first channel switching component being the first motion platform) has 2 degrees of freedom, namely rotation and translation, and the particle chain implantation device 8111102 and the core pulling mechanism 8111103 are respectively located at two sides of the radial arm hole selection mechanism 8111101, so that the outlet of the particle chain implantation device 8111102 and the inlet of the core pulling mechanism 8111103 can be automatically aligned with any hole on the implantation docking plate 8111104. One end of the inner tube 8111109 mates with a hole in the implant-docking plate 8111104, and the other end of the inner tube is connected to a needle (not shown) through a needle-withdrawal mechanism 8111107, which passes through a hole in the guide template 8111105 to the lesion.

The needle pulling mechanism 8111107 comprises 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 together, the needle pulling driving shaft 8111113 can relatively slide in the needle pulling quick connector 8111108, the needle pulling quick connector 8111108 can be matched and connected with the needle pulling control box 8111112, the pull ring shaft 8111117 is inserted into the hole from the front side of the needle pulling control box 8111112, the pull ring 8111110 on the needle pulling control box 8111112 can be matched and connected with the needle pulling driving shaft 8111113, at the moment, the pull ring shaft 8111117 is rotated by 90 degrees, 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 pull ring 8111110 is pulled, the needle pulling driving shaft 8111113 is pulled, and a pulling piece in the needle pulling mechanism 8111107 is pulled, and the inner tube 8111109 connected with the puncture needle is pulled, and the needle pulling is achieved. The outer side surface of the needle pulling control box 8111112 is respectively provided with a pair of friction wheels 8111118 through the wheel shaft 8111120, the friction wheels 8111118 can be driven to rotate by sliding of the pull ring shaft 8111117, and the rotary encoder 8111119 detects the rotation of the friction wheels 8111118 in real time, so that the manual needle pulling distance is converted, particles or particle chains are conveniently implanted into organism tissues by the equipment at the implantation rate same as the needle pulling rate, the particles or particle chains are displayed on a screen, and the needle pulling progress 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.

Before the puncture needle passes through the guide template 8111105, the needle core is positioned in the inner tube 8111109 and extends to the needle tip of the puncture needle, so that the space in the puncture needle is filled to avoid blockage caused by blood coagulation, and the outer tube 8111106 is sleeved outside the inner tube 8111109, at this time, one end of the outer tube 8111106 abuts against the guide template 8111105, and the other end abuts against one side of the needle pulling mechanism 8111107 (the needle pulling mechanism 8111107 can slide relatively on 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.

The working process of the embodiment is as follows:

Inserting a plurality of puncture needles into the target object according to the planned needle insertion route; all puncture needle tails are respectively connected with one conveying catheter, the inner tube of one conveying catheter is manually inserted into the core pulling interface of the core pulling mechanism, when the inner tube is inserted into the core pulling interface, a part of flexible needle cores exposed outside the inner tube are just inserted into the core pulling friction wheel in the core pulling mechanism, and the core pulling mechanism 8111103 automatically pulls out the needle cores in the inner tube 8111109 into the wire collecting wheel of the core pulling mechanism 8111103; the implantation output interface is a core pulling interface, then the implantation mechanism is controlled to be in butt joint with the implantation output interface through the radial arm hole selecting mechanism 8111101, the implantation output interface is in butt joint with the conveying catheter to form an implantation channel, the outer tube arranged outside the inner tube is adjusted to enable one end of the outer tube to be pressed against or connected to a target object, then the particle chain implanting device 8111102 cuts a particle chain into a short particle chain with a certain length, the cut short particle chain is pushed to a focus through the inner tube 8111109 by the particle chain, the pushing of the particle chain is detected by an encoder and is accurately controlled by an implantation driving motor 8111114, meanwhile, an operator controls a pull ring 8111110 on a needle pulling control box 8111112 according to treatment requirements, so that the inner tube and the outer tube are controlled to perform relative movement, a rotary encoder 8111119 arranged on a needle pulling control box 8111112 can also detect the displacement of the pull ring 8111110, and reflect the information to a display screen on the needle pulling control box 8111112, the operator can conveniently and synchronously pull the needle, as the particle chain is about to be pushed out, the puncture needle itself is required to be synchronously pulled out at the same speed, the puncture needle can not be pulled by the elastic mechanism of human tissue, and the needle pulling point 8111107 can not be accurately controlled by the needle pulling mechanism, and the needle pulling device 8111107 can not be controlled by the needle pulling device, therefore, the driving of the needle pulling is manually performed by the operator (but because the needle pulling driving tube 8111111 is longer at this time, the distance between the particle chain implantation device 8111102 and the patient and the operator is longer, the radiation damage of the particle chain implantation device 8111102 and the particle chain in the patient to the operator is smaller), the actual starting point of the needle pulling is judged by the hand feeling of the operator, the operator can press a control button (not shown in the figure) when sensing that the puncture needle is being pulled out, the position of the pull ring 8111110 is taken as the zero position at this time, and the implantation driving motor 8111114 of the particle chain is controlled to synchronously push the particle chain with higher synchronization precision based on the displacement detected by the rotary encoder arranged in the needle pulling control box 8111112, so that the particle chain is pushed out. To perform a needle withdrawal implantation for different lancets, the operator is required to manually interface the different needle withdrawal quick connectors 8111108 with the needle withdrawal control box 8111112 and repeat the above process until all the lancets are implanted. When a certain quick connector 8111108 is used, other quick connectors 8111108 can be hung on a simple bracket 8111115 in front of the needle drawing control box 8111112.

