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WO2023165239A1 - Ensemble de commande de position pour tige de poussée ou chaîne de particules dans un dispositif d'implantation de source radioactive et son procédé d'utilisation - Google Patents

Ensemble de commande de position pour tige de poussée ou chaîne de particules dans un dispositif d'implantation de source radioactive et son procédé d'utilisation Download PDF

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Publication number
WO2023165239A1
WO2023165239A1 PCT/CN2022/142687 CN2022142687W WO2023165239A1 WO 2023165239 A1 WO2023165239 A1 WO 2023165239A1 CN 2022142687 W CN2022142687 W CN 2022142687W WO 2023165239 A1 WO2023165239 A1 WO 2023165239A1
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WO
WIPO (PCT)
Prior art keywords
push rod
particle
particle chain
chain
clip
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2022/142687
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English (en)
Chinese (zh)
Inventor
王学堂
朱鼎臣
付光明
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Hangzhou Dashtech Co Ltd
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Hangzhou Dashtech Co Ltd
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Filing date
Publication date
Application filed by Hangzhou Dashtech Co Ltd filed Critical Hangzhou Dashtech Co Ltd
Publication of WO2023165239A1 publication Critical patent/WO2023165239A1/fr
Anticipated expiration legal-status Critical
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3468—Trocars; Puncturing needles for implanting or removing devices, e.g. prostheses, implants, seeds, wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
    • A61N5/1007—Arrangements or means for the introduction of sources into the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/33—Controlling, regulating or measuring
    • A61M2205/332—Force measuring means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/33—Controlling, regulating or measuring
    • A61M2205/3327—Measuring
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
    • A61N5/1007—Arrangements or means for the introduction of sources into the body
    • A61N2005/1009—Apparatus for loading seeds into magazines or needles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
    • A61N2005/1019—Sources therefor
    • A61N2005/1024—Seeds
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Definitions

  • the invention relates to the field of particle implantation devices, in particular to a push rod or a particle chain position control component of a radiation source implantation device and a method for using the same.
  • 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 the 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 puncture guide template to ensure that the spacing and orientation of the individual needles are consistent with the pre-operative plan.
  • the doctor After confirming that all the puncture needles have reached the target position through CT, the doctor then uses the rigid push rod to push multiple particles out of the particle magazine into the tumor through the channel established by the puncture needle, and then pulls out the puncture needle After a short distance to the next position, and the push rod is retracted to the top of the clip, the particle clip will automatically eject the next particle, and then implant a particle, repeat the above operation to implant the predetermined number of particles into the tumor , to complete the operation.
  • the discrete distribution of multi-particles is easy to cause the displacement of particles due to gravity, extrusion, blood flow, etc., which will lead to insufficient radiation intensity of the particles to the tumor, and even migrate to other normal tissues to form embolism, resulting in severe
  • several particles can be arranged at intervals, and the spacers made of absorbable materials can be used to connect two adjacent particles, and they can be arranged according to the requirements of the preoperative TPS plan to form a particle chain. , placed in the particle implantation channel, and implanted into the human body at one time.
  • ordinary particle implantation devices cannot implant particle chains into the body at one time.
  • 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.
  • a push mechanism must be installed to implant radioactive particles into the tumor. If a rigid pusher is used at this time, the puncture needle will be rigidly connected to the particle implanter, which is easy to scratch patients, and if a flexible push rod is used, it is a technical problem to realize the high-precision position drive of the flexible push rod, and stably push out the particles from the particle magazine and transport the particles over a long distance.
  • the object of the present invention is to provide a position control assembly of a push rod or a particle chain of a radioactive source implantation device and a method of use thereof, by adding a position detection component and a thrust sensing module to measure the position of the push rod or particle chain
  • the actual displacement of the chain and the actual resistance it receives increase the safety while achieving high-precision position control and high-precision implantation of particles or particle chains to solve existing technical defects and technical requirements that cannot be met.
  • the present invention provides the following technical solutions: the position control assembly of the push rod or particle chain of the radioactive source implantation device, including a main body, a position detection component, a friction drive mechanism, and a radioactive source feeding part; the position detection component 1.
  • the friction drive mechanism is all installed on the main body, and the position detection part is used to measure the real displacement of the push rod or the particle chain and its position relative to the main body; the friction drive mechanism can drive the push rod or the particle chain to output along the push rod The channel or particle chain output channel moves back and forth; the radioactive source feeding part is used to place particles or particle chains at the front end of the push rod.
  • the particle chain includes particles and a spacer bar, and two adjacent particles are separated by a spacer bar, and the spacer bar is made of a human body-degradable material; the particles and the spacer bar are separated by an adhesive or an interference fit connection, or a particle chain casing is set on the outside of the particle and the spacer, and the particle chain casing is made of a human body degradable material, and the human body degradable material is collagen, polymer One or more combination of polymer, gelatin, alginate, polyester degradable material.
  • the push rod is a rigid push rod or a flexible push rod.
  • the flexible push rod is a flexible wire with elasticity, which can be bent under the action of an external force and can return to a straight state after the external force is removed.
  • the material of the flexible push rod is nickel titanium One or more combination of alloy, stainless steel, spring steel, elastomer material and composite material; the length of the flexible push rod is greater than 300mm.
  • the radioactive source feeding part is one or more combinations of a particle clip, a particle chain clip, a cutting mechanism, and a particle chain driving mechanism; when the radioactive source feeding part is a particle clip or a particle chain
  • the particle clip or the particle chain clip is directly arranged in the output channel of the push rod, and the particles or the prefabricated particle chain are installed in the bullet storage groove or the bullet storage hole in the clip.
