WO2023165578A1 - Radioactive source implantation device facilitating disinfection and isolation - Google Patents

Abstract

Disclosed is a radioactive source implantation device facilitating disinfection and isolation, comprising a body, a first push rod driver mechanism, a first push rod, a push rod output channel, and a first rotary alignment shaft. The first push rod driver mechanism is arranged on the body; the push rod output channel is configured to guide the first push rod to move back and forth and is connected with the first push rod driver mechanism; the first push rod driver mechanism is in direct transmissive connection or indirect transmissive connection with the first rotary alignment shaft; the first rotary alignment shaft is arranged on the body and extends outwards. By means of actuating the first rotary alignment shaft to rotate, the power can be transmitted to the first push rod driver mechanism arranged on the body and the first push rod is actuated by the first push rod driver mechanism along the push rod output channel to move back and forth. The device facilitates cleaning, disinfection, and sterilization, and is actuated by an external power source.

Description

A sterile and isolated radioactive source implantation device

This application claims the priority of the invention patent application entitled "Particle Implantation Gun and Related Mechanisms, Particle Implantation Surgical Robot and Application Method" with application number 2022102070770 submitted on March 3, 2022.

This application claims the priority of the invention patent application entitled "Particle implantation system and its channel switching device, particle implanter and method" submitted on March 3, 2022, with application number 2022102088331.

This application claims the priority of the invention patent application entitled "A Particle Implantation Device" with application number 2022110329819 submitted on August 26, 2022.

This application claims the priority of the invention patent application entitled "A Particle or Particle Chain Implantation Device" with application number 2022115865935 submitted on December 09, 2022.

This application claims the priority of the invention patent application entitled "Particle or Particle Chain Implantation Device, Implantation System and Method of Use thereof" with application number 2023100147077 submitted on January 05, 2023.

This application claims the priority of the invention patent application entitled "A Disinfected Isolation Radioactive Source Implantation Device" and the application number is 2023100535903 submitted on February 03, 2023. The entire contents of the above are incorporated herein by reference

technical field

The invention relates to a particle implantation device, in particular to a sterile and isolated radioactive source implantation device.

Background technique

Radioactive seed implantation surgery is to implant many radioactive seeds directly into the tumor for local radiotherapy through puncture. This surgery has a wide range of indications, including lung cancer, liver cancer, breast cancer, prostate cancer, etc. , and its small wound, less bleeding, relatively few surgical complications, but it can effectively inhibit the growth of tumors.

The basic procedure of this operation is to first take a preoperative CT, and determine the puncture path and particle arrangement plan in the TPS system, and then insert many puncture needles into the tumor according to the plan. This process can be accomplished with the help of a needle guide template, which ensures that the spacing and orientation of the individual needles is consistent with the pre-operative plan. After confirming that all the puncture needles have reached the target position through CT, the doctor then pushes multiple particles into the tumor according to the preoperative plan through the channel established by the puncture needle to complete the operation.

However, at present, this kind of operation takes a long time, and the doctor needs to be in close contact with the particles during the implantation process, and suffers great radiation damage, which greatly limits the application and promotion of this type of operation. Therefore, it can be considered to use automated medical devices instead of doctors to complete the operation in a radiation environment, for example, a kind of "a robot suitable for clinical human lithotomy site targeting particle implantation" disclosed in the Chinese patent literature, its publication number CN110496301A, including frame, posture adjustment mechanism, contact force feedback friction wheel type targeting particle implanter, sinusoidal elastic force amplification torque compensation mechanism, the use of sinusoidal elastic force amplification torque compensation mechanism can realize the compensation of gravity moment under any configuration of the big arm , reduce the fluctuation of driving torque, improve the stability of low-speed operation at the end of the robot, combined with the posture adjustment mechanism, so that the outer needle of the implanter can adjust the incident angle of the outer needle at a fixed point, and the force feedback friction wheel installed at the end of the posture adjustment mechanism The targeted particle implanter improves the force information perception ability of the targeted particle implantation process. The proposed particle implantation surgical robot is equipped with an automatic particle implantation gun at the end of the robot, which can complete the puncture and particle implantation with high precision. implantation, but the particle implantation gun is not a passive device, and electronic components such as motors, force sensors, encoders, and limit switches are integrated inside the gun body, which is not easy to clean and sterilize.

Contents of the invention

The purpose of the present invention is to solve the problem of inconvenient cleaning, disinfection and sterilization of the existing particle implantation device, and propose a disinfection and isolation radioactive source implantation device, which is convenient for cleaning, disinfection and sterilization, and is driven by an external power source .

The present invention is achieved through the following technical solutions:

A sterile and isolated radioactive source implantation device, comprising a main body, a first push rod driving mechanism, a first push rod, a push rod output channel and a first rotating docking shaft, the first push rod driving mechanism is arranged on the main body, The push rod output channel can be used to guide the first push rod to move back and forth. The push rod output channel is connected with the first push rod driving mechanism, and the first push rod driving mechanism is directly or indirectly driven with the first rotary docking shaft. connected, the first rotating docking shaft is arranged on the main body and protrudes outwards, by driving the first rotating docking shaft to rotate, the power can be transmitted to the first push rod driving mechanism in the main body, and through the first push rod The driving mechanism drives the first push rod to move back and forth along the push rod output channel.

Preferably, the first rotating butt joint shaft is provided with a first transmission part, the first transmission part adopts a transmission shaft structure or a transmission hole structure, and the transmission shaft structure is a straight shaft, a cross shaft, a square shaft, One of hexagonal shafts, polygonal shafts, D-shaped shafts, flat shafts, spline shafts, and irregular shafts. shaped hole, flat hole, spline hole, and irregular hole; or the first transmission part adopts a friction disc structure and drives its rotation through friction torque; or the first transmission part adopts a pin hole or a pin The structure of groove or pin realizes torque transmission.

Preferably, the first transmission part is axially slidably provided on the first rotating butt joint shaft, and the first transmission part and the first rotating butt joint shaft are synchronously rotated in the circumferential direction and fitted in an axial sliding manner, so There is also a first elastic element inside the first rotating docking shaft, the first elastic element pushes the first transmission part to move outward, and the first elastic element is a spring, an elastic block, a shrapnel, a coil spring, a torsion spring In one or a combination, the first rotating docking shaft is further provided with a limiting portion, and the limiting portion restricts the first transmission part from completely disengaging from the first rotating docking shaft.

Preferably, it also includes a first external power source and a first power shaft, the first rotating docking shaft is directly connected to the first power shaft or connected through a coupling, and the first external power source can drive the first power shaft Rotate and drive the first rotating docking shaft to rotate; when the first rotating docking shaft is connected to the first power shaft through a coupling, it also includes a sterile isolation assembly, and the coupling is rotatably arranged on the sterile isolation assembly , the first rotating docking shaft and the first external power source are separated by the sterile isolation assembly, and the sterile isolation assembly wraps the entire first external power source and the first power shaft to ensure a sterile environment and The sterile environment is separated, so that the main body, the first push rod driving mechanism, the first push rod, the push rod output channel and the first rotary docking shaft are all in a sterile environment; the first transmission part is arranged on the first rotary docking shaft. On the shaft, the coupling is provided with a second transmission part at the position corresponding to the first transmission part; the first transmission part and the second transmission part adopt the structure of the transmission shaft structure and the transmission hole structure, and the friction disc structure , one of the structures of pin holes or pin grooves and pin shafts to realize torque transmission; One of the spline shaft and irregular shaft, the transmission hole structure is a straight hole, a cross hole, a square hole, a hexagonal hole, a polygonal hole, a D-shaped hole, a flat hole, a spline hole, an irregular shape One of the holes.

Preferably, it also includes a second elastic element arranged in the first transmission part and/or the second transmission part, and the second elastic element pushes the first transmission part and the second transmission part to move toward each other to complete the docking and eliminate the gap (this When the transmission shaft and the transmission hole are provided with an anti-backlash slope, the transmission shaft is provided with a wedge-shaped part, and the transmission hole is provided with a V-groove part, the gap is eliminated when the transmission shaft and the transmission hole move toward each other), the second The elastic element is one or a combination of springs, elastic blocks, shrapnel, coil springs, and torsion springs; the sterile isolation assembly includes an isolator and a sterile isolation cover, and the coupling is rotatably arranged on the isolator. A third conductive contact is provided through the isolator, and the disinfection isolation cover is made of plastic film.

Preferably, the push rod output channel is a rigid structure or a bendable flexible structure, the first push rod is a bendable flexible push rod, and the flexible push rod is an elastic filamentary structure, and the flexible push rod The material of the rod is one or more combinations of nickel-titanium alloy, spring steel, elastomer material and composite material; the length of the flexible push rod is greater than 300mm.

As a preference, several travel switches are arranged in the output channel of the push rod. When the first push rod passes the travel switch, the position signal is triggered. The main body is provided with a first conductive contact, and through the first conductive contact The position signal is transmitted to the controller outside the main body; the travel switch is a conductive travel switch, the conductive travel switch includes elastic contacts or spring pins, and the position of the first push rod or the radioactive source is judged by the conduction; Or the travel switch is a mechanical switch, a photoelectric switch, or a Hall switch; when the travel switch is a mechanical switch, the trigger member that is slidably or rotatably arranged outside the mechanical switch contacts and triggers the first push rod. Travel switch, one end of the trigger is set in the push rod output channel, and the other end is offset against the mechanical switch; the trigger is a trigger lever, trigger piece or trigger needle, or the front end of the trigger is provided with a roller.

Preferably, the main body also includes a rotary encoder connected with a measuring wheel; the measuring wheel is in contact with the first push rod, and when the first push rod moves back and forth, it will drive the measuring wheel to rotate, and the measuring wheel is measured by the rotary encoder. The angular displacement of the wheel can be converted to the displacement of the first push rod; the main body is provided with a second conductive contact, and the rotary encoder is electrically connected to the controller outside the main body through the second conductive contact; Or the rotary encoder is electrically connected to the controller outside the main body through the first conductive contact.