In the above scheme, the radial arm hole selecting mechanism 8111101 can have only 1 degree of freedom, namely, the rotation is realized, one end of all inner pipes 8111109 is connected to the butt plate 8111104 in an annular array, the particle chain feeding mechanism can also be replaced by a particle clip, at the moment, the radioactive source becomes particles instead of a particle chain, the multiparticulates can be pushed out of the clip in sequence at the time of pushing out, then the multiparticulates are pushed to the front end of the puncture needle together, and then are sequentially discharged (pulling out and planting are realized, and therefore spaced planting is realized), or the multiparticulates are pushed out of the clip in sequence, and only one particle is pushed out to the front end of the puncture needle at each time.

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;

The implantation output interface (such as the implantation output interface 8111126 in the present embodiment) and the core pulling interface (such as the core pulling interface 8111127 in the present embodiment) 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 as to manually switch the implantation channel or the core pulling channel, and the conveying pipes are connected with the implantation output interface or the conveying pipes and the core pulling interface through a quick connection structure (such as the implantation quick connector 81112102 in the present embodiment), wherein the quick connection structure is a buckle type structure or a screw type 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 bell mouth 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.

As shown in fig. 5, in this embodiment, one implant output port 8111126 and one core drawing port 8111127 are provided, respectively, and the delivery catheter and the core drawing port are manually inserted into each other.

The particle chain implanting device 8111102 and the core pulling mechanism 8111103 are fixed to a fixing plate 81112101, and the fixing plate 81112101 is fixed to a tripod 81112104, respectively. 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.

As shown in fig. 2-4, the needle pulling mechanism 8111107 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, 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 together in the hole of the needle pulling control box 8111112, the surface of the needle pulling control box 8111112 is provided with a pair of friction wheels 8111118, the friction wheels 8111118 can be driven to rotate by the sliding of the pull ring shaft 8111117, 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 implantation rate same as the needle pulling rate, and display the speed of the needle pulling is convenient to observe on the screen.

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.

(2) The tail of one puncture needle is connected with a conveying catheter, the inner tube of the conveying catheter is manually inserted into a core pulling interface of a core pulling mechanism, namely an implanted quick connector 81112102 is manually abutted onto a hole position corresponding to an inlet of the core pulling mechanism 8111103, when the inner tube is inserted into the core pulling interface, a part of flexible needle cores exposed outside the inner tube are just inserted into a core pulling friction wheel in the core pulling mechanism, and then the core pulling mechanism 8111103 drives the core pulling friction wheel to rotate, so that the flexible needle cores 81112103 in the inner tube 8111109 can be automatically pulled out from the conveying catheter and stored in a storage device;

(3) After the needle core 81112103 is completely pulled out, the implantation quick connector 81112102 is pulled out from the core pulling interface manually and is butted on a hole site of an implantation output interface corresponding to the outlet of the particle chain implantation device 8111102, and the implantation output interface is butted with the conveying catheter to form an implantation channel;

(4) Then the particle chain implantation device 8111102 cuts the particle chain into short particle chains with a certain length, the particle chains (the particle chains at this time are equivalent to push rods) push the cut short particle chains to the focus through the inner tube 8111109, the pushing of the particle chains is detected by the encoder and precisely controlled by the implantation driving motor 8111114, meanwhile, the operator controls the pull ring 8111110 on the needle drawing control box 8111112 according to the treatment requirement, so as to control the inner tube and the outer tube to make relative movement, a rotary encoder (not shown in the figure) arranged on the needle drawing control box 8111112 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 operator to synchronously draw the needle, because the puncture needle also needs to synchronously draw the needle at the same speed when the particle chains are about to be pushed out, the puncture needle is elastically pulled by human tissue, gaps are reserved in the needle pulling mechanism 8111107 and the needle pulling driving tube 8111111, so that the starting point of needle pulling cannot be accurately controlled by equipment, driving of the needle pulling is manually completed by an operator (but because the needle pulling driving tube 8111111 is long at this time, the particle chain implantation device 8111102 and a particle chain in a patient body have less radiation damage to the operator), the starting point of needle pulling is judged through the hand feeling of the operator, the operator can press a control button (not shown) when perceiving that the puncture needle is being pulled, the position of the pull ring 8111110 is taken as a zero position at this time, and an implantation driving motor 8111114 for controlling the particle chain based on the displacement detected by a 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;