  • the clip feeding mechanism on the clip places the particles or the prefabricated particle chain on the front end of the push rod for feeding; when the radioactive source feeding part is a cutting mechanism, the push rod is the particle chain, or the push rod
  • the first half of the push rod is a particle chain structure
  • the second half of the push rod is a push rod wire
  • the particle chain of the target length is cut off from the front end of the push rod by a cutting mechanism, so as to realize the feeding of the particle chain; or the radioactive source supplies
  • the feeding part includes a particle chain driving mechanism and a cutting mechanism, and the particle chain is continuously output through the particle chain driving mechanism, and the particle chain of the target length is cut off by the cutting mechanism, and then the particle chain is set by the docking movement of the motion platform or the bifurcated pipe structure. In front of the push rod, the feeding of the particle chain is realized.
  • the friction drive mechanism includes a power component and a transmission component; the power component is used to provide the power for the movement of the push rod or the particle chain, and the transmission component is used to convert the power of the power component into the power of the push rod or the particle chain.
  • Friction force through which the push rod or particle chain is driven to move.
  • the power part adopts a motor, and the power part or transmission part is connected with an internal displacement sensor, which can measure the theoretical displacement of the push rod or particle chain driven by the power part.
  • the transmission part includes a friction wheel or a friction belt, and the friction wheel or friction belt drives the push rod or particle chain to move, and the friction wheel or friction belt clamps the push rod or the particle chain through a pressing mechanism, and the pressing mechanism adopts passive pressure.
  • a tightening mechanism or an active pressing mechanism; or the friction wheel or the friction belt itself is an elastic structure, and the clamping of the push rod or the particle chain is realized through self-extrusion.
  • the transmission part includes a clamping device and a reciprocating module
  • the clamping device can clamp or release the push rod or particle chain
  • the reciprocating module can drive the clamping device to reciprocate along a preset track.
  • the clamping device is clamped when the reciprocating module is pushed in the driving direction, and the push rod or particle chain is moved by the friction force of the clamping device on the push rod or the particle chain, and then the clamping device is moved in the direction of the reciprocating module and the driving direction. Release it when moving in the opposite direction to realize reset, and reciprocate the above process to continuously drive the push rod or particle chain to move.
  • the position detection component includes a rotary encoder and/or a travel switch that is directly connected or transmission-connected to the measuring wheel; one side of the measuring wheel is in contact with the push rod or the particle chain, and when the push rod or the particle chain When moving, the measuring wheel will be driven to rotate, and the displacement of the push rod or particle chain can be converted by measuring the angular displacement of the measuring wheel through the rotary encoder; the travel switch is installed on one side of the push rod output channel or the particle chain output channel, The position signal is triggered when the push rod or particle chain passes the travel switch.
  • the travel switch is a conductive travel switch, which judges the position of the push rod or the particle chain by conducting on and off, including elastic contacts or spring pins; or the travel switch is a mechanical switch, a photoelectric switch, or a Hall switch.
  • the travel switch is a mechanical switch
  • the travel switch is triggered by contacting with the push rod through a trigger member slidably or rotatably arranged on the outside of the mechanical switch.
  • One end of the trigger member is set at the output channel of the push rod or the particle chain output In the channel, the other end is opposed to the mechanical switch;
  • the triggering part is a triggering lever, a triggering sheet or a triggering needle, or the triggering part is a roller, thereby reducing frictional resistance.
  • it also includes a thrust sensing module, which can sense the propulsion resistance of the push rod and/or the particle chain, and the thrust sensing module is a current detection sensor of the drive motor on the push rod drive mechanism and/or the particle chain drive mechanism. To calculate the motor torque, so as to convert and sense the propulsion resistance of the push rod and/or particle chain.
  • the thrust sensing module is a force sensor or a torque sensor, and the thrust sensing module is installed on the drive motor on the push rod drive mechanism and/or the particle chain drive mechanism to measure the real-time output torque of the motor, thereby converting and sensing the push Propulsion resistance of rods and/or particle chains.
  • the thrust sensing module is a force sensor or a torque sensor; for the measurement of the propulsion resistance of the push rod, the force sensing module is arranged inside or between the push rod drive mechanism and the push rod output channel, thereby measuring Their internal force or the relative force between any adjacent two, so as to realize the measurement of the propulsion resistance of the push rod; for the measurement of the propulsion resistance of the particle chain, the thrust sensing module is arranged on the particle chain drive mechanism, The inside of the particle chain output channel or between the two, so as to measure their internal force or the relative force between any adjacent two, so as to realize the measurement of the propulsion resistance of the particle chain.
  • it includes one or more of slip detection based on position information, radiation source detection based on position information, blockage detection based on force and position information, and position compensation based on force information; the slip detection based on position information Judging whether the friction drive mechanism is slipping through the position signals of the position detection component and the internal displacement sensor; the radioactive source detection based on the position information judges whether the radioactive source feeding part is feeding normally through the position signal of the position detection component; The blockage detection based on force and position information judges the channel blockage of the push rod or particle chain in the driving process through the position signal of the position detection component and/or the thrust signal of the thrust sensing module; the position compensation based on force information is through The thrust signal of the thrust sensing module estimates the tensile deformation of one or more of all the pipelines through which the push rod or particle chain passes, and performs corresponding motion compensation to realize high-precision particle or particle chain implantation.
  • the specific method of the slip detection based on position information is: if the theoretical motion of the push rod or particle chain is converted from the motion of the power component to the actual motion of the push rod or particle chain collected by the position detection component If the difference exceeds a certain threshold, it indicates that slippage occurs. At this time, according to the slippage position, there are two situations as follows:
  • the thrust sensing module detects that the thrust signal of the push rod is less than a certain threshold value, indicating that the resistance received by the push rod is not large, and no blockage occurs.
  • Push rods or particle chains compact.
  • the specific method of the radioactive source detection based on position information is as follows: after the radioactive source feeding part finishes setting the particles or particle chains, the particles or particle chains should be placed at the target position at this time, and then drive The push rod moves forward, when the travel switch placed before the target position receives the trigger signal, if the actual position of the push rod measured by the rotary encoder directly connected with the measuring wheel or the transmission connection does not reach the target position at this time limit switch, it means that the push rod is pushing out a new particle or particle chain at this time, indicating that the radioactive source feeding part is working normally; on the contrary, if the limit switch is not triggered in advance, it means that the radioactive source feeding part is not working Normal feeding.