Preferably, a radioactive source supply part is also provided in the main body, and the radioactive source supply part is used to arrange a radioactive source in front of the first push rod, so that the first push rod is driven by the first push rod drive mechanism When moving forward, the radioactive source is always pushed and implanted into the target position. The feeding part of the radioactive source is a cutting mechanism. At this time, the first push rod itself is a particle chain or a particle chain sleeve, or the first push rod The first half of the first part is the particle chain or particle chain sleeve that can be cut off by the cutting mechanism, and the second half of the first push rod is the push rod wire. The particle chain or particle chain sleeve of the target length is cut off from the first push rod The front end is cut off, so as to realize the feeding of the particle chain or the particle chain casing; when the particle chain casing is cut off, the radioactive source feeding part also includes a particle embedding mechanism, and the particle embedding mechanism can make the Particles or/and spacer rods are embedded in the particle chain casing from the end face or side of the particle chain casing, thereby forming a complete particle chain; the cutting mechanism is arranged at any one of the push rod output channels;

Alternatively, the radioactive source feeding part adopts magazine feeding, and the radioactive source feeding part is directly arranged in the output channel of the push rod, and the particles or prefabricated particle chains or particle chain sleeves are installed in the bomb storage slot in the magazine Or in the bullet storage hole, the particles or prefabricated particle chains or particle chain sleeves are placed on the front end of the first push rod for feeding through the clip feeding mechanism installed on the clip; When the particle chain sleeve is set, the radiation source feeding part also includes a particle embedding mechanism, which can make the particles or/and spacer rods embedded in the particle chain sleeve from the end face or side of the particle chain sleeve , thus forming a complete particle chain.

Alternatively, the radioactive source feeding part adopts particle chain feeding, and the radioactive source feeding part includes a particle chain driving mechanism, a particle chain output channel, and a cutting mechanism, and continuously outputs particle chains or particle chain sleeves through the particle chain driving mechanism. and cut off the particle chain or the particle chain casing of the target length through the cutting mechanism to realize the feeding of the particle chain or the particle chain casing; the main body is connected to the second external power source through the second rotating docking shaft, so The particle chain drive mechanism is directly or indirectly connected to the second rotating docking shaft, and the second rotating docking shaft transmits the rotational motion from the second external power source to the particle chain driving mechanism in the main body; when the particle When the output of the chain driving mechanism is a particle chain casing, the radioactive source feeding part also includes a particle embedding mechanism, which can enable particles or/and spacer rods to be embedded into the particle chain from one end or side of the particle chain casing In the casing, thereby forming a complete particle chain; the particle chain driving mechanism is connected with the particle chain output channel, and the particle chain output channel is a rigid structure or a flexible and bendable structure, and the cut particle chain can be set at First putter forward.

Preferably, the particle embedding mechanism is an end face embedding mechanism or a side embedding mechanism, and the end face embedding mechanism can enable particles or/and spacer rods to be embedded into the particle chain sleeve from the second opening on the end face of the particle chain sleeve, the The end face embedding mechanism is a particle injection mechanism or a particle compaction mechanism; the particle injection mechanism is docked with the second opening on the end face of the particle chain casing, and then injects particles or/and spacers into the particle chain casing to form a complete Particle chain; the particle injection mechanism is the first push rod and the first push rod drive mechanism, or the second push rod and the second push rod drive mechanism, the first push rod and the first push rod drive mechanism or The second push rod and the second push rod drive mechanism are docked with the second opening on the end face of the particle chain casing, and then the particles or/and spacer rods are injected into the particle chain casing to form a complete particle chain; The tightening mechanism can axially compress the mixture of particles or/and spacer rods and particle chain sleeves arranged in sequence, so that the particles or/and spacer rods are embedded in the particle chain sleeves, and multiple particles and particle chain sleeves Fitting and connecting in sequence to form a complete particle chain; the particle pressing mechanism is the first push rod and the second push rod drive mechanism, or the second push rod and the second push rod drive mechanism, and the first push rod and the first push rod drive mechanism or the second push rod and the second push rod drive mechanism to axially compress the mixture of particles or/and spacer rods and particle chain sleeves, so that the particles or/and spacer rods Embedded in the particle chain casing, multiple particles and the particle chain casing are sequentially fitted and connected to form a complete particle chain;

The side embedding mechanism can enable particles or/and spacer bars to be embedded into the particle chain casing from the side of the particle chain casing, and the side embedding mechanism includes a particle feeding mechanism or a particle side pressing mechanism; the particle feeding The mechanism can continuously provide particles to the particle side pressing mechanism, and the particle feeding mechanism is a particle clip, a first push rod and a first push rod driving mechanism, a second push rod and a second push rod driving mechanism. One or more combinations, the particle side pressing mechanism is arranged in the particle magazine; or the particle side pressing mechanism includes a pressing push rod or a pressing rocker arm, through the linear motion of the pressing push rod or The rotary movement of the pressing rocker arm presses the particles located in front of the pressing push rod or the pressing rocker arm into the particle chain sleeve from the notch on the side of the particle chain sleeve, and the particles are in the particle chain sleeve. The axial position can be set according to the surgical requirements;

Or the particle side pressing mechanism is a side pressing inclined surface, when the particle feeding mechanism pushes the particles into the side pressing inclined surface, under the joint action of the side pressing inclined surface and the particle feeding mechanism, The particles are pressed into the slope along the side and enter the particle chain casing from the notch on the side of the particle chain casing.

Beneficial effect

The present invention has the following beneficial effects: the present invention is connected to the external power source through the rotating docking shaft, and separates the passive radioactive source implantation device from the active external power source through the spacer to ensure a sterile environment and a sterile environment. Isolation of the environment, while the installation is convenient, the radioactive source implantation device has no power device, which is easy to disassemble, clean and disinfect, and the elastic element and telescopic structure make the docking very convenient, only need to rotate the docking shaft or the output of the external power source The shaft and the coupling are aligned, and drive the output shaft of the external power source to rotate. When the two to be connected rotate to the same fixed angle in the circumferential direction (such as the one-shaped shaft is exactly on the one-shaped hole), it will be in the elastic Driven by the component, the transmission shaft is pushed into the transmission hole to complete the docking.

The present invention uses a flexible push rod and a push rod output channel to push particles or particle chains, feeds materials through particle clips or particle chain clips, or cuts particle chains of target length or cuts particle chains of target length Cut off, so as to realize the feeding of the particle chain, and at the same time, the limit switch and the rotary encoder can measure the actual position of the first push rod and/or the radiation source in real time, so as to realize high-precision position control and high-precision radiation source implantation.

The present invention adopts different storage mechanisms, including outer storage wheels, storage disc storage of inner concave storage wheels, or casing storage, etc. The storage mechanisms are used for dynamic storage and release of flexible push rods and/or particle chains during work. The mechanism stores unused flexible push rods or particle chains, which saves space and is convenient for shielding protection, and the flexible push rods are elastic and not easily deformed after storage.

Description of drawings

Figure 1 is one of the overall structural schematic diagrams of the radioactive source implantation device of the present invention;

Fig. 2 is the second schematic diagram of the overall structure of the radioactive source implantation device of the present invention;

Fig. 3 is a schematic diagram of the overall structure in which the storage mechanism is an outer storage wheel in the present invention;

Fig. 4 is a schematic structural view of the Chinese and foreign storage wheels of the present invention;

Fig. 5 is a schematic diagram of the side structure of the storage mechanism of the present invention as an outer storage wheel;

Fig. 6 is a schematic diagram of the cooperative structure of the outer storage wheel and the rotating elastic element of the present invention;

7 is a schematic diagram of the overall structure of the storage mechanism in the present invention as a concave storage wheel;

Fig. 8 is a schematic diagram of the installation structure of a rotary encoder whose storage mechanism is a concave storage wheel in the present invention;

Fig. 9 is a schematic structural view of the concave storage wheel in the present invention;

Fig. 10 is a schematic diagram of the side structure of the storage mechanism in the present invention as a concave storage wheel;

Fig. 11 is a schematic structural view of the storage mechanism of the present invention as a sleeve;

Fig. 12 is a schematic cross-sectional structure diagram of the radioactive source implantation device of the present invention;

Fig. 13 is a schematic diagram of the enlarged structure of part B of Fig. 12;

Fig. 14 is a schematic diagram of the state of particles in the particle clip of the present invention;

Fig. 15 is a schematic structural view of the particle chain casing with side grooves of the present invention;

Figure 16 is one of the structural schematic diagrams of the particle side pressing mechanism arranged in the particle magazine according to the present invention;

Fig. 17 is the second structural schematic diagram of the particle side pressing mechanism arranged in the particle magazine according to the present invention;

Fig. 18 is a schematic diagram of the installation structure of travel switch A and travel switch B of the present invention;

Fig. 19 is a schematic diagram of the installation structure of the particle chain casing clip and the particle clip of the present invention;

Fig. 20 is a schematic diagram of the feeding of the particle chain casing clip of the present invention;

Fig. 21 is a schematic diagram of the enlarged structure of part I of Fig. 20;

Fig. 22 is a schematic structural diagram of Embodiment 9 of the present invention;

Figure 23 is a top view of Embodiment 9 of the present invention;

Fig. 24 is a schematic diagram of the cutting mechanism, the particle chain driving mechanism and the flexible push rod driving mechanism of Embodiment 9 of the present invention;

Fig. 25 is a schematic diagram of the structure of the particle chain in Example 9 of the present invention when it is rolled out;

Fig. 26 is a schematic structural view of the cutting mechanism of Embodiment 9 of the present invention;

Figure 27 is a schematic diagram of the installation structure of the disinfection isolation cover in Embodiment 10 of the present invention;

Fig. 28 is a schematic diagram of the cooperative structure of the first rotating butt joint shaft, the coupling and the first power shaft in Embodiment 10 of the present invention;

Fig. 29 is a schematic diagram of the cooperative structure of the main body and the disinfection isolation assembly in Embodiment 10 of the present invention;

Figure 30 is a schematic structural diagram of Embodiment 11 of the present invention;

Fig. 31 is a schematic structural diagram of Embodiment 12 of the present invention.