(5) In order to perform needle extraction 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 particle chain implantation device 8111102 after the flexible needle core is completed, and repeat the above processes until all puncture needles are implanted, and then the semi-automatic particle implantation of manually switching the core extraction channel and manually extracting the needles can be completed. 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.

Example 3

In this embodiment, the same content is referred to embodiment 2, and the description of this embodiment is omitted. The difference is that;

The implantation output interface is a core pulling interface and further comprises a second channel switching assembly, the second 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 second channel switching assembly is a second motion platform.

As shown in fig. 6, the device comprises a radial arm mechanism 141321, a particle cartridge 141322, an outer tube pushing seat 141323, a core pulling mechanism 141324, an implant output interface 1413210, a butt joint 141325, a pushing rod 141326, a flexible pushing rod 142327, a pushing rod driving mechanism 142328, a butt joint disc 141329, a wire feeding joint 1423210 and a needle pulling driving position 1413221.

When the implantation output interface (such as the implantation output interface 1413210 in this embodiment) is a core drawing interface, different conveying pipes can be manually inserted with the other side of the core drawing interface, so that the core drawing channel and the needle drawing channel can be manually switched by the different conveying pipes.

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 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, 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 horn mouth 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 act relatively through driving mode of driving along with the pipe pulling needle assembly, and the manual needle pulling driving mechanism or the automatic needle pulling driving mechanism is provided with a measuring element for measuring the movement of a needle core;

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 push rod, and after the inner tube of the conveying catheter is installed with the implantation output interface, the push 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 driving mechanism of the embodiment adopts a manual needle pulling driving mechanism.

As shown in fig. 6, in this embodiment, the second moving platform is a radial arm mechanism, the implantation output interface is a core pulling interface, the needle pulling driving position is set below the implantation output interface, the radioactive source feeding mechanism is a particle cartridge feeding, 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 manual direct push-pull manner.

The workflow of the present embodiment:

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 tail of all puncture needles are respectively connected with one conveying conduit, and the orifice of the core pulling mechanism 141324 can be aligned with the implantation output interface 1413210 of the butting disc 141329 by the cooperation of the rotary motion of the rotating arm mechanism 141321 and the front-rear butting mechanism; the inner tube of one of the conveying guide tubes is manually inserted into the core pulling interface of the core pulling mechanism, and after the inner tube is inserted into the core pulling interface, a part of the flexible needle core exposed outside the inner tube is just inserted into the core pulling friction wheel in the core pulling mechanism;

3. After the core pulling is completed, the radial arm mechanism 141321 moves to send the docking nozzle 141325 to the docking plate 141329 to be aligned with the implantation output interface 1413210, then the docking nozzle 141325 forwards makes the docking nozzle and the docking plate 141329 complete docking, and the implantation output interface 1413210 is the core pulling interface, the implantation output interface 1413210 and the conveying catheter are the implantation channels, and the outer tube sleeved outside the inner tube is adjusted to make one end of the outer tube propped against or connected to the target object;

4. The push rod driving mechanism 142328 drives the flexible push rod 142327 to push out, the flexible push rod 142327 enters the particle cartridge holder 141322 from the wire feeding connector 1423210 at the side part of the particle cartridge holder 141322, the particles at the lowest part in the particle cartridge holder 141322 are pushed out one by one to be stacked in front of the particle cartridge holder 141322, and then a plurality of particles are pushed to the puncture needle point along the conveying guide tube for standby. At this time, an operator pushes the pushing rod 141326 according to the treatment requirement so as to enable the pushing rod 141326 to pass through the needle pulling driving position 1413221, when a force sensor at the front end of the pushing rod detects pressure, the pushing rod 141326 is indicated to touch the pushing seat 141323 of the pushing outer tube, the initial point of needle pulling is recorded at this time, then the pushing rod 141326 continues to push forwards, the pushing distance is the needle pulling length, the pushing rod 141326 pushes forwards to enable the inner tube and the outer tube to move relatively, the inner tube pulls the puncture needle to move in a direction far away from a target object to achieve needle pulling action, a displacement sensor detects the distance of manual needle pulling, so that a push rod driving mechanism can conveniently and synchronously implant multiple particles into organism tissues in sequence at the same implantation rate as the needle pulling rate, and pull intervals among particles according to the treatment requirement, and the flexible push rod resets after implantation is completed;