  • the actual length of the particle chain can also be judged according to the distance between the actual position of the front end of the push rod and the travel switch when the travel switch is triggered, and can be compared with the required particle chain target length. For comparison, if the length difference is smaller than the threshold value, it means that the radioactive source feeding part is working normally; otherwise, it means that the radioactive source feeding part is not feeding normally at this time.
  • the radiation source feeding part is a particle chain driving mechanism and a cutting mechanism
  • the part of the particle chain that is not cut off can be driven by the particle chain driving mechanism to move, and set by triggering
  • the travel switch on the channel is used to determine the actual cut-off position, so as to calculate the actual cut-off length of the particle chain, and compare it with the required target length of the particle chain. If the length difference is less than the threshold, it means that the radioactive source feeding part is working Normal, otherwise, it means that the radioactive source feeding part is not feeding normally at this time. Specifically, there are the following two situations.
  • the limit switch is in front of the cut-off position.
  • the particle chain driving mechanism drives the uncut particle chain to push the particle chain separated from the front until all the separated particle chains exceed the limit switch.
  • the limit switch should be at In the triggered state, the particle chain drive mechanism drives the uncut particle chain to move backwards, and keeps the separated particle chain in front of the travel switch until the travel switch is in the non-triggering state, and the switch between triggering and non-triggering is performed by the travel switch Determine the actual cutting position of the particle chain at all times, so as to calculate the actual length of the particle chain just cut off;
  • the limit switch is behind the cut-off position.
  • the limit switch should be in the triggered state, and then the particle chain drive mechanism drives the uncut particle chain to move backward, and keeps the cut-off particle chain still in the stroke In front of the switch, until the limit switch is in the non-triggering state, the actual cut-off position of the particle chain is determined by the switching moment of the limit switch triggering and non-triggering, so as to calculate the actual cutting length of the particle chain.
  • the specific method of blockage detection based on force and position information is as follows: when the thrust sensing module detects that the thrust signal of the push rod or particle chain exceeds a certain threshold, it indicates that blockage occurs. To the actual block position of the push rod or particle chain, there are two situations as follows:
  • the blockage occurs at the particle clip or particle chain clip. If the particle clip or particle chain clip is designed to be closed when there is no particle or particle chain, it means that there is no particle or particle chain clip in the particle clip or particle chain clip. A blockage in the particle chain, or particle clip, or particle chain clip; if the particle clip or particle chain clip is designed to open without particles or particle chains, it means that there is a blockage in the particle clip or particle chain clip. blocked phenomenon.
  • the specific method of position compensation based on force information is: before the particle or particle chain implantation device is used, the output channel of the push rod and the particle chain output channel under different tension conditions are measured by an external measuring device.
  • Corresponding relationship between the stretching deformation of one or more of all pipelines that the push rod or particle chain passes and the tension it receives, and establishing a mathematical model based on the corresponding relationship, and storing the mathematical model in the controller during use, estimate the tensile deformation amount based on the mathematical model and the real-time thrust signal detected by the thrust sensing module, and increase the tensile deformation amount in the target position of the friction drive mechanism, so that the push rod or The particle chain can more accurately reach the target position in the output channel of the pusher, the output channel of the particle chain, and all the pipelines passed by the pusher or the particle chain, and the mathematical model is a mathematical function or a mapping relationship.
  • the present invention has the following beneficial effects:
  • the present invention uses a flexible and elastic particle push rod to push the particles or particle chains, which can realize the stable driving of the friction wheel while ensuring safety, and is conducive to the transmission of the driving force from the rear end of the particle push rod To the front end, so as to realize long-distance particle or particle chain push.
  • the present invention uses a friction wheel/friction belt to drive, and the angular displacement of the measuring wheel can be converted by measuring the angular displacement of the measuring wheel through a rotary encoder directly connected or transmission-connected to the measuring wheel, and the displacement of the push rod or the particle chain can be converted to realize the large size of the flexible push rod. Thrust drive and high-precision position control, so as to realize the function of implanting particles or particle chains.
  • the present invention can judge whether the friction drive mechanism is slipping through the position signal of the position detection part and the internal displacement sensor; can judge whether the radioactive source feeding part is normally fed by the position signal of the position detection part; can pass the position signal of the position detection part And/or the thrust signal of the thrust sensing module judges the channel blockage situation of push rod or particle chain in driving process; Can pass through the thrust signal of thrust sensing module to the stretching of one or more in all pipelines that push rod or particle chain pass through The amount of deformation is estimated, and the corresponding motion compensation is performed to achieve high-precision particle or particle chain implantation.
  • the present invention drives the flexible push rod or particle chain to move inward due to the frictional contact between the friction assembly and the surface of the flexible push rod or the particle chain. Adjust to limit the maximum driving force acting on the flexible push rod or particle chain, so that it is enough to drive the particle or particle chain to move inward along the preset path, but when the channel blockage causes an instantaneous increase in resistance, let the friction assembly and the surface of the flexible push rod or particle chain to generate sliding movement in time to avoid damage to the patient's body.
  • FIG. 1 is a schematic diagram of the overall structure of the push rod or the position control assembly of the particle chain of the radioactive source implantation device of the present invention
  • Fig. 2 is one of the structural schematic diagrams of the push rod or the position control assembly of the particle chain of the radioactive source implantation device of the present invention
  • Fig. 3 is the second structural schematic diagram of the position control assembly of the push rod or the particle chain of the radioactive source implantation device of the present invention
  • Fig. 4 is the enlarged schematic diagram of position C in Fig. 3 of the present invention.