Implementation

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

Example 1

A sterile and isolated radioactive source implantation device, comprising a main body 50, a first push rod driving mechanism, a first push rod, a push rod output channel and a first rotating docking shaft, the first push rod driving mechanism is arranged on the main body 50, The push rod output channel can be used to guide the first push rod to move back and forth. The push rod output channel is connected to the first push rod driving mechanism. The first push rod driving mechanism is directly or indirectly connected to the first rotary docking shaft. The first The rotating docking shaft is arranged on the main body and protrudes outwards. By driving the first rotating docking shaft to rotate, the power can be transmitted to the first push rod drive mechanism in the main body, and the first push rod drive mechanism drives the first push rod drive mechanism. A push rod moves back and forth along the push rod output channel.

The first rotating butt joint shaft is provided with a first transmission part, the first transmission part adopts a transmission shaft structure or a transmission hole structure, and the transmission shaft structure is a straight shaft, a cross shaft, a square shaft, a hexagonal shaft, or a polygonal shaft , D-shaped shaft, flat shaft, spline shaft, and irregular shaft, and the structure of the transmission hole is a straight hole, a cross-shaped hole, a square hole, a hexagonal hole, a polygonal hole, a D-shaped hole, and a flat hole , a spline hole, an irregular hole; or the first transmission part adopts a friction disc structure and drives it to rotate through friction torque; or the first transmission part adopts a pin hole or a pin slot or a pin shaft The structure achieves torque transmission.

The first transmission part is axially slidably arranged on the first rotating butt joint shaft, and the first transmission part is synchronously rotated and engaged with the first rotating joint shaft in the circumferential direction and axially slidingly fitted. There is a first elastic element, and the first elastic element pushes the first transmission part to move outward. The first elastic element is one or a combination of springs, elastic blocks, shrapnel, coil springs, and torsion springs. There is a limiting part, and the limiting part limits the complete disengagement of the first transmission part from the first rotating butt joint shaft.

It also includes a first external power source and a first power shaft, the first rotating docking shaft is directly connected to the first power shaft or connected through a coupling, and the first external power source can drive the first power shaft to rotate and drive The first rotating docking shaft rotates; when the first rotating docking shaft is connected to the first power shaft through a coupling, it also includes a disinfection isolation assembly, and the coupling is rotatably arranged on the disinfection isolation assembly. The first rotating docking shaft and the first external power source are separated by the sterile isolation assembly, which wraps the entire first external power source and the first power shaft to ensure a sterile environment and a sterile environment Separated, so that the main body, the first push rod drive mechanism, the first push rod, the push rod output channel and the first rotary docking shaft are all in a sterile environment; the first transmission part is arranged on the first rotary docking shaft, The coupling is provided with a second transmission part at a position corresponding to the first transmission part; the first transmission part and the second transmission part adopt a structure in which a transmission shaft structure cooperates with a transmission hole structure, a friction disc structure, and a pin hole Or one of the structures of pin slots and pin shafts to realize torque transmission; the transmission shaft structure is a straight shaft, a cross shaft, a square shaft, a hexagonal shaft, a polygonal shaft, a D-shaped shaft, a flat shaft, and a spline shaft , one of the irregular shafts, the transmission hole structure is one of a straight hole, a cross hole, a square hole, a hexagonal hole, a polygonal hole, a D-shaped hole, a flat hole, a spline hole, and an irregular hole. A sort of.

It also includes a second elastic element arranged in the first transmission part and/or the second transmission part, the second elastic element pushes the first transmission part and the second transmission part to move towards each other to complete the docking and eliminate the gap, the second elastic element is a spring , one or a combination of elastic blocks, shrapnel, coil springs, and torsion springs.

The push rod output channel is a rigid structure or a bendable flexible structure. The first push rod is a bendable flexible push rod 61. The flexible push rod 61 is an elastic filamentary structure that can be bent under the action of an external force. The straight state can be restored after the external force is removed, and the material of the flexible push rod is one or more combinations of nickel-titanium alloy, spring steel, elastomer material, and composite material; the length of the flexible push rod is greater than 300mm.

The first push rod drive mechanism is a flexible push rod drive mechanism 1600, the flexible push rod drive mechanism adopts a friction drive assembly, a part of the friction drive assembly is pressed against the first push rod, and the first push rod is pushed by the friction generated by the compression. For driving, the friction drive assembly is one or more combinations of friction wheels, friction belts, and reciprocating clamping assemblies.

The rear part of the main body 50 is provided with a storage mechanism for accommodating the first push rod. The storage mechanism is a wheeled storage mechanism 1500 or a sleeve 38. The storage mechanism is a wheeled storage mechanism or a sleeve. Storage wheel, the first push rod is wound on the inside or outside of the storage wheel with the rotation of the storage wheel; the wheel storage mechanism adopts the outer storage wheel and the outer storage wheel drive mechanism, and the outer storage wheel is rotatable and set on the first push rod to drive At the rear of the mechanism, the outer storage wheel is driven to rotate through the outer storage wheel drive mechanism, so that the first push rod is wound around the outer peripheral surface of the outer storage wheel or the axial end surface of the outer storage wheel;

Alternatively, the wheeled storage mechanism adopts an inner concave storage wheel, the inner concave storage wheel is an internal concave structure, and is provided with a first opening on the side, and the first push rod extends into the inner concave storage wheel from the first opening on the side, The concave storage wheel is rotatably arranged behind the push rod driving mechanism, and the first push rod is automatically wound under the joint action of the self-elastic force of the first push rod, the first push rod driving mechanism and the concave storage wheel In the inner recessed area of the inner recessed storage wheel;

The casing is any one of straight casing, spiral casing, and film type casing, and the material of the casing is one or more combinations of metal, plastic, rubber, latex, silica gel or elastomer materials; A lubricant is provided in the tube, or the inner surface of the sleeve can be uniformly coated with grease or the inner surface of the sleeve can be lubricated by a lubricating coating, and the lubricating coating is made of Teflon.

A number of travel switches are set in the output channel of the push rod. When the first push rod passes the travel switch, the position signal is triggered. The main body is provided with a first conductive contact, and the position signal is transmitted through the first conductive contact. To the controller outside the main body; the travel switch is a conductive travel switch, the conductive travel switch includes an elastic contact or a spring pin, and the position of the first push rod or the radiation source is judged by conducting an on-off; or the travel switch It is a mechanical switch, a photoelectric switch, or a Hall switch; when the travel switch is a mechanical switch, the travel switch is triggered by contacting the first push rod with a trigger member slidably or rotatably arranged outside the mechanical switch. One end of the trigger is set in the output channel of the push rod, and the other end is offset against the mechanical switch; the trigger is a trigger lever, a trigger piece or a trigger pin, or the front end of the trigger is provided with a roller.

The main body also includes a measuring wheel and a rotary encoder; the measuring wheel is in transmission connection or directly connected with the rotary encoder, the measuring wheel is in contact with the first push rod, and when the first push rod moves back and forth, it will drive the measuring wheel to rotate The displacement of the first push rod can be converted by measuring the angular displacement of the measuring wheel through the rotary encoder; the main body is provided with a second conductive contact, and the rotary encoder is connected to the outside of the main body through the second conductive contact. The controller is electrically connected; or the rotary encoder is electrically connected to the controller outside the main body through the first conductive contact.

The main body is also provided with a radioactive source feeding part, and the radioactive source feeding part is used to arrange the radioactive source in front of the first push rod, so that when the first push rod driving mechanism drives the first push rod to move forward, the radioactive source is always Push the implant to the target location.

Example 2

In the embodiment shown in Figures 1-3, the wheeled storage mechanism 1500 uses the outer storage wheel 2000 and the outer storage wheel drive mechanism, and the outer storage wheel 2000 is driven to rotate by the outer storage wheel drive mechanism, so that the flexible push rod 61 or the particle chain Wrapped around the outer peripheral surface of the outer storage wheel. The driving mechanism of the outer storage wheel is a rotating elastic element and/or a synchronous transmission mechanism and/or an independent transmission element. The rotating elastic element is one or more combinations of coil springs, torsion springs, springs, elastic sheets, and elastic blocks. The winding elastic force drives the outer storage wheel to rotate, and the synchronous transmission mechanism is connected with the flexible push rod driving mechanism 1600 or the particle chain driving mechanism, and drives the outer storage wheel to rotate with a certain transmission ratio. The synchronous transmission mechanism is a belt transmission mechanism 1200, chain transmission One or more combinations of mechanisms and gear transmission mechanisms; the independent transmission element is an independently set transmission element, such as one or a combination of a transmission shaft, a gear set, and a worm, and the independent transmission element is connected to the outer storage wheel in transmission, and The dynamic retraction of the flexible push rod 61 or the particle chain is realized through the precise motion control of the outer storage wheel 2000 . The flexible push rod driving mechanism 1600 or the particle chain driving mechanism drives the flexible push rod 61 or the particle chain to reciprocate along a preset direction through frictional force. The flexible push rod 61 is an elastic filamentary structure, which can be Bending, it can return to a straight state after the external force is removed, and the flexible push rod 61 can push the radioactive source until it is implanted at the target position.

The belt transmission mechanism 1200 includes a first pulley 1700 , a second pulley 1800 and a belt 1900 . The first pulley 1700 is coaxially arranged with the friction wheel in the flexible push rod drive mechanism 1600 or the particle chain drive mechanism, the second pulley 1800 is connected with the outer storage wheel 2000 for synchronous rotation, the first pulley 1700 and the second pulley 1800 There is a belt between 1900.