5. in order to implant and withdraw different puncture needles, an operator is required to manually insert the implantation quick connectors and the core withdrawing interfaces of different conveying catheters, the docking nozzle 141325 of the implantation mechanism is controlled to dock with the implantation output interface 1413210 through the movement of the rotating arm mechanism 141321 after the flexible needle core is withdrawn, and the process is repeated until all puncture needles are implanted, so that the particle implantation of the semi-automatic particle implantation system for manually withdrawing the needle 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 4

When the first channel switching assembly switches on the switching channels by switching different reversing pipelines or rotating the reversing pipelines around the inlet axis, the first channel switching assembly comprises a switching assembly, the switching assembly comprises a connecting piece (such as a connecting piece 54 in the embodiment), a rotating group (such as a rotating group 57 in the embodiment) arranged on one side of the connecting piece and a butt joint elbow (such as a butt joint elbow 56 in the embodiment) driven by the rotating group, a plurality of pairs of interfaces (such as a butt joint 55 in the embodiment) are circumferentially arranged on the connecting piece, the butt joint elbow is communicated with the butt joint interfaces, and the butt joint elbow is driven to rotate by the rotating group and can be communicated with the different butt joint interfaces;

When the rotary group adopts a gear transmission mechanism, the gear transmission mechanism comprises a shell (such as a shell 571 of the embodiment), a driving gear (such as a driving gear 572 of the embodiment) and a driven gear (such as a driven gear 573 of the embodiment), wherein the driving gear is driven by a second rotating motor (such as a second rotating motor 574 of the embodiment), a through hole is arranged at the driven gear shaft core, one end of the butt joint elbow pipe is fixed on the driven gear and is communicated with the through hole, and the conveying guide pipe is communicated with the butt joint elbow pipe through the through hole;

As shown in FIG. 7, the first channel switching assembly comprises a switching support, a connecting piece 54 arranged on the switching support, a rotating group 57 arranged on the switching support and a butt joint bent pipe 56 driven by the rotating group 57, wherein a plurality of pairs of interfaces 55 are arranged on the connecting piece 54, the butt joint bent pipe 56 is driven to rotate by the rotating group 57 and can be communicated with different butt joints 55, the radioactive source implanter is connected to the butt joint bent pipe 56 through a push rod output channel 6, the rotating group 57 comprises a shell 571, a driving gear 572 and a driven gear 573, the driving gear 572 is driven by a second rotating motor 574, a through hole is arranged at the shaft core of the driven gear 573, the through hole is communicated with the butt joint bent pipe 56 and the push rod output channel 6, the butt joint bent pipe 56 comprises a first straight pipe 563, a second straight pipe 561 and a transition 562 which is communicated with the first straight pipe 563 and the second straight pipe 561, the first straight pipe 563 is arranged at the through hole, the second straight pipe is communicated with the butt joint interfaces 55, the pairs of interfaces 55 are arranged in a manner, the flexible straight pipe 561 can be radially pushed out of the circular implanter from the radioactive implanter, and can be synchronously pushed into the butt joint bent pipe 56 through the first straight pipe 56, the flexible straight pipe 55 and the flexible pusher output channel 56 or the butt joint bent pipe 56, the flexible pusher channel can be synchronously rotated and the flexible pusher tube 56 and the butt joint bent pipe 55 can be synchronously conveyed into the butt joint bent pipe 56 and the butt joint bent pipe 56.

Example 5

An implantation mechanism (such as a manual needle pulling implantation machine 10812202 in the present embodiment) is configured to convey a radiation source into a hollow channel of a puncture needle to a preset position along a conveying catheter (such as a conveying catheter 10812203 in the present embodiment), wherein the conveying catheter includes an inner tube and an outer tube (such as an outer tube 1081220303 in the present embodiment), the outer tube is sleeved outside the inner tube, a puncture needle inserted into a target object is connected to the front end of the inner tube, the front end of the outer tube is abutted against or connected to the target object, and the implantation channel of the implantation mechanism is switched manually or automatically;

The needle pulling mechanism comprises a needle pulling driving mechanism, wherein the inner tube and the outer tube can relatively move under the action of the needle pulling driving mechanism so as to enable the puncture needle to move in a direction away from a target object and pull out the puncture needle from the target object;

The needle pulling mechanism adopts manual needle pulling, the needle pulling mechanism is provided with a needle pulling driving position, and the needle pulling mechanism is controlled manually to directly apply pushing force or pulling force to the inner tube or the outer tube, so that the inner tube and the outer tube are driven to move relatively, and the inner tube is used for pulling the puncture needle to be pulled out from a target object.