  • FIG. 5 is a schematic diagram of the overall sectional structure of the push rod or the position control assembly of the particle chain of the radioactive source implantation device of the present invention
  • Fig. 6 is the enlarged schematic view of the particle clip or the particle chain clip in position B in Fig. 5 of the present invention.
  • Fig. 7 is a schematic diagram of the state of particles in the particle clip or the particle chain clip in the present invention.
  • Fig. 8 is a schematic diagram of the state of no particle passage in the particle clip or the particle chain clip in the present invention.
  • Fig. 9 is a schematic diagram of a closed circuit state without particles in a particle clip or a particle chain clip in the present invention.
  • Fig. 10 is a schematic structural view of the passive pressing mechanism in the present invention.
  • Fig. 11 is another structural schematic diagram of the passive pressing mechanism in the present invention.
  • Fig. 12 is a schematic diagram of the general assembly of the shrapnel type travel switch in the present invention.
  • Fig. 13 is an explosion schematic diagram of a shrapnel type travel switch in the present invention.
  • Fig. 14 is a schematic diagram of the cut-off state of the shrapnel travel switch in the present invention.
  • Fig. 15 is a schematic diagram of the triggering and cutting state of the shrapnel travel switch in the present invention.
  • Fig. 16 is a schematic structural diagram of Embodiment 3 of the present invention.
  • Fig. 17 is the front view of Fig. 16;
  • Fig. 18 is an enlarged schematic diagram of place I in Fig. 13;
  • Fig. 19 is a schematic structural diagram of Embodiment 3 of the present invention.
  • Fig. 20 is a schematic structural diagram of Embodiment 4 of the present invention.
  • Fig. 21 is a schematic cross-sectional view of Embodiment 4 of the present invention.
  • FIG. 22 is a schematic structural view of a flexible push rod (the front end of the flexible push rod is a particle chain) according to Embodiment 4 of the present invention.
  • Fig. 23 is a schematic cutaway view of the front end of the flexible push rod according to Embodiment 4 of the present invention.
  • Fig. 24 is a schematic diagram of the position detection component of the flexible push rod in the fourth embodiment of the present invention in an untriggered state
  • Fig. 25 is a schematic diagram of the position detection component of the flexible push rod in the fourth embodiment of the present invention in a triggered state
  • Fig. 26 is a schematic structural diagram of Embodiment 5 of the present invention.
  • Fig. 27 is an internal sectional view of the particle chain magazine according to Embodiment 5 of the present invention.
  • Fig. 28 is a schematic structural view of the particle chain magazine according to Embodiment 5 of the present invention.
  • Fig. 29 is a schematic structural diagram of Embodiment 6 of the present invention.
  • Fig. 30 is a top view of Embodiment 6 of the present invention.
  • Fig. 31 is a schematic diagram of the cutting mechanism, the particle chain driving mechanism and the friction driving mechanism of the sixth embodiment of the present invention.
  • Fig. 32 is a schematic structural view of the cutting mechanism of the sixth embodiment of the present invention.
  • Fig. 33 is a schematic diagram of the structure of the particle chain released in Example 6 of the present invention.
  • Fig. 34 is a schematic structural diagram of Embodiment 7 of the present invention.
  • Fig. 35 is a top view of Embodiment 7 of the present invention.
  • Fig. 36 is a schematic structural view of the cutting mechanism of Embodiment 7 of the present invention.
  • Fig. 37 is a schematic diagram of the docking structure of Embodiment 7 of the present invention.
  • Embodiment 1 proposes a position control assembly of a push rod or a particle chain of a radioactive source implantation device, including a main body 50, a position detection component 60, a flexible push rod 61, and a push rod output channel Or the particle chain output channel, the push rod output channel 13 and the friction drive mechanism; the position detection component 60, the push rod output channel or the particle chain output channel, and the friction drive mechanism are all installed on the main body 50, and the push rod output channel or The particle chain output channel 70 guides the flexible push rod 61 or the particle chain, and the position detection component 60 is used to measure the position of the flexible push rod 61 or the particle chain on the push rod output channel or the particle chain output channel or/and relative to the main body 50 to measure the real stroke of the flexible push rod or the particle chain; the friction drive mechanism can drive the flexible push rod 61 or the particle chain to move back and forth along the push rod output channel 13.
  • the main body 50 is provided with one or more position detection components 60, and the position detection components 60 include one or more travel switches. When the flexible push rod 61 or the particle chain passes through the travel switches, the corresponding position signal can be fed back. .
  • the main body 50 is provided with a storage mechanism.
  • the storage mechanism in this embodiment includes a storage tray 59, which can be used to accommodate the flexible push rod 61 or the particle chain.
  • the storage tray is provided with a rotating elastic element, through which the elasticity of the rotating elastic element Release to drive the storage wheel to rotate, so that the flexible push rod or particle chain is wound on the outer surface of the storage wheel or outside the outer surface of the storage wheel, and the rotating elastic element is a coil spring, torsion spring, spring, elastic piece, elastic block one or more combinations.
  • the particle chain includes a particle and a spacer bar, and two adjacent particles are separated by a spacer bar, and the spacer bar is made of a human body degradable material; the particle and the spacer bar are connected by glue, or
  • the particles and the spacer rods are sheathed with particle chain casings, and the particle chain casings are made of human degradable materials, and the human body degradable materials are collagen, high molecular polymers, gelatin, alginic acid One or more combinations of salt and polyester degradable materials.
  • the friction drive mechanism includes a power part 68, a drive part 49, and a transmission part 69; the power part 68 is used to provide the power for the flexible push rod 61 or the particle chain to move, and the drive part 49 is used to transmit the power of the power part to the transmission part 69, The transmission part 69 is used to transmit the power output by the power part 68 to the flexible push rod 61 or the particle chain.
  • the power part 68 adopts the motor 51, or adopts the combination form of the motor 51 and the reducer 52, and the reducer 52 is fixed on the main body 50 through the first fixing plate 56; the drive part 49 adopts the form of a bevel gear assembly 53 and a spur gear 54 to realize power transmission .