As shown in Figures 4-6, the outer storage wheel 2000 is provided with a rotating elastic element 2500, and the rotating elastic element 2500 is used to adjust the pre-tightening force of the wheel storage mechanism 1500, so that the wheel storage mechanism will push the flexible push rod 61 or the particle chain Wound on the outer peripheral surface of the outer storage wheel 2000, so as to prevent the flexible push rod 61 or the particle chain from bouncing off.

The inside of the outer storage wheel 2000 is provided with an outer storage wheel shaft 2100, one end of the outer storage wheel shaft 2100 is connected with the outer storage wheel drive mechanism, and tongues 2300 are arranged around the outer storage wheel 2000 to prevent the flexible push rod 61 from being involved in the outer storage wheel 2000 within the gap with the main body 50.

The rotating elastic element 2500 is arranged inside the outer storage wheel 2000. One end of the rotating elastic element 2500 is connected to the outer storage wheel shaft 2100, and the other end is connected to the outer storage wheel 2000. The rotating elastic element 2500 can generate a certain angle while maintaining the preload. Deformation displacement, when the actual driving displacement of the flexible push rod 61 or particle chain and the accommodation displacement of the flexible push rod 61 or particle chain by the storage wheel drive mechanism cannot be precisely synchronized, the rotating elastic element can be adaptively deformed to achieve a flexible push rod 61 or the synchronous retraction of particle chains, the rotating elastic element 2500 is one or more combinations of coil springs, torsion springs, springs, elastic sheets, and elastic blocks.

The flexible push rod driving mechanism 1600 or the particle chain driving mechanism that drives the flexible push rod 61 or the particle chain to move includes one or more sets of friction drive assemblies: the friction drive assembly includes a friction wheel 2400, and the friction wheel 2400 includes a driving friction wheel and a driven friction wheel , the friction wheel 2400 is provided with an anti-skid groove 2900, the friction wheel 2400 contacts with the flexible push rod 61 or the particle chain through the anti-skid groove 2900 and frictionally drives the flexible push rod 61 or the particle chain, which can avoid slipping; or the friction drive assembly includes a friction belt, The friction belt includes a driving friction belt and a driven friction belt.

The flexible push rod driving mechanism 1600 or the particle chain driving mechanism also includes a bevel gear 1300 and a position detection component connected to the first rotating docking shaft. A gap for the flexible push rod 61 or the particle chain to pass is provided between the friction components, and the friction wheel 2400 can be in contact with the flexible push rod 61 or the particle chain and drive the flexible push rod 61 or the particle chain to move back and forth. The bevel gear 1300 is connected with the active friction wheel or the active friction belt to provide power. The position detection part is connected with the driven friction wheel or the driven friction belt. The moving friction belt is connected, and the position detection component can measure the actual conveying length of the flexible push rod 61 or the particle chain through the movement of the friction wheel 2400 or the friction belt. The position detection component is a displacement sensor, and the displacement sensor is a rotary encoder 1400 connected with the measuring wheel.

The friction wheels or friction belts are provided with multiple groups, and the synchronous movement of multiple groups of friction wheels or friction belts is realized through the synchronous transmission mechanism, thereby jointly driving the flexible push rod 61 or the particle chain to move back and forth, improving the overall driving force, and the synchronous transmission mechanism It is one or a combination of belt drive, chain drive, and gear drive; a first guide tube is provided between two adjacent groups of friction wheels or friction belts, and the flexible push rod 61 or particle chain passes through the inside of the first guide tube. A guide tube acts as a guide to prevent the flexible push rod 61 or the particle chain from being bent between two adjacent sets of friction wheels or friction belts, resulting in drive blockage.

Store unused flexible push rods or particle chains through the storage mechanism to save space, and the flexible push rods are elastic and not easy to deform after storage; the storage mechanism and the flexible push rod drive mechanism or particle chain drive mechanism run synchronously through the synchronous transmission mechanism , so that the flexible push rod drive mechanism or particle chain drive mechanism is consistent with the operation of the storage mechanism; the belt drive can reduce the manufacturing cost while ensuring the transmission; the flexible push rod or particle chain is wound on the outer peripheral surface of the outer storage wheel, and the outer storage wheel The storage of the flexible push rod or particle chain is realized, which reduces the space occupation, and the setting of the tongue improves the safety of the storage mechanism; the rotating elastic element can pre-tighten the outer storage wheel, so that the flexible push rod or particle chain is wound and fit On the outer storage wheel, and the rotating elastic element can adaptively adjust the rotation degree of the outer storage wheel, so that the moving speed of the flexible push rod or the particle chain on the outer storage wheel is equal to the moving speed on the flexible push rod conveying mechanism or the particle chain driving mechanism , improve the stability of the flexible push rod or particle chain conveying, and avoid slipping.

Example 3

In the embodiment shown in Figures 7-10, its technical solution is basically the same as that of Embodiment 2, the difference is that the wheel storage mechanism 1500 adopts a concave storage wheel 59, and the concave storage wheel 59 is an internal concave structure , and the first opening is provided on the side, and the flexible push rod 61 or the particle chain stretches into the concave storage wheel 59 from the first opening on the side; an elastic cover can also be set on the concave storage wheel 59, and the elastic cover will concave The first opening on the side of the storage wheel 59 is sealed to prevent the flexible push rod 61 or the particle chain from protruding from the first opening on the side. The wheel storage mechanism 1500 is also provided with a second guide tube 2600, and the second guide tube 2600 stretches into the elastic cover. and the gap between the concave storage wheel 59, and guide the flexible push rod 61 or the particle chain to extend into the concave storage wheel 59 from the first side opening; the elastic cover is made of elastic material, specifically silica gel , rubber, latex, plastic or a combination.

The inner concave storage wheel 59 is freely rotatably arranged on the main body, and under the combined action of the flexible push rod 61 or the particle chain's own elastic force and the flexible push rod driving mechanism or the particle chain driving mechanism, the flexible push rod or the particle chain automatically Winding in the inner concave area of the inner concave storage wheel 59, and driving the inner concave storage wheel 59 to rotate accordingly.

Or the concave type storage wheel 59 drives the concave type storage wheel 59 to rotate through the concave type storage wheel driving mechanism. The flexible push rod or the particle chain is wound in the concave area inside the concave storage wheel 59 .

The drive mechanism of the concave storage wheel is a rotating elastic element and/or a synchronous transmission mechanism and/or an independent transmission element. The rotating elastic element is one or more combinations of coil springs, torsion springs, springs, elastic sheets, and elastic blocks. Its own winding elastic force drives the outer storage wheel to rotate, and the synchronous transmission mechanism is connected with the flexible push rod drive mechanism or the particle chain drive mechanism, and drives the inner concave storage wheel to rotate with a certain transmission ratio. The synchronous transmission mechanism is a belt transmission mechanism, One or more combinations of chain transmission mechanism and gear transmission mechanism; the independent transmission element is an independently set transmission element, such as one or a combination of transmission shaft, gear set, and worm, and the independent transmission element is connected with the inner concave storage wheel. , and realize the dynamic retraction of flexible push rods or particle chains through the rotary drive of the inner concave storage wheel.

The storage wheel driving mechanism is also provided with a clutch device, so as to "establish", or "cut off", or "switch" the transmission connection between the concave storage wheel and the synchronous transmission mechanism and/or the independent transmission element.

Example 4

In the embodiment shown in FIG. 11 , the tail of the main body 50 is provided with a sleeve 38 for accommodating the flexible push rod 61. Of course, it can also be used for accommodating particle chains. The sleeve 38 is a straight sleeve, a spiral sleeve, an annular sleeve or Any one of the film-type sleeves, the material of the sleeve 38 is one or more combinations of metal, plastic, rubber, latex, silica gel or elastomer materials; a lubricant is provided in the sleeve 38 to facilitate the flexible push rod 61 or particle chain stretches into smoothly, perhaps can be evenly coated with lubricating grease or sleeve pipe inner surface and adopt lubricating coating to realize lubricating effect at sleeve pipe 38 inner surfaces, and lubricating coating material is Teflon.

Example 5

In the embodiment shown in Figures 2-3, several travel switches 60 are arranged in the push rod output channel, and when the flexible push rod 61 passes the travel switch 60, the position signal is triggered, and the main body 50 is provided with a first conductive contact, and The position signal is transmitted to the controller outside the main body 50 through the first conductive contact; the travel switch 60 is a conductive travel switch, the conductive travel switch includes elastic contacts or spring pins, and the flexible push rod 61 is judged by conductive on-off or the position of the radiation source; or the travel switch 60 is a mechanical switch, a photoelectric switch, or a Hall switch; 61 contacts and triggers the travel switch 60. One end of the trigger is set in the output channel of the push rod, and the other end is offset against the mechanical switch; frictional resistance. It also includes a disinfection isolation assembly, the disinfection isolation assembly includes a spacer and a disinfection isolation cover, the spacer is provided with a third conductive contact, and the first conductive contact is connected to the third conductive contact. The travel switch 60 is electrically connected to the controller outside the main body 50, the disinfection isolation cover is made of plastic film, and the disinfection isolation assembly completely wraps the controller outside the main body 50 to ensure that the sterile environment is separated from the sterile environment , so that the main body, the first push rod driving mechanism, the first push rod, the push rod output channel and the first rotating butt joint shaft are all in a sterile environment.

The main body 50 also includes a rotary encoder 1400 connected with a measuring wheel; the measuring wheel is in contact with the flexible push rod 61, and when the flexible push rod 61 moves back and forth, it will drive the measuring wheel to rotate, and the angular displacement of the measuring wheel is measured by the rotary encoder 1400 The displacement of the flexible push rod 61 can be converted; the main body 50 is provided with a second conductive contact, and the rotary encoder 1400 is electrically connected to the controller outside the main body 50 through the second conductive contact; or the rotary encoder 1400 The electrical connection with the controller outside the main body 50 is realized through the first conductive contact. The second conductive contact is in contact with the third conductive contact on the spacer when in use.