When the inner tube or the outer tube is directly driven to move relatively by pushing or pulling force through the manual control needle pulling mechanism, so that the inner tube pulls the puncture needle to pull out different puncture needles from a target object, the needle pulling driving mechanism comprises a manual pushing part (such as a manual push plate 1081220204 of the embodiment), an operator manually pushes the manual pushing part to move along the axis direction of the outer tube, or the operator manually pushes a hand wheel to rotate, the hand wheel drives a friction wheel mechanism or a rack-and-pinion 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 is used for driving relative displacement between the inner tube and the outer tube, and needle pulling action is realized.

As shown in fig. 8 and 9, 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 outer tube 1081220303 of the conveying pipe 10812203, and the end surface of the pushing head abuts against the push rod seat 1081220301 of the conveying pipe 10812203.

(2) Connecting the tail part of one puncture needle with a conveying catheter, manually inserting the inner tube of the conveying catheter and a core pulling interface of a core pulling mechanism, and driving the core pulling mechanism to automatically draw out the flexible needle core in the inner tube from the conveying catheter and store the flexible needle core in a flexible needle core storage device;

(3) After the needle core is completely pulled out, the implantation quick connector is manually pulled out from the core pulling interface and is butted on a hole site of an implantation output interface corresponding to the outlet of the manual needle pulling implanter 10812202, and the implantation output interface is butted with the conveying catheter to form an implantation channel;

(4) The push rod driving mechanism drives the flexible push rod to push out, so that particles placed in the particle cartridge 1081220202 are pushed out one by one to be stacked in front of the particle cartridge 1081220202, and then a plurality of particles are pushed to the puncture needle point along the conveying guide tube for standby. At this moment, an operator pushes the manual push plate 1081220204 according to the treatment requirement so as to control the inner tube and the outer tube to perform relative movement, the needle pulling action is realized, the actual starting point of the needle pulling is judged through the hand feeling of the operator, when the operator senses that the puncture needle is being pulled out, the operator takes the position of the manual push plate 1081220204 as a zero position at this moment, and based on the distance of the manual needle pulling detected by the displacement measurer A1081220206, the flexible push rod in the accommodating device 1081220201 is controlled to synchronously push a plurality of particles with higher synchronous precision, so that the plurality of particles are pushed out simultaneously. The push rod driving mechanism is convenient to synchronously implant the multiparticulates into organism tissues in sequence at the implantation rate which is the same as the needle pulling rate, and the distance between the particles is opened according to the treatment requirement. Resetting the flexible push rod;

(5) In order to implant and withdraw different puncture needles, an operator needs to manually insert the different implantation quick connectors and the core withdrawing interfaces of the core withdrawing mechanism, after the core is withdrawn, the implantation quick connectors are in butt joint with the implantation output interfaces of the manual needle withdrawing implanter 10812202, and the above processes are repeated until all puncture needles are implanted and withdrawn, so that the particle implantation of the semi-automatic particle implantation system for manually withdrawing the needles can be completed.

The radioactive source is particles, when the radioactive source is pushed out, the multiparticulates are sequentially pushed out of the cartridge clip, then the multiparticulates are pushed to the front end of the puncture needle together, and then the multiparticulates are sequentially discharged (the radioactive source is implanted while being pulled out, so that the interval implantation is realized). 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

1. A semi-automatic particle implantation system with manual needle removal, comprising:

Implantation mechanism: The radioactive source is transported to a preset position along a delivery catheter into the hollow channel of the puncture needle. The delivery catheter includes an inner tube and an outer tube. The outer tube is placed outside the inner tube. The front end of the inner tube is connected to the puncture needle inserted into the target object. The front end of the outer tube abuts against or connects to the target object. The implantation channel of the implantation mechanism is switched manually or automatically.

Needle extraction mechanism: comprising a needle extraction drive mechanism, under the action of which the inner tube and the outer tube can move relative to each other, so that the puncture needle moves away from the target object and the puncture needle is extracted from the target object;

The needle extraction mechanism adopts manual needle extraction, and the needle extraction mechanism is provided with a needle extraction drive position, and different puncture needles are extracted by manually installing different needle extraction drive heads with tubes to the needle extraction drive position;

Alternatively, the needle extraction mechanism is manually controlled to directly apply a pushing force or pulling force to the inner tube or the outer tube, thereby driving the inner tube and the outer tube to move relative to each other, so that the inner tube pulls the puncture needle out of the target object.