  • the transmission part 69 drives the flexible push rod or the particle chain to move through the friction wheel or the friction belt, and the friction wheel or the friction belt clamps the flexible push rod or the particle chain through the pressing mechanism, and the pressing mechanism adopts a passive pressing mechanism or an active pressing mechanism ; Or the friction wheel or the friction belt itself is an elastic structure, which realizes the clamping of the flexible push rod or the particle chain through self-extrusion.
  • the friction wheel or the friction belt is provided with a horizontal anti-skid groove or an anti-skid pattern, the width of the horizontal anti-skid groove is 0.1-1 mm, and the angle between the direction of the horizontal anti-skid groove and the direction of the flexible push rod 61 or the particle chain is greater than 60 degrees; or the outer circle of the friction wheel
  • the surface is provided with an anti-skid layer, and the anti-skid layer is made of rubber, latex, silica gel, and polyurethane; the friction wheel or the friction belt is provided with an annular groove, and the push rod or particle chain is limited in the annular groove.
  • the passive compression mechanism includes a compression guide mechanism and a compression elastic element.
  • the compression guide mechanism is used to guide the friction assembly to move along a fixed track. Specifically, one or a combination of chute, hinge or slide rail can be used.
  • the tight elastic element is used to apply a pressing force to the friction assembly to make it press the flexible push rod. Specifically, one or a combination of elastic blocks, springs, torsion springs, coil springs or torsion bars can be used.
  • the passive pressing mechanism also A pressure adjusting device is included for adjusting the pressing force by adjusting the pre-tightening amount of the pressing elastic element, and the pressure adjusting device adopts an adjusting screw or an adjusting washer.
  • the active pressing mechanism includes a pressing guide mechanism and a pressing driving element.
  • the pressing guiding mechanism is used to guide the friction assembly to move along a fixed track. Specifically, one or a combination of chute, hinge or slide rail can be used.
  • the pressing drive The element is used to actively apply a pressing force to the friction assembly to make it press against the flexible push rod, specifically, one or a combination of an electromagnet, a motor, an electric push rod, a pneumatic push rod, and a hydraulic push rod can be used.
  • the radioactive source feeding part is a particle clip or a particle chain clip 75
  • the particle clip or particle chain clip 75 is used for disabling radioactive particles or particle chain clips.
  • the chain is continuously delivered to the front end of the flexible push rod.
  • the particle clip or the particle chain clip 75 includes a bin body 82, a particle propelling device, and a particle anti-falling mechanism, and 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, a spring 83, and a guide
  • the block 84 is slidably arranged in the guide groove 89, the spring 83 is pressed on the guide block 84, and the pressing piece 85 is arranged in the housing body below the guide block, and contacts with the particles 86 or particle chains.
  • a particle channel 48 is provided between the bin body 82 and the particle anti-dropping mechanism 87, the particle anti-dropping mechanism 87 is provided with an elastic plug 88, and the pressing piece 85 continuously pushes the particles or particle chains into the particle delivery channel.
  • the particle clip or particle chain clip 75 is directly arranged at the front end of the friction drive mechanism, and the particle delivery channel in the particle clip or the particle chain clip communicates with the flexible push rod delivery channel of the friction drive mechanism, and the flexible push rod can transport the particles The most terminal particle or particle chain in the bullet clip or the particle chain clip 75 pushes out and moves.
  • the passive pressing mechanism 6000 in this embodiment mainly drives the driving shaft 6002 to rotate through the driving device 6001.
  • the driving shaft 6002 is equipped with a friction wheel or a measuring wheel
  • the driven shaft 6003 is equipped with a friction wheel or measuring wheel.
  • a layer of elastic body is arranged on the outer surface of the friction wheel or the measuring wheel, and the flexible push rod 61 or the particle chain passes through the elastic body area on the two sets of friction or two sets of measuring wheels, the driving shaft 6002 and the driven shaft 6003
  • a clamping element is installed between them, and the clamping element is composed of two sets of jaws 6005 hingedly connected by a hinge shaft 6004, which is similar to the structure of pliers, and the front end of each set of jaws is fitted on the corresponding shaft.
  • the middle part of the jaws is hinged, and the rear parts of the two groups of jaws are connected by a spring 6006.
  • the flexible push rod 61 or the particle chain can be clamped between the elastic bodies of the two sets of friction wheels or between the elastic bodies of the two sets of measuring wheels. Under the joint action of the clamping element, two sets of friction wheels or two sets of measuring wheels will rotate relative to each other. Under the action of friction, the flexible push rod 61 or the particle chain can be pushed out from between the two sets of friction wheels or two sets of measuring wheels. .
  • the outer circumference of the friction wheel or the measuring wheel is respectively provided with meshable gears 6007 , and the gears are also made of elastic body material.
  • the transmission part 69 adopts a friction assembly
  • the friction assembly includes a second friction assembly 63, a first friction assembly 64, an end of the first friction assembly 64 and/or the second friction assembly 63 and an output shaft of the power part 68 Direct connection or transmission connection; realize synchronous rotation through a synchronous transmission mechanism, the synchronous transmission mechanism is belt transmission, chain transmission, gear transmission; there is at least one second friction assembly 63, and at least one first friction assembly 64; flexible push rod 61 or The particle chain passes between the second friction assembly 63 and the first friction assembly 64, the flexible push rod 61 or the particle chain is connected to a side of the second friction assembly 63, and the flexible push rod 61 or the particle chain is connected to the first friction assembly 64 is connected in contact with one side, so that the first friction assembly 64 can drive the flexible push rod 61 or the particle chain to move forward or backward along the push rod output channel or the particle chain output channel during rotation.
  • the push rod output channel or particle chain output channel includes a guide seat 62 and a connecting pipe 71.