Example 6

The main body is also provided with a radioactive source supply part, and the radioactive source supply part is used to arrange a radioactive source in front of the first push rod, so that the first push rod is driven forward by the first push rod driving mechanism , push the radioactive source all the way to the target position, the feeding part of the radioactive source is a cutting mechanism, at this time, the first push rod itself is a particle chain or a particle chain sleeve, or the first half of the first push rod The second half of the first push rod is the push rod wire, and the particle chain or particle chain sleeve of the target length is cut off from the front end of the first push rod by the cutting mechanism down, so as to realize the feeding of the particle chain or the particle chain casing; when the particle chain casing is cut off, the radiation source feeding part also includes a particle embedding mechanism, and the particle embedding mechanism can make the particles or/or and the spacer rod are embedded in the particle chain casing from the end face or side of the particle chain casing, thereby forming a complete particle chain; the cutting mechanism is arranged at any place of the push rod output channel;

Alternatively, the radioactive source feeding part adopts magazine feeding, and the radioactive source feeding part is directly arranged in the output channel of the push rod, and the particles or prefabricated particle chains or particle chain sleeves are installed in the bomb storage slot in the magazine Or in the bullet storage hole, the particles or prefabricated particle chains or particle chain sleeves are placed on the front end of the first push rod for feeding through the clip feeding mechanism installed on the clip; When the particle chain sleeve is set, the radiation source feeding part also includes a particle embedding mechanism, which can make the particles or/and spacer rods embedded in the particle chain sleeve from the end face or side of the particle chain sleeve , thus forming a complete particle chain.

As shown in Figures 12-14, the particle clip or the particle chain clip includes a bin body 82, a particle propelling device, and a particle anti-dropping mechanism. A guide groove 89 is provided inside the bin body 82, and the particle propelling device includes a pressing piece 85, a guide Block 84, spring 83, guide block 84 is slidably arranged in the guide groove 89, spring 83 is pressed on the guide block 84, and pressing piece 85 is arranged in the bin body below the guide block, and contacts with particle 2 or particle chain. A particle channel 48 is provided between the bin body 82 and the particle drop prevention mechanism 87, and an elastic plug 88 is arranged on the particle drop prevention mechanism 87, and the pressing piece 85 continuously pushes particles or particle chains into the particle delivery channel.

The particle clip or the particle chain clip is directly arranged at the front end of the flexible push rod drive mechanism or the particle chain drive mechanism, and the particle delivery channel in the particle clip or the particle chain clip is connected with the flexible push rod drive mechanism or the particle chain drive mechanism. The push rod conveying channel is connected, and the flexible push rod can push out and move the last particle or particle chain in the particle magazine or the particle chain magazine.

Or the front end of the particle delivery mechanism is provided with a flexible conduit, and after the flexible conduit extends for a certain distance, it is connected with a particle clip or a particle chain clip. At this time, the particle clip or particle chain clip and the particle delivery mechanism can be relatively small Movement, the flexible push rod will move to the particle clip or particle chain clip through the flexible conduit, and push out the last particle or particle chain in the particle clip to move, the particle clip can also be mentioned by the particle chain clip, The particle chain can be stored only by widening the bullet storage slot of the particle magazine for storing particles and the pressing sheet 85 for pushing particles.

Example 7

The radioactive source feeding part adopts particle chain feeding, and the radioactive source feeding part includes a particle chain driving mechanism, a particle chain output channel, and a cutting mechanism, and continuously outputs particle chains or particle chain casings through the particle chain driving mechanism and The particle chain or the particle chain casing of the target length is cut off by the cutting mechanism to realize the feeding of the particle chain or the particle chain casing; the main body is connected to the second external power source through the second rotating docking shaft, and the particle The chain driving mechanism is directly or indirectly connected to the second rotating docking shaft, and the second rotating docking shaft transmits the rotational motion from the second external power source to the particle chain driving mechanism in the main body; when the particle chain drives When the output of the mechanism is a particle chain casing, the radioactive source feeding part also includes a particle embedding mechanism, which can enable particles or/and spacer rods to be embedded in the particle chain casing from one end or side of the particle chain casing In order to form a complete particle chain; the particle chain driving mechanism is connected to the particle chain output channel, and the particle chain output channel is a rigid structure or a flexible and bendable structure, and the cut particle chain can be set at the first Putter front.

As shown in Figure 15-17, 2-particles, 263101-particle magazine, 263102-particle chain sleeve, 263103-particle spacer, 263104-spacer push rod, 263105-push rod support, 263106-magazine Holder, 263107-spring, 263108-groove.

There are multiple grooves 263108 on the side of the particle chain casing 263102, particles 2 can be embedded in the grooves 263108, and the groove intervals on the particle chain casing 263102 of different specifications are different, which can be customized at will, so as to achieve different particle 2 intervals , or the side of the particle chain casing 263102 is provided with through grooves, and the particle chain casing 263102 has a cross-sectional shape of a square, D shape, polygon, etc. Rotation during the driving process causes the notch to no longer face the specified direction; or the side of the particle chain sleeve 263102 is provided with a through groove, and the circumferential limit is realized through the through groove, thereby avoiding rotation during the driving process. The particles 2 are neatly arranged in the groove on the side of the particle clip 263201, and the particles 2 are pushed to the particle chain sleeve 263202 by the spring 263107 inside the particle clip 263101 and the particle pressing piece (not shown) connected below it inside the groove of 263108. The particle spacer 263103 is driven by the spacer push rod 263104. When the hole on the particle spacer 263103 is directly below the particle 2, the particle 2 is pushed into the groove 263108 on the particle chain sleeve 263102 by the spring 263107, and then the spacer The push rod 263104 drives the dislocation of the particle spacer 263103, preventing the particle 2 in the particle clip 263101 from falling until the empty groove of the particle chain sleeve 263102 moves to the right below the particle 2, and repeating this can move the groove of the particle chain sleeve 263102 Fill Particle 2. After the particle chain sleeve tube 263102 of the specified length is filled with particles 2, the spacer push rod 263104 drives the particle spacer 263103 to dislocate, preventing the particle 2 in the particle magazine 263101 from falling.

Example 8

The particle embedding mechanism is an end face embedding mechanism or a side embedding mechanism, and the end face embedding mechanism can enable particles or/and spacers to be embedded into the particle chain sleeve from the second opening on the end face of the particle chain sleeve, and the end face embedding mechanism It is a particle injection mechanism or a particle compaction mechanism; the particle injection mechanism is docked with the second opening on the end face of the particle chain casing, and then injects particles or/and spacers into the particle chain casing to form a complete particle chain; The particle injection mechanism is the first push rod and the first push rod driving mechanism, or the second push rod and the second push rod driving mechanism, and the first push rod and the first push rod driving mechanism or the second push rod The rod and the second push rod driving mechanism are docked with the second opening on the end face of the particle chain casing, and then the particles or/and spacer rods are injected into the particle chain casing to form a complete particle chain; the particle compacting mechanism can Axially compress the mixture of particles or/and spacer rods and particle chain sleeves arranged in sequence, so that the particles or/and spacer rods are embedded in the particle chain sleeves, and multiple particles and particle chain sleeves are sequentially fitted connected to form a complete particle chain; the particle pressing mechanism is the first push rod and the second push rod drive mechanism, or the second push rod and the second push rod drive mechanism, the first push rod and the first push rod The push rod drive mechanism or the second push rod and the second push rod drive mechanism axially compress the mixture of particles or/and spacer rods and particle chain sleeves arranged in sequence, so that the particles or/and spacer rods are embedded in the particles In the chain sleeve, a plurality of particles and the particle chain sleeve are sequentially fitted and connected to form a complete particle chain.

The side embedding mechanism can enable particles or/and spacer bars to be embedded into the particle chain casing from the side of the particle chain casing, and the side embedding mechanism includes a particle feeding mechanism or a particle side pressing mechanism; the particle feeding The mechanism can continuously provide particles to the particle side pressing mechanism, and the particle feeding mechanism is a particle clip, a first push rod and a first push rod driving mechanism, a second push rod and a second push rod driving mechanism. One or more combinations, the particle side pressing mechanism is arranged in the particle magazine; or the particle side pressing mechanism includes a pressing push rod or a pressing rocker arm, through the linear motion of the pressing push rod or The rotary movement of the pressing rocker arm presses the particles located in front of the pressing push rod or the pressing rocker arm into the particle chain sleeve from the notch on the side of the particle chain sleeve, and the particles are in the particle chain sleeve. The axial position can be set according to the surgical requirements;

Or the particle side pressing mechanism is a side pressing inclined surface, when the particle feeding mechanism pushes the particles into the side pressing inclined surface, under the joint action of the side pressing inclined surface and the particle feeding mechanism, The particles are pressed into the slope along the side and enter the particle chain casing from the notch on the side of the particle chain casing.

The particle embedding mechanism of this embodiment adopts the end surface embedding mechanism, wherein as shown in Figure 18-21, 61-flexible push rod, 263201-particle chain casing clip, 263101-particle clip, 263202-magazine seat, 263203- Butt rod, 263204-connection block, 263205-travel switch A, 263206-travel switch B, 263102-particle chain casing, 2-particle.

The main body is provided with a clip seat 263202, in which a particle chain casing clip 263201 and a particle clip 263101 are arranged, and a docking rod 263203 is arranged at the front end of the clip seat 263202. A travel switch A263205 and a travel switch B263206 are provided on the front and rear sides of the magazine holder 263202.

The particle chain casing clip 263201 and the particle clip 263101 will be bound through the connecting block 263204. The two ends of the particle chain casing 263102 are holes with a certain taper, and can be interference fit with the particle 2. The two clips can Simultaneously slide in the magazine holder 263202.