2. A semi-automatic particle implantation system with manual needle extraction according to claim 1, characterized in that when different needle extraction drive heads with tubes are manually installed to the needle extraction drive position to extract different puncture needles, the needle extraction drive mechanism is a tube-driven mode, including a tube-driven needle extraction assembly, the tube-driven needle extraction drive head drives the tube-driven needle extraction assembly, and the needle extraction group of the tube-driven needle extraction assembly is arranged on the inner tube or the outer tube;

The needle extraction group of the needle extraction assembly with tube is connected to the power source of the needle extraction drive mechanism through the sleeve. The power source of the needle extraction drive mechanism drives the needle extraction group of the needle extraction assembly with tube through the drive wire, liquid, and compressed gas in the sleeve. The driving mode is selective pushing, or pushing/pulling after selective clamping, or selective array friction. The power source is manually driven;

When the driving mode adopts selective pushing, the needle removal group includes a pushing member, and the needle removal driving mechanism drives the pushing members of different needle removal groups, and the pushing members push the inner tube or the outer tube, thereby driving the inner tube and the outer tube to move relative to each other to realize needle removal;

When the driving mode adopts selective clamping followed by pushing/pulling, the needle extraction group includes a clamping member, and the needle extraction driving mechanism drives the clamping members of different needle extraction groups to clamp the inner tube or the outer tube and move simultaneously, generating a thrust/pull force on the inner tube or the outer tube, thereby driving the inner tube and the outer tube to move relative to each other, thereby realizing needle extraction;

When the driving method adopts the selective array friction type, the needle pulling group includes a friction wheel or a friction belt, and there are two friction wheels or friction belts. The circumferential surfaces of the two friction wheels or the two friction belts can press the inner tube or the outer tube under the action of the clamping mechanism. The needle pulling drive mechanism drives the friction wheels of different needle pulling groups to rotate or the friction belts to transmit, thereby driving the inner tube and the outer tube to move relative to each other to achieve needle pulling.

3. A semi-automatic particle implantation system with manual needle removal according to claim 1, characterized in that it also includes an implantation output interface for connecting to a delivery catheter, and the implantation output interface is connected to the delivery catheter to form an implantation channel.

4. A semi-automatic particle implantation system with manual needle removal according to claim 3, characterized in that it also includes a first channel switching component, on which a plurality of implantation output interfaces are provided, each of which can be respectively installed with a delivery catheter, and the first channel switching component automatically switches the implantation channel;

Alternatively, the implant output interface is provided with one, and different delivery catheters can be manually installed with the implant output interface, thereby realizing manual switching of implant channels;

The delivery catheter is connected to the implant output interface via a quick-connect structure, which is a snap-on structure or a threaded structure.

5. A semi-automatic particle implantation system with manual needle removal according to claim 3, characterized in that the implantation mechanism includes 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 forward and backward, and when the push rod moves forward, the radiation source arranged in front of the push rod by the radiation source feeding mechanism is pushed out, and the radiation source is pushed out of the puncture needle through the radiation source pushing implantation output interface and implanted into the target object, 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 feeding mechanism, a notch arrangement feeding mechanism, a trumpet arrangement feeding mechanism, a V-groove arrangement feeding mechanism, and a vibration disk feeding mechanism.

6. A semi-automatic particle implantation system with manual needle removal according to claim 4, characterized in that the first channel switching component is a first motion platform, or the first channel switching component switches and conducts multiple implantation channels by switching different reversing pipelines or rotating the reversing pipelines around the inlet axis;

When the first channel switching component is a first motion platform, a connector is installed on the first motion platform, and a plurality of connection holes are provided on the connector. One end of the connection hole is connected to the radiation source output channel of the implant mechanism, and the other end of the connection hole is an implant output interface for installing a plurality of delivery catheters. The first motion platform controls the relative movement of the connector and the radiation source output channel as follows:

A. The connector moves, and one end of the radiation source output channel is stationary;

B. The connector is stationary, and one end of the radiation source output channel moves;

C. The connector moves, and one end of the radiation source output channel moves;

The first motion platform includes a plane displacement mechanism and a front-to-back docking mechanism, the implant mechanism is installed on the front-to-back docking mechanism, and the plane displacement mechanism drives the implant mechanism to move on a plane to select a corresponding connection hole, and the front-to-back docking mechanism moves back and forth in a direction perpendicular to the direction to drive the implant mechanism to dock or move away from the connection hole;

The plane displacement mechanism is a single-joint rotational motion mechanism, and the plane displacement mechanism also includes a rotation arm and a radial linear motion mechanism. The single-joint rotational motion mechanism drives the rotation arm to rotate in a plane, the radial linear motion mechanism is arranged on the rotation arm, and drives the slider arranged on the rotation arm to move radially along the rotation arm, and the front and rear docking mechanism is arranged on the side of the slider;