  • the guide seat 62 is installed on the main body 50, and the push rod output channel or particle chain output channel is provided with The position detection component 60; wherein, the connecting pipe 71 used for transporting particles or particle chains is a bendable and flexible pipe, and the flexible push rod 61 is a bendable and flexible particle push rod.
  • the flexible push rod is a flexible wire with elasticity, which can be bent under the action of an external force, and can return to a straight state after the external force is removed.
  • the material of the flexible push rod is nickel-titanium alloy, spring steel, elastomer material, and composite material. One or more combinations; the length of the flexible push rod is greater than 300mm.
  • the second friction assembly 63 is directly connected to the rotary encoder 55 , or drives the rotary encoder 55 to rotate through the transmission component 69 .
  • the rotary encoder 55 is installed on the main body 50 through the second fixing plate 57 .
  • the position detection component 60 includes an angle sensor, and the measuring wheel is connected to the angle sensor.
  • One or more position detection components 60 are provided on the main body 50, and the position detection components 60 include rotary encoders and/or travel switches that are directly connected or transmission-connected to the measuring wheel;
  • the rod or particle chain is in contact, and when the push rod or particle chain moves back and forth, it will drive the measuring wheel to rotate, and the displacement of the push rod or particle chain can be converted by measuring the angular displacement of the measuring wheel through the rotary encoder.
  • the limit switch is installed on one side of the output channel of the push rod or the output channel of the particle chain, and the position signal is triggered when the push rod or the particle chain passes the limit switch.
  • the travel switch is a conductive travel switch, which uses conductive on-off to determine the position of the flexible push rod or particle chain, including elastic contacts or spring pins; or the travel switch is a mechanical switch, a photoelectric switch, or a Hall switch.
  • the travel switch When the travel switch is a mechanical switch, the travel switch is triggered by contacting with the push rod through a trigger member slidably or rotatably arranged on the outside of the mechanical switch.
  • One end of the trigger member is set at the output channel of the push rod or the particle chain output In the channel, the other end is opposed to the mechanical switch;
  • the triggering part is a triggering lever, a triggering sheet or a triggering needle, or the triggering part is a roller, thereby reducing frictional resistance.
  • a measuring wheel is installed outside the rotary encoder, and one side of the measuring wheel is in contact with the flexible push rod 61 or the particle chain.
  • the flexible push rod 61 or the particle chain moves back and forth, the flexible push rod 61 or the particle chain drives the measuring wheel to rotate , the angular displacement of the measuring wheel is measured by the rotary encoder to convert the displacement of the push rod or the particle chain.
  • the motor 51 drives the active friction wheel to rotate through the bevel gear set 53, the active friction wheel drives the flexible push rod 61 or the particle chain to move, the driven friction wheel follows the rotation, and drives the rotary encoder 55 through the spur gear 54, the rotary encoder 55 can rotate according to Calculate the displacement length of the flexible push rod 61 or the particle chain, the push rod output channel or the particle chain output channel 70 can guide the flexible push rod 61 or the particle chain, and adjust the position and direction.
  • the flexible push rod 61 or When the particle chain passes through the limit switch, the contact on the flexible push rod 61 or the particle chain will contact the contact in the limit switch to generate a signal, and cooperate with the displacement length measured by the rotary encoder, that is, the flexible push rod 61 or particle chain can be measured.
  • the current physical position of the chain is not limited to rotate.
  • the travel switch contacts and triggers the flexible push rod or the particle chain through the trigger set outside it, one end of the trigger is set in the output channel of the push rod or the output channel of the push rod or the output channel of the particle chain, and the other end is connected with the travel switch
  • the trigger member is rotatably or slidably arranged on the side of the travel switch, and the trigger member is a trigger lever, a trigger piece or a trigger pin.
  • the mounting base B 2132202 is fixed on the mounting base A 2132201
  • the micro switch 2132203 is fixed on the mounting base A 2132201
  • the sheet probe 2132205 is installed on the mounting base B 2132202 and the mounting base A 2132201
  • one end of the spring 2132204 is tight against the sheet probe 2132205, and the other end is tight against the micro switch 2132203.
  • the limit clamp is between the mount B 2132202 and the mount A 2132201.
  • the flexible push rod 61 or the particle chain moves forward to the position of the sheet probe 2132205 in the conveying channel 2132206, the flexible push rod 61 or the head of the particle chain pushes the sheet probe along the inclined surface of the sheet probe 2132205 head by its own thrust. 2132205 pushes out downward until the flexible push rod 61 or the head of the particle chain passes through the conveying channel 2132206 smoothly, and the downward pressure stops.
  • the elastic contact 2132207 of the micro switch is pushed down together by the sheet measuring head 2132205. After pressing down to a certain degree, it can be detected that the micro switch 2132203 is triggered. This shows that the flexible push rod 61 or the particle chain has advanced to this position.
  • the spring 2132204 pushes the sheet measuring head 2132205 to reset upwards, and the elastic contact 2132207 of the micro switch immediately rebounds and resets.
  • the micro switch 2132203 will detect the disconnect trigger. This shows that the flexible push rod 61 or the particle chain has retreated to this position.
  • the chute can also be replaced by a hinge, and now the sheet measuring head 2132205 will rotate around the hinge, and the sheet measuring head 2132205 can be replaced by a stylus or a measuring lever.
  • Embodiment 2 proposes a method for using a flexible push rod or a particle chain position control component, including slip detection based on position information, radiation source detection based on position information, force and position information based One or more of blockage detection and position compensation based on force information; the slip detection based on position information judges whether the friction drive mechanism is slipping through the position signals of the position detection component and the internal displacement sensor; the position information based
  • the radioactive source detection judges whether the radioactive source feeding part is feeding normally through the position signal of the position detection part; the blockage detection based on force and position information uses the position signal of the position detection part and/or the thrust sensing module
  • the thrust signal judges the channel blockage of the push rod or the particle chain during the driving process; the position compensation based on the force information passes through the thrust signal of the thrust sensing module to one or more of all the pipelines that the push rod or the particle chain passes through.