According to the needs of the patient, a certain number of multiple particles will be selected to be implanted at the same time. When implanting, first push the connecting block 263204 to the left, put the particle 2 inside the particle clip 263101 at the channel position of the docking rod 263203, and then push it flexibly The rod 61 pushes out the internal particle 2, and the current position of the flexible push rod 61 is detected through the travel switch and whether there is a particle 2 in the magazine (when a new particle 2 is pushed out, the travel switch B263206 will sense the signal in advance), the flexible The push rod 61 pushes out the particle 2 to stay in the docking rod 263203, then pushes the connecting block 263204 to the right, puts the particle chain sleeve 263102 inside the particle chain casing clip 263201 at the channel position of the docking rod 263203, and then the flexible push rod 61 Push out the internal particle chain casing 263102, reciprocate the above process, push out to the required number of particles and arrange them in order (as shown in Figure 21), the implantation device controls the movement of the docking rod 263203 so that the front end fits the outer docking disc solid position, then the flexible push rod 61 pushes out the multiple particles 2 and the particle chain sleeve 263102 trapped in the docking rod 263203. They will be gradually pressed into the grooves at both ends of the particle chain sleeve 263102 and linked to each other through interference fit to form a complete particle chain.

Example 9

As shown in Figure 22-26, the radioactive source feeding part adopts particle chain feeding, and the radioactive source feeding part includes a particle chain driving mechanism, a particle chain output channel, and a cutting mechanism, and continuously outputs particle chains or particles through the particle chain driving mechanism. Particle chain casing and cut off the particle chain or particle chain casing of the target length by the cutting mechanism to realize the feeding of the particle chain or particle chain casing. When the particle chain driving mechanism outputs the particle chain casing, The feeding part of the radioactive source also includes a particle embedding mechanism, which enables the particles or/and spacer rods to be embedded into the particle chain casing from one end or side of the particle chain casing, thereby forming a complete particle chain; The particle chain driving mechanism is connected to the particle chain output channel, the particle chain output channel is a rigid structure or a flexible bendable structure, and the cut particle chain is arranged in front of the push rod through the docking of the bifurcated tube or the motion platform.

The output channel of the push rod and the output channel of the particle chain are converged into a single channel through the branch pipe. The first branch of the branch pipe is connected with the output channel of the push rod, and the second branch of the branch pipe is connected with the output channel of the particle chain. The main pipeline is connected with the mixing output channel, and the mixing output channel is communicated with the delivery conduit, and the mixing output channel is a rigid structure or a flexible and bendable structure.

When the particle or particle chain implantation device needs to be implanted, after the particle chain of the cut target length is transported to the main pipeline of the bifurcation tube through the particle chain driving mechanism, the particle chain driving mechanism withdraws the uncut particle chain from the bifurcation The main pipe of the tube, and then the push rod moves forward under the drive of the push rod driving mechanism to enter the main pipe of the bifurcated pipe, and moves forward together with the particle chain of the target length, and the particle chain is moved along the conveying pipe and connected to the conveying pipe. The puncture needle at the front end of the catheter has been pushed into the biological tissue to complete the implantation of the particle chain at one time.

The bifurcated tube can also be a multi-channel bifurcated tube, the number of branches of the multi-channel bifurcated tube is greater than 2, and a plurality of particle chain drive mechanisms that drive particle chains of different models or lengths of spacer rods are provided, and different particle chains drive The particle chain output channel of the mechanism is connected with different branches of the bifurcated tube, so that different types of particle chains cut at the target length are converged into the main pipeline, so that different types of particle chains are set according to the needs of the operation, and implanted into the within biological tissue.

The cutting mechanism is arranged at any one of the particle chain output channel, the bifurcated pipe, and the mixing output channel.

The main pipe of the bifurcated pipe is provided with a one-way check mechanism to prevent reverse flow of particle chains, and the one-way check mechanism is a damping block or an elastic check piece.

The cutting mechanism adopts one or more combinations of guillotine cutting mechanism, scissors cutting mechanism and circular cutting mechanism. The side blades move toward each other at the same time to complete cutting, and the circular cutting mechanism uses at least three blades to move toward the center point simultaneously to realize cutting.

It also includes a cut-off power source, the cut-off power source is connected to the cut-off mechanism through a cut-off transmission mechanism, or the cut-off power source is directly connected to the cut-off mechanism, so that the power is transmitted to the cut-off mechanism to complete the cut-off action, and the cut-off transmission mechanism is a continuous One or more combinations of rod mechanism, screw nut mechanism, gear mechanism, belt transmission mechanism, and cam mechanism, and the cut-off power source is one or more of motor, pneumatic push rod, air motor, hydraulic push rod, hydraulic Various combinations.

The arm mechanism 2026216 of this embodiment works, insert the docking nozzle 2026215 into the hole on the needle plate to complete the docking with the implant channel 2026213, the second particle chain 202621 passes through the particle chain drive mechanism 202623, travel switch C 2026212, travel switch D 202627 , the travel switch E2026210 and the cut-off mechanism 202622 are sent into the docking nozzle 2026215 after being cut off, and the second flexible push rod 202624 moves forward through the flexible push rod driving mechanism 2026211 against the cut-off second particle chain 202621 Enter the human body to complete the particle implantation at one time.

The position of the cutting mechanism 202622 of this embodiment can also be placed at the docking nozzle (that is, after the pipelines converge), so that the second particle chain can be driven to the docking nozzle first, then cut off, and then withdraw from the docking nozzle, and then Then change to the second flexible push rod to push the second particle chain.

The bifurcated pipe can be replaced by a docking motion platform. First connect the output channel of the particles or particle chains to the mixing output channel or delivery duct, and push the particles or particle chains into the mixing output channel or delivery duct, and then output the push rod The channel is docked with the mixing output channel or the delivery catheter, and pushes the particle or particle chain forward until it is implanted in the biological tissue.

Particle chain implantation process:

1: The rotary arm mechanism 2026216 works (through the cooperation of one rotating component and two linear motion components) and inserts the docking nozzle 2026215 into the corresponding connection hole of the implanting channel 2026213 to complete the docking with the implanting channel 2026213.

Two: The second particle chain 202621 (a chain-shaped implant composed of particles and spacer rods) is sent into the sub-pipeline of the delivery pipeline 202625 via the particle chain driving mechanism 202623.

Three: Cut off by the cutting mechanism 202622 after conveying to the specified length (travel switch C 2026212 marks the zero position, travel switch D 202627 judges whether the second particle chain is used up, the cutting knife 202622-2 is connected with the cutting push rod 202622-3, and cuts off When the push rod 202622-3 moves forward, it will drive the cutting knife 202622-2 forward together to complete the cutting. The cutting knife 202622-2 is provided with a guide column 202622-4 along the cutting direction to ensure that the cutting knife will not deviate from the cutting direction. See Figure 26 ).

Four: The particle chain driving mechanism 202623 continues to drive the second particle chain 202621 forward (because the second particle chain 202621 will be squeezed and deformed during the cutting process, in order to ensure that the cut second particle chain 202621 can continue to move forward, at the fracture There is a guide port 202622-5 for guidance, see Figure 26), after the cut second particle chain 202621 enters the front end of the docking nozzle, the second particle chain 202621 is recycled backward into the particle chain winding wheel 202628 (set at the front end of the docking nozzle There is damping to prevent the position of the cut second particle chain from shifting when the second particle chain is recovered).

Five: The second flexible push rod 202624 moves forward through the flexible push rod driving mechanism 2026211 (detected and recorded by the travel switch E2026210) and merges into the main pipe from the sub-pipeline of the conveying pipe 202625 (the main pipe and the docking nozzle are relatively fixed) against the The severed second particle chain 202621 enters the human body together to complete particle implantation at one time, and then the second flexible push rod 202624 is recovered into the flexible push rod winding wheel 202629.

Six: The rotary arm mechanism works again Insert the docking nozzle into the corresponding connection hole of the next implant channel to be implanted and repeat the above implantation until the implantation is completed. In order to save time, step 1 can be performed in the process of step 2 to step 4. Synchronization complete.

Example 10

As shown in Figures 27-29, including the mounting bracket, the first external power source is the driving motor A51 fixed on the mounting bracket, the output shaft of the driving motor A51 is the first power shaft 52, and the main body 50 is set on the On the mounting bracket, the disinfection isolation assembly includes a spacer and a disinfection isolation cover 16, a shaft coupling 53 is rotatably arranged on the isolation unit, a third conductive contact is run through the spacer, and the disinfection isolation cover 16 is made of a plastic film. The first rotating docking shaft 54 is arranged on the main body 50 and protrudes outwards. The mounting bracket includes an upper clamping plate 1422, a lower clamping plate 1423 and a motor mounting plate 1424 fixedly connected up and down in sequence, wherein the upper clamping plate 1422 and the lower clamping plate 1423 are combined together As a spacer, the coupling 53 is installed between the upper splint 1422 and the lower splint 1423 through two upper and lower bearings to achieve axial fixation, and the first power shaft 52 is connected to the first rotating shaft 54 through the coupling 53 to realize power. transfer;

Wherein the conductive contact can be a structure of an electric connector, the main body 50 is equipped with an upper electric connector 1428, and the upper electric connector 1428 is used to connect the signal line of the main body 50, and the middle electric connector 1429 is arranged on the mounting bracket. The connector 1429 is installed between the upper clamping plate 1422 and the lower clamping plate 1423 to achieve axial fixation, and the lower electrical connector 1430 is installed on the motor mounting plate 1424, and the lower electrical connector 1430 is used for connecting an external controller. The upper electrical connector, the middle electrical connector and the lower electrical connector are all spring pin electrical connectors, and the three realize the plug connection of the signal line of the main body 50 by means of spring pin abutment. Specifically, the conductive contact is used for signal transmission between the travel switch in the main body 50 and the rotary encoder;

The top of the disinfection isolation cover 16 is clamped and fixed between the upper clamping plate 1422 and the lower clamping plate 1423, and the upper clamping plate 1422, the lower clamping plate 1423 and the disinfection isolation cover 16 are fixedly connected by fasteners or bonding or welding. In this way, the disinfection isolation assembly wraps the whole first external power source and the first power shaft 52 to ensure that the sterile environment is separated from the sterile environment, so that the main body, the first push rod drive mechanism, the first push rod, and the push rod output Both the channel and the first rotational docking shaft are in a sterile environment.