When the first channel switching component realizes the switching and conducting of multiple implantation channels by switching different reversing pipelines or rotating the reversing pipelines around the inlet axis, the first channel switching component includes an adapter component, the adapter component includes a connecting piece, a rotating group arranged on one side of the connecting piece, and a docking elbow driven by the rotating group, a plurality of docking ports are arranged in a circumferential array on the connecting piece, the docking elbow is connected with the docking port, and the docking elbow can be connected with different docking ports by driving the rotating group to rotate; the delivery catheter is connected with the docking elbow through the adapter component; the adapter component also includes a forward and backward motion module for driving the connecting piece and the docking elbow to move toward each other, so as to realize the docking of the docking elbow with the docking port, thereby ensuring the airtightness and continuity of the pipeline; the rotating group adopts at least one of a gear transmission mechanism, a belt transmission mechanism, a worm gear mechanism, and a chain transmission mechanism;

When the rotating group adopts a gear transmission mechanism, the gear transmission mechanism includes a housing, a driving gear and a driven gear arranged inside the housing, the driving gear is driven by the second rotating motor, a through hole is arranged at the shaft core of the driven gear, one end of the butt elbow is fixed on the driven gear and communicated with the through hole, and the conveying conduit is communicated with the butt elbow through the through hole;

The needle extraction drive unit of the needle extraction mechanism is arranged on the reversing pipeline. After the reversing pipeline is connected with different implantation channels, the needle extraction drive unit can pass through the needle extraction port next to the implantation output interface, push the tube-attached needle extraction drive head, and the tube-attached needle extraction drive head then drives the tube-attached needle extraction assembly, so that the inner and outer tubes undergo relative sliding motion to realize needle extraction.

7. A semi-automatic particle implantation system with manual needle removal according to claim 6, characterized in that it is further provided with a core removal mechanism, the core removal mechanism docks with the tail of the needle core, and removes the needle core in the puncture needle, thereby forming a hollow implantation channel, and the core removal mechanism adopts at least one of a friction core removal mechanism, a reciprocating clamping core removal mechanism, and a winding core removal mechanism;

When the core pulling mechanism adopts a friction core pulling mechanism, a part of the friction core pulling mechanism is pressed against the needle core, and the needle core is pulled out by the friction force generated by the pressing, and the friction core pulling mechanism is one or a combination of a friction wheel and a friction belt;

When the core pulling mechanism adopts a reciprocating clamping core pulling mechanism, it includes a clamping component and a reciprocating motion component. The clamping component controls the clamping and loosening of the needle core, and the reciprocating motion component controls the reciprocating movement of the clamping component. When the reciprocating motion component drives the clamping component to move outward, the clamping component clamps the needle core to realize outward pulling. When the reciprocating motion component drives the clamping component to move inward, the clamping component loosens the needle core.

When the core pulling mechanism adopts a winding core pulling mechanism, it includes a core winding wheel, the tail of the needle core is directly fixed to the core winding wheel or the needle core is clamped by a passive clamping part, and then the core is pulled out by rotating the core winding wheel;

When the implant output interface is provided with one, in addition to the implant output interface, a core extraction interface is also included, one side of the core extraction interface is aligned with the core extraction mechanism, and the delivery catheter can be manually docked with the other side of the core extraction interface, thereby realizing the switching of core extraction of different delivery catheters;

Alternatively, the implant output interface is a core extraction interface, and further includes a second channel switching component, the second channel switching component is used to switch the core extraction mechanism and the implant mechanism to be connected to the implant output interface respectively, and the second channel switching component is a second motion platform;

The second motion platform includes a reciprocating mechanism and a front-to-back docking mechanism. The reciprocating mechanism controls the core pulling mechanism and the implanting mechanism to move back and forth left and right, and drives the core pulling mechanism or the implanting mechanism to align with the implant output interface respectively. The front-to-back docking mechanism drives the core pulling mechanism or the implanting mechanism to move forward and backward, controls the distance between the core pulling mechanism or the implanting mechanism and the implant output interface, and controls the core pulling mechanism or the implanting mechanism to dock with the implant output interface.

8. According to a semi-automatic particle implantation system with manual needle extraction as described in claim 7, it is characterized in that the first channel switching component also includes a third motion platform, and the third motion platform is the first motion platform, so that the core extraction mechanism and the implantation mechanism are installed on the same motion platform, and the first motion platform is provided with a first front-to-back motion mechanism and a second front-to-back motion mechanism, which are respectively used for the front-to-back docking movement of the core extraction mechanism and one end of the radiation source output channel, firstly, the core extraction mechanism is docked with the tail of the needle core in an implantation output interface, and the needle core is extracted, and after the core extraction is completed, a new implantation channel is established, and the radiation source output channel is docked and connected with the implantation output interface under the drive of the first motion platform, and then implantation is performed through the newly established implantation channel.