  • the specific method of the slip detection based on position information is: if the difference between the theoretical motion of the push rod or particle chain converted from the motion of the power component and the actual motion of the push rod or particle chain collected by the position detection component exceeds a certain Threshold value, indicating that slippage occurs. At this time, according to the position of the slippage, there are two situations as follows:
  • the thrust sensing module detects that the thrust signal of the push rod is less than a certain threshold value, indicating that the resistance received by the push rod is not large, and no blockage occurs.
  • the specific method of the radioactive source detection based on position information is: after the radioactive source feeding part executes the setting action of particles or particle chains, the particles or particle chains should be placed in the target position, and then drive the push rod to move forward, when the limit switch placed before the target position receives the trigger signal, if the actual push rod measured by the rotary encoder directly connected with the measuring wheel or connected with the transmission If the position does not reach the limit switch, it means that the push rod is pushing out a new particle or particle chain at this time, indicating that the feeding part of the radioactive source is working normally. On the contrary, if the limit switch is not triggered in advance, it means that the radioactive source is now The feeding part is not feeding normally.
  • the actual length of the particle chain can also be judged according to the distance between the actual position of the front end of the push rod and the travel switch when the travel switch is triggered, and can be compared with the required particle chain target length. For comparison, if the length difference is smaller than the threshold value, it means that the radioactive source feeding part is working normally; otherwise, it means that the radioactive source feeding part is not feeding normally at this time.
  • the radiation source feeding part is a particle chain driving mechanism and a cutting mechanism
  • the part of the particle chain that is not cut off can be driven by the particle chain driving mechanism to move, and set by triggering
  • the travel switch on the channel is used to determine the actual cut-off position, so as to calculate the actual cut-off length of the particle chain, and compare it with the required target length of the particle chain. If the length difference is less than the threshold, it means that the radioactive source feeding part is working Normal, otherwise, it means that the radioactive source feeding part is not feeding normally at this time.
  • the limit switch is in front of the cut-off position.
  • the particle chain driving mechanism drives the uncut particle chain to push the particle chain separated from the front until all the separated particle chains exceed the limit switch.
  • the limit switch should be at In the triggered state, the particle chain drive mechanism drives the uncut particle chain to move backwards, and keeps the separated particle chain in front of the travel switch until the travel switch is in the non-triggering state, and the switch between triggering and non-triggering is performed by the travel switch Determine the actual cutting position of the particle chain at all times, so as to calculate the actual length of the particle chain just cut off.
  • the limit switch is behind the cut-off position.
  • the limit switch When the cut-off mechanism is cut off, the limit switch should be in the triggered state, and then the particle chain drive mechanism drives the uncut particle chain to move backward, and keeps the cut-off particle chain still in the stroke In front of the switch, until the limit switch is in the non-triggering state, the actual cut-off position of the particle chain is determined by the switching moment of the limit switch triggering and non-triggering, so as to calculate the actual cutting length of the particle chain.
  • the specific method of the blockage detection based on force and position information is: when the thrust sensing module detects that the thrust signal of the push rod or the particle chain exceeds a certain threshold, it indicates that a blockage occurs, and at this time, the push rod is detected according to the position detection component. Or the actual blockage position of the particle chain, there are the following two situations:
  • the blockage occurs in the channel through which the push rod or particle chain passes or the connecting pipe or inside the puncture needle, indicating that blockage occurs at the corresponding position at this time. 2) The blockage occurs at the particle clip or particle chain clip. If the particle clip or particle chain clip is designed to be closed when there is no particle or particle chain, it means that there is no particle or particle chain clip in the particle clip or particle chain clip. A blockage in the particle chain, or particle clip, or particle chain clip; if the particle clip or particle chain clip is designed to open without particles or particle chains, it means that there is a blockage in the particle clip or particle chain clip. blocked phenomenon.
  • the specific method of position compensation based on force information is: before the use of the particle or particle chain implantation device, the external measuring device measures the difference between the output channel of the push rod, the output channel of the particle chain and the The corresponding relationship between the tensile deformation of one or more of the pipes that the push rod or the particle chain passes and the tension it receives, and establish a mathematical model based on the corresponding relationship, store the mathematical model in the controller, and use it
  • the tensile deformation is estimated based on the mathematical model and the real-time thrust signal detected by the thrust sensing module, and the tensile deformation is increased in the target position of the friction drive mechanism, so that the push rod or particle chain can To more accurately reach the target position in the pusher output channel, the particle chain output channel, and all pipelines that the pusher or particle chain passes through, the mathematical model is a mathematical function or a mapping relationship.
  • Embodiment three its difference with embodiment one is: the front end of the friction drive mechanism is provided with a flexible delivery conduit, and after the flexible delivery conduit extends for a certain distance, it is connected with a particle clip or a particle chain clip 75. At this time, the particle clip or the particle chain Relative movement can be carried out in a small range between the clip 75 and the friction drive mechanism, and the flexible push rod will move to the particle clip or the particle chain clip 75 through the flexible delivery conduit, and the particle clip or the particle chain clip 75 The endmost particle or particle chain in the push out movement.
  • a bracket 132208 will be set at the bottom of the implant mechanism 132204.
  • the bracket 132208 will avoid the human body and be fixed on both sides of the bed board 132207.
  • the two ends of the delivery catheter 132203 are respectively fixed in the friction drive mechanism 132202 and the implantation mechanism 132204, the docking plate 132213 is set on the implantation mechanism 132204, the first flexible delivery catheter 132205 is set on the docking plate 132213, the first flexible delivery catheter 132205
  • the other end of the needle is set in the needle pulling mechanism 132206, the particle 86 or particle chain will be set in the particle clip or particle chain clip 75 in advance and the particle clip or particle chain clip is set on the implanting mechanism 132204, and the On the entry mechanism 132204 and at the rear side of the particle clip or the particle chain clip 75, a travel switch A 132210 will be provided, and a travel switch B 132214 will be provided on the front side.