The above description is the case where the radioactive source implantation device is installed on the base, and of course the radioactive source implantation device can also be installed on the motion platform.

Example 11

As shown in Figure 30, in order to prevent the first power shaft 52, the coupling 53 and the first rotating docking shaft 54 from being damaged or inconveniently docked due to rigid docking, and to eliminate the docking gap and realize high-precision synchronous rotation, further Use the first connection method as follows:

1. The docking of the first rotating docking shaft 54 and the coupling 53: the first transmission part 541 is telescopically arranged on the first rotating docking shaft 54, and the coupling 53 is provided at a position corresponding to the first transmission part 541 The second transmission part 531, the first transmission part 541 and the first rotating joint shaft 54 rotate synchronously in the circumferential direction and axially slide and cooperate, and the first rotating joint shaft 54 is provided with a first lock that fits the shape of the first transmission part 541 The groove 542 is used to realize the circumferential synchronous rotation fit and axial sliding fit of the two, the first transmission part 541 protrudes and is connected with the second transmission part 531 of the shaft coupling 53 in synchronous rotation to realize power docking, and the first rotational docking A first spring 543 is arranged inside the shaft 54, and the first spring 543 gives the first transmission part 541 an elastic force to protrude outward. The first rotating butt joint shaft 54 is also provided with a limiting part, which limits the first transmission part 541. Completely separated from the first rotating butt joint shaft 54, the first transmission part is the transmission shaft, the second transmission part is the transmission hole, and the transmission shaft adopts a straight shaft, a cross shaft, a square shaft, a hexagonal shaft, a polygonal shaft, and a D-shaped shaft. , flat shaft, spline shaft, irregular shaft, the shape of the transmission hole matches the shape of the transmission shaft, of course, the first spring can also be one or a combination of elastic block, shrapnel, coil spring, torsion spring Instead, the first spring 543 pushes the first transmission part 541 and the second transmission part 531 to complete the docking operation. The first spring 543 can make the two transmission parts flexible when they are docked, preventing damage caused by rigid docking, or when there is no If the docking is successful (the angles are inconsistent), you only need to install the spacer first, and then rotate the first rotating docking shaft 54. When the docking position is aligned, the first spring 543 can make the two transmission parts automatically dock. In addition, the first spring 543 can also It plays the role of eliminating the gap and makes the power transmission more accurate (at this time, there is an anti-backlash slope on the transmission shaft and the transmission hole, a wedge-shaped part is provided on the transmission shaft, and a V-groove is provided on the transmission hole. When the transmission holes move towards each other, the gap will be eliminated). The first rotating docking shaft 54 is also provided with a limiter, which is used to limit the position of the first transmission part 541 on the first rotating docking shaft 54, so as to prevent the first transmission part 541 from the first rotating docking Shaft 54 is completely disengaged.

2. The docking of the first power shaft 52 and the coupling 53: the docking structure of the first power shaft 52 and the coupling 53 is similar to the docking structure of the first rotating shaft 54 and the coupling 53, so in this paper It is not specifically introduced in , and the docking structure of the first power shaft 52 and the coupling 53 is not limited to the above-mentioned docking structure of the first rotating docking shaft 54 and the coupling 53, and other structures can also be used, as long as it can realize flexible docking and eliminate Clearance is fine.

Example 12

As shown in Figure 31, in order to prevent the first power shaft 52, the coupling 53 and the first rotating docking shaft 54 from being damaged or inconveniently docked due to rigid docking, and to eliminate the docking gap and realize high-precision synchronous rotation, further Use the second connection method as follows:

1. The docking of the first rotating butt joint shaft 54 and the shaft coupling 53: the second transmission part 531 is telescopically arranged on the shaft coupling 53, and the first rotation butt joint shaft 54 is provided at a position corresponding to the second transmission part 531 The first transmission part 541, the coupling 53 and the second transmission part 531 rotate synchronously in the circumferential direction and slide in the axial direction, and the coupling 53 is provided with a second locking groove 532 that is in shape with the second transmission part 531 In order to realize the circumferential synchronous rotation fit and the axial slip fit of the two, the first transmission part 541 of the first rotating butt joint shaft 54 is connected with the second transmission part 531 of the shaft coupling 53 in synchronous rotation to realize power butt joint and shaft coupling. A second spring 533 is arranged inside the device 53, and the second spring 533 gives the second transmission part 531 an elastic force extending outward. The first transmission part 541 is a transmission shaft, and the second transmission part 531 is close to the first transmission part 541. One side is provided with a transmission hole 5311, and the transmission shaft adopts one of a straight shaft, a cross shaft, a square shaft, a hexagonal shaft, a polygonal shaft, a D-shaped shaft, a flat shaft, a spline shaft, and an irregular shaft. The shape of 5311 matches the shape of the transmission shaft. Of course, the second spring can also be replaced by one or a combination of elastic blocks, shrapnel, coil springs, and torsion springs. The second spring 533 pushes the second transmission part 531 and the first transmission part 541 to complete For docking operation, the second spring 533 can make the two transmission parts connect flexibly when docking to prevent damage caused by rigid docking, or when the docking is not successful (the angle is inconsistent), you only need to install the spacer first, and then turn the first rotation Docking shaft 54, when the docking position is aligned, the second spring 533 can make the two transmission parts realize automatic docking. In addition, the second spring 533 can also play a role in eliminating the gap, making the power transmission more accurate (at this time, the transmission shaft and the transmission hole There is an anti-backlash slope on the top, a wedge-shaped part is provided on the transmission shaft, and a V-groove is provided on the transmission hole, so that the clearance can be eliminated when the transmission shaft and the transmission hole move toward each other). The shaft coupling 53 is also provided with a limiting portion, which is used to limit the position of the second transmission portion 531 on the coupling, so as to prevent the second transmission portion 531 from completely detaching from the coupling 53 .

2. The docking of the first power shaft 52 and the coupling 53: the docking structure of the first power shaft 52 and the coupling 53 is similar to the docking structure of the first rotating shaft 54 and the coupling 53, so in this paper It is not specifically introduced in , and the docking structure of the first power shaft 52 and the coupling 53 is not limited to the above-mentioned docking structure of the first rotating docking shaft 54 and the coupling 53, and other structures can also be used, as long as it can realize flexible docking and eliminate Clearance is fine.

Example 13

When the first rotating docking shaft is directly connected to the first power shaft, in order to prevent damage or inconvenient docking caused by rigid docking between the first rotating docking shaft and the first power shaft, and to eliminate the docking gap and achieve high-precision synchronous rotation, The docking structure of the first rotating docking shaft and the first power shaft is similar to the docking structure of the first rotating docking shaft 54 and the coupling 53 in Embodiment 11, so it will not be specifically introduced in this article, and the first rotating docking shaft The docking structure with the first power shaft is not limited to the above-mentioned docking structure between the first rotating docking shaft 54 and the coupling 53 , other structures can also be used, as long as the flexible docking can be realized and the clearance can be eliminated.

The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and without departing from the spirit or basic principles of the present invention. The present invention can be implemented in other specific forms without any specific features. Accordingly, the embodiments should be regarded in all points of view as exemplary and not restrictive, the scope of the invention being defined by the appended claims rather than the foregoing description, and it is therefore intended that the scope of the invention be defined by the appended claims rather than by the foregoing description. All changes within the meaning and range of equivalents of the elements are embraced in the present invention. Any reference sign in a claim should not be construed as limiting the claim concerned. the

In addition, it should be understood that although this specification is described according to implementation modes, not each implementation mode only includes an independent technical solution, and this description in the specification is only for clarity, and those skilled in the art should take the specification as a whole , the technical solutions in the various embodiments can also be properly combined to form other implementations that can be understood by those skilled in the art.

Claims (10)