9. A semi-automatic particle implantation system with manual needle extraction according to claim 2, characterized in that the power source comprises a manual needle extraction drive mechanism, which drives the tube-mounted needle extraction assembly to move, and then the tube-mounted needle extraction assembly drives the inner and outer tubes to slide relative to each other through a push-pull drive, a clamping drive, a friction drive, or a meshing drive; the needle extraction group of the tube-mounted needle extraction assembly is powered by a drive wire, a liquid, or a gas, and a measuring element for detecting the drive displacement of the drive wire, the liquid, or the gas is also provided in the power source;

The measuring element may adopt a displacement measuring device, wherein the displacement measuring device is one or a combination of a rotary encoder and a linear displacement sensor;

The manual needle extraction drive mechanism includes a needle extraction control assembly and an operating handle. The needle extraction control assembly is provided with a needle extraction hole. The in-tube needle extraction drive head can be selectively installed at one end of the needle extraction hole. The operating handle will dock with the in-tube needle extraction drive head. The operator drives the in-tube needle extraction drive head by sliding or rotating the operating handle. The in-tube needle extraction drive head will drive the drive wire, liquid, and gas to move relative to the sleeve of the in-tube needle extraction assembly, thereby providing power to the needle extraction group at the other end of the sleeve.

10. A semi-automatic particle implantation system with manual needle removal according to claim 1, characterized in that when a thrust or a pull is directly applied to the inner tube or the outer tube by manually controlling the needle removal mechanism to drive the inner tube and the outer tube to move relative to each other, so that the inner tube pulls the puncture needle out of the target object to remove different puncture needles, the needle removal drive mechanism includes a manual pushing part, and the operator manually pushes the manual pushing part to move along the axial direction of the outer tube, or the operator manually turns the hand wheel to rotate, and the hand wheel drives the friction wheel mechanism or the gear rack mechanism to indirectly drive the manual pushing part to move along the axial direction of the outer tube, and 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 this time the inner tube has been connected to the implantation output interface to form an implantation channel, so the manual pushing part will drive the inner and outer tubes to have a relative displacement to realize the needle removal action.

11. A method for using a semi-automatic particle implantation system with manual needle removal according to any one of claims 1 to 10, characterized in that it comprises the following steps;

(1) inserting multiple puncture needles into the target object according to the planned needle insertion route;

(2) Connecting the tail of one of the puncture needles to the delivery catheter, manually inserting the inner tube of the delivery catheter into the core extraction interface of the core extraction mechanism, or connecting the tails of all the puncture needles to a delivery catheter respectively, or the tails of the puncture needles are always connected to the delivery catheter, and then manually docking one of the delivery catheters to a single implantation output interface corresponding to the implantation mechanism, or manually docking multiple delivery catheters to multiple implantation output interfaces corresponding to the implantation mechanism, and controlling the implantation mechanism to dock with one of the implantation output interfaces through the first channel switching component, so that the implantation output interface and the delivery catheter are docked to form an implantation channel; adjusting the outer tube sleeved outside the inner tube so that one end of the outer tube is pressed against or connected to the target object;

(3) The push rod driving mechanism of the implantation mechanism drives the push rod to move forward and backward. When the push rod moves forward, it pushes out the radioactive source arranged in front of the push rod by the radioactive source feeding mechanism, pushes the radioactive source into the implantation output interface, and pushes it along the delivery catheter to the front end of the puncture needle; at the same time, the operator manually drives the needle removal mechanism according to the treatment needs, thereby driving the inner tube and the outer tube to move relative to each other through the needle removal mechanism to realize the needle removal action; the displacement sensor detects the manual needle removal distance, so that the push rod driving mechanism can synchronously implant the radioactive source into the biological tissue at the same implantation rate as the needle removal rate, and adjust the implantation depth of the radioactive source according to the treatment needs; then the push rod driving mechanism of the implantation mechanism drives the flexible push rod to reset;

(4) In the case where the implant mechanism has only a single implant output interface, the operator needs to manually connect another delivery catheter to the implant output interface and repeat the above process; in the case where the implant mechanism has multiple implant output interfaces, the implant mechanism is controlled to connect to other implant output interfaces through the first channel switching component and the above process is repeated; until all puncture needles have been implanted, the particle implantation of the semi-automatic particle implantation system with manual needle removal can be completed.