A sterile and isolated radioactive source implantation device, characterized in that it includes a main body, a first push rod driving mechanism, a first push rod, a push rod output channel and a first rotating docking shaft, the first push rod driving mechanism is set On the main body, the push rod output channel can be used to guide the first push rod to move back and forth, and the push rod output channel is connected with the first push rod driving mechanism, and the first push rod driving mechanism is directly driven by the first rotating docking shaft connection or indirect transmission connection, the first rotating docking shaft is arranged on the main body and protrudes outwards, by driving the first rotating docking shaft to rotate, the power can be transmitted to the first push rod driving mechanism in the main body, and through The first push rod driving mechanism drives the first push rod to move back and forth along the push rod output channel. A sterile and isolated radioactive source implantation device according to claim 1, characterized in that: a first transmission part is provided on the first rotating docking shaft, and the first transmission part adopts a transmission shaft structure or a transmission hole structure, the transmission shaft structure is one of a straight shaft, a cross shaft, a square shaft, a hexagonal shaft, a polygonal shaft, a D-shaped shaft, a flat shaft, a spline shaft, and an irregular shaft, and the transmission hole structure It is one of a straight hole, a cross-shaped hole, a square hole, a hexagonal hole, a polygonal hole, a D-shaped hole, a flat hole, a spline hole, and an irregular hole; or the first transmission part adopts a friction disc structure and It is driven to rotate by friction torque; or the first transmission part adopts the structure of pin hole or pin groove or pin shaft to realize torque transmission. A sterile and isolated radioactive source implantation device according to claim 2, characterized in that: the first transmission part is axially slidably arranged on the first rotating butt joint shaft, and the first transmission part is connected to the The first rotating joint shaft is synchronously rotated in the circumferential direction and axially slidingly fitted, and a first elastic element is arranged inside the first rotational joint shaft, and the first elastic element pushes the first transmission part to move outward, so that The first elastic element is one or a combination of a spring, an elastic block, a shrapnel, a coil spring, and a torsion spring. There is also a limiting part on the first rotating butt joint shaft, and the limiting part limits the first transmission part from the second A swivel butt on the shaft completely disengages. A sterile and isolated radioactive source implantation device according to claim 2, characterized in that it further comprises a first external power source and a first power shaft, and the first rotating docking shaft is directly connected to the first power shaft or Connected by a coupling, the first external power source can drive the first power shaft to rotate and drive the first rotating docking shaft to rotate; when the first rotating docking shaft is connected to the first power shaft through a coupling, It includes a sterile isolation assembly, the coupling is rotatably arranged on the sterile isolation assembly, the first rotating docking shaft is separated from the first external power source by the disinfection isolation assembly, and the disinfection isolation assembly will The entire first external power source is wrapped with the first power shaft to ensure that the sterile environment is separated from the sterile environment, so that the main body, the first push rod driving mechanism, the first push rod, the push rod output channel and the first rotating docking shaft are in a sterile environment; the first transmission part is arranged on the first rotating butt joint shaft, and the coupling is provided with a second transmission part at a position corresponding to the first transmission part; the first transmission part and The second transmission part adopts one of the structure of the transmission shaft structure and the transmission hole structure, the friction disc structure, the structure of the pin hole or the pin groove and the pin shaft to realize the torque transmission; the transmission shaft structure is an inline shaft, ten One of font shaft, square shaft, hexagonal shaft, polygonal shaft, D-shaped shaft, flat shaft, spline shaft, and irregular shaft. One of hole, polygonal hole, D-shaped hole, flat hole, spline hole, and irregular hole. A sterile and isolated radioactive source implant device according to claim 4, characterized in that it further comprises a second elastic element arranged in the first transmission part and/or the second transmission part, and the second elastic element Push the first transmission part and the second transmission part to move towards each other to complete the docking and eliminate the gap, and the second elastic element is one or a combination of a spring, an elastic block, a shrapnel, a coil spring, and a torsion spring; The disinfection isolation assembly includes a spacer and a disinfection isolation cover, the coupling is rotatably arranged on the spacer, a third conductive contact is provided through the spacer, and the disinfection isolation cover is made of plastic film. become. A sterile and isolated radioactive source implantation device according to claim 1, wherein the push rod output channel is a rigid structure or a bendable flexible structure, and the first push rod is a bendable A flexible push rod, the flexible push rod has an elastic filamentary structure, and the material of the flexible push rod is one or more combinations of nickel-titanium alloy, spring steel, elastomer material, and composite material; the flexible push rod The length is greater than 300mm. A sterile and isolated radioactive source implantation device according to claim 1, wherein a plurality of travel switches are arranged in the output channel of the push rod, and when the first push rod passes the travel switch, a position signal is triggered, and the The main body is provided with a first conductive contact, and the position signal is transmitted to the controller outside the main body through the first conductive contact; the travel switch is a conductive travel switch, and the conductive travel switch includes an elastic contact Or the spring needle, which judges the position of the first push rod or the radioactive source by conducting on and off; or the travel switch is a mechanical switch, a photoelectric switch, or a Hall switch; when the travel switch is a mechanical switch, it can be slid or The trigger piece rotatably arranged outside the mechanical switch contacts the first push rod and triggers the travel switch, one end of the trigger piece is arranged in the output channel of the push rod, and the other end is offset against the mechanical switch; the trigger piece is a trigger lever , trigger piece or trigger needle, or the front end of the trigger piece is provided with a roller. A sterile and isolated radioactive source implantation device according to claim 7, characterized in that: the main body further includes a rotary encoder connected with a measuring wheel; the measuring wheel is in contact with the first push rod, when When the first push rod moves back and forth, it will drive the measuring wheel to rotate, and the displacement of the first push rod can be converted by measuring the angular displacement of the measuring wheel through the rotary encoder; the main body is provided with a second conductive contact, and the rotating The encoder is electrically connected to the controller outside the main body through the second conductive contact; or the rotary encoder is electrically connected to the controller outside the main body through the first conductive contact. A sterile and isolated radioactive source implantation device according to claim 1, characterized in that: a radioactive source supply part is also provided in the main body, and the radioactive source supply part is used to place the radioactive source in front of the first push rod. The radiation source is set so that when the first push rod driving mechanism drives the first push rod to move forward, the radiation source is always pushed and implanted to the target position, and the radiation source feeding part is a cutting mechanism, at this time The first push rod itself is a particle chain or a particle chain sleeve, or the first half of the first push rod is a particle chain or a particle chain sleeve that can be cut off by a cutting mechanism, and the second half of the first push rod is a push rod wire, The particle chain or the particle chain casing of the target length is cut off from the front end of the first push rod by the cutting mechanism, thereby realizing the feeding of the particle chain or the particle chain casing; when the particle chain casing is cut off, the The feeding part of the radioactive source also includes a particle embedding mechanism, which enables the particles or/and spacer rods to be embedded into the particle chain casing from the end face or side of the particle chain casing, thereby forming a complete particle chain; The cutting mechanism is arranged at any place of the output channel of the push rod; Alternatively, the radioactive source feeding part adopts magazine feeding, and the radioactive source feeding part is directly arranged in the output channel of the push rod, and the particles or prefabricated particle chains or particle chain sleeves are installed in the bomb storage slot in the magazine Or in the bullet storage hole, the particles or prefabricated particle chains or particle chain sleeves are placed on the front end of the first push rod for feeding through the clip feeding mechanism installed on the clip; When the particle chain sleeve is set, the radiation source feeding part also includes a particle embedding mechanism, which can make the particles or/and spacer rods embedded in the particle chain sleeve from the end face or side of the particle chain sleeve , thus forming a complete particle chain; Alternatively, the radioactive source feeding part adopts particle chain feeding, and the radioactive source feeding part includes a particle chain driving mechanism, a particle chain output channel, and a cutting mechanism, and continuously outputs particle chains or particle chain sleeves through the particle chain driving mechanism. and cut off the particle chain or the particle chain casing of the target length through the cutting mechanism to realize the feeding of the particle chain or the particle chain casing; the main body is connected to the second external power source through the second rotating docking shaft, so The particle chain drive mechanism is directly or indirectly connected to the second rotating docking shaft, and the second rotating docking shaft transmits the rotational motion from the second external power source to the particle chain driving mechanism in the main body; when the particle When the output of the chain driving mechanism is a particle chain casing, the radioactive source feeding part also includes a particle embedding mechanism, which can enable particles or/and spacer rods to be embedded into the particle chain from one end or side of the particle chain casing In the casing, thereby forming a complete particle chain; the particle chain driving mechanism is connected with the particle chain output channel, and the particle chain output channel is a rigid structure or a flexible and bendable structure, and the cut particle chain can be set at First putter forward. A sterile and isolated radioactive source implantation device according to claim 9, characterized in that: the particle embedding mechanism is an end face embedding mechanism or a side face embedding mechanism, and the end face embedding mechanism can make the particles or/and spacer rods from The second opening on the end face of the particle chain casing is embedded in the particle chain casing, and the end face embedding mechanism is a particle injection mechanism or a particle compaction mechanism; the particle injection mechanism is docked with the second opening on the end face of the particle chain casing, Then the particles or/and spacer rods are injected into the particle chain casing to form a complete particle chain; the particle injection mechanism is the first push rod and the first push rod driving mechanism, or the second push rod and the second push rod Two push rod drive mechanisms, the first push rod and the first push rod drive mechanism or the second push rod and the second push rod drive mechanism are docked with the second opening on the end face of the particle chain sleeve, and then the particles or/and spacers The rod is injected into the particle chain sleeve to form a complete particle chain; the particle compaction mechanism can axially compress the mixture of particles or/and spacer rods and the particle chain sleeve in sequence, so that the particles or/ and spacer rods are embedded in the particle chain casing, and a plurality of particles and the particle chain casing are sequentially fitted and connected to form a complete particle chain; the particle pressing mechanism is the first push rod and the second push rod driving mechanism, Or the second push rod and the second push rod driving mechanism, the particles or/and the spacer rod and the particle chain casing are used by the first push rod and the first push rod driving mechanism or the second push rod and the second push rod driving mechanism The mixture arranged in sequence is compressed axially, so that the particles or/and spacer rods are embedded in the particle chain sleeve, and multiple particles and the particle chain sleeve are sequentially fitted and connected to form a complete particle chain; The side embedding mechanism can enable particles or/and spacer bars to be embedded into the particle chain casing from the side of the particle chain casing, and the side embedding mechanism includes a particle feeding mechanism or a particle side pressing mechanism; the particle feeding The mechanism can continuously provide particles to the particle side pressing mechanism, and the particle feeding mechanism is a particle clip, a first push rod and a first push rod driving mechanism, a second push rod and a second push rod driving mechanism. One or more combinations, the particle side pressing mechanism is arranged in the particle magazine; or the particle side pressing mechanism includes a pressing push rod or a pressing rocker arm, through the linear motion of the pressing push rod or The rotary movement of the pressing rocker arm presses the particles located in front of the pressing push rod or the pressing rocker arm into the particle chain sleeve from the notch on the side of the particle chain sleeve, and the particles are in the particle chain sleeve. The axial position can be set according to the surgical requirements; Or the particle side pressing mechanism is a side pressing inclined surface, when the particle feeding mechanism pushes the particles into the side pressing inclined surface, under the joint action of the side pressing inclined surface and the particle feeding mechanism, The particles are pressed into the slope along the side and enter the particle chain casing from the notch on the side of the particle chain casing.