  • the friction drive mechanism 132202 on the robot 132201 will work to push the flexible push rod 61 or particle chain out, and the flexible push rod 61 or particle chain will be pushed out to the implantation mechanism through the second flexible delivery catheter 132203 132204, after the flexible push rod 61 or the particle chain touches and passes the limit switch A132210, its current position will be detected and continue to extend forward to the particle clip or particle chain clip 75, the particle clip or particle chain bullet
  • the particles 86 or particle chains in the clip are pushed out by the flexible push rod 61, and are transported to the needle pulling mechanism 132206 through the first flexible delivery catheter 132205 connected to the docking plate 132213 for implantation of particles or particle chains.
  • the robot 132201 controls the friction drive mechanism 132202 to pull out the flexible push rod 61 or the particle chain.
  • the limit switch acts as the zero position of the machine and can clear the accumulated error.
  • the robot 132201 receives the feedback and stops the work of the friction drive mechanism 132202, and stops the flexible push rod 61 or the particle chain at the rear side of the travel switch A 132210.
  • the flexible push rod 61 or the particle chain It can reach the position of the particle clip or the particle chain clip 75 faster and push out the particle 86 to be implanted in the human body.
  • the reason why the implant mechanism 132204 is close to the patient is to shorten the length of the pipeline in essence, thereby reducing the number of flexible push rods or The time for the particle chain to move back and forth in the pipeline, thereby improving the efficiency of the operation.
  • the friction drive mechanism 132202 can also be set in the implant mechanism 132204, at this time, the entire particle or particle chain implant system is placed on the patient's body surface.
  • the weight is relatively large, and at the same time, the operation plan requires a cart to be set, and the cart cannot be omitted, so it is still preferable to arrange the friction drive mechanism on the cart.
  • the specific method is to detect the stroke of the push rod or particle chain through the measuring wheel combined with the encoder (not shown in the figure), when the flexible push rod 61 or When particle 86 or particle chain is pushed in front of the particle chain, it is equivalent to a section of conductor lengthening, and contacts with travel switch B 132214 in advance, and if no particle 86 or particle chain is pushed out, then it cannot contact travel switch B 132214 in advance.
  • This embodiment provides an automatic particle or particle chain implantation device with a push rod output channel, which separates the particle or particle chain implant device from the puncture needle, and realizes docking through the push rod output channel, because the push rod output channel can produce certain Deformation, so it can adapt to some small range of puncture needle drift, to ensure the safety of patients.
  • a push rod output channel which separates the particle or particle chain implant device from the puncture needle, and realizes docking through the push rod output channel, because the push rod output channel can produce certain Deformation, so it can adapt to some small range of puncture needle drift, to ensure the safety of patients.
  • This embodiment implants particles or particle chains through the push rod output channel and uses a flexible push rod to push out the particles or particle chains, which increases safety and also achieves high-precision position control and high-precision particle or particle chain implantation. Solve existing technical defects and technical requirements that cannot be met.
  • a flexible push rod with certain elasticity and flexibility is used to push the particle or particle chain, which can realize the stable driving of the friction wheel while ensuring safety, and is conducive to the transmission of the driving force from the rear end of the particle push rod or particle chain to the The front end enables long-distance particle or particle chain push.
  • the flexible push rod is a flexible filament with elasticity, which can be bent under the action of external force, and can return to a straight state after removing the external force.
  • the actual position of the flexible push rod or particle chain in the push rod output channel needs high-precision real-time measurement.
  • the particle clip or particle chain clip There are some elements in the particle clip or particle chain clip that will cause frictional obstacles to the flexible push rod or particle chain, so the thrust of the flexible push rod or particle chain cannot be too small, and compared to the rigid push rod, the flexible push rod Or the high-thrust drive and high-precision position control of particle chains are much more difficult.
  • blood coagulation in the puncture needle may also cause needle sheath blockage, and there may be no particles in the particle clip or particle chain clip.
  • particle or particle chain implantation The device should have the ability to sense and judge, so that these conditions can be fed back to the doctor.
  • the position control assembly of the push rod or particle chain of the radioactive source implantation device including the main body, the delivery catheter, the push rod output channel, the push rod, the push rod driving mechanism and the radioactive source feeding part, in the main body
  • the push rod driving mechanism is connected with the push rod output channel.
  • the push rod output channel is connected with the delivery conduit.
  • the push rod drive mechanism can drive the push rod to move forward and backward along the delivery conduit.
  • the particles or particle chains with the radioactive source feeding part set at the front end of the push rod are implanted at the preset position along the delivery catheter. structure or flexible bendable structure.
  • the particle chain includes particles and spacer rods, two adjacent particles are separated by spacer rods, and the spacer rods are made of human-degradable materials; the particles and spacer rods are connected by glue or interference fit, or The particles and the spacer rods are sheathed with particle chain casings, and the particle chain casings are made of human degradable materials, and the human body degradable materials are collagen, high molecular polymers, gelatin, alginic acid One or more combinations of salt and polyester degradable materials.
  • the radioactive source feeding part includes a cutting mechanism.
  • the push rod itself is a particle chain, or the first half of the push rod is a particle chain structure that can be cut off by the cutting mechanism, and the second half of the push rod is a push rod wire.
  • the particle chain of the target length is cut off from the front end of the push rod, so as to realize the feeding of the particle chain; the cutting mechanism is set at any place of the output channel of the push rod.
  • the quantity of described push rod driving mechanism is greater than or equal to 2, and the quantity of push rod output channel is also greater than or equal to 2 at this moment, and the model and the length of the spacer bar of the push rod (being particle chain) driven by different push rod driving mechanisms are different, thereby According to the needs of the operation, particle chains of different types and lengths of the spacer rods are set in front of the push rod, and through the docking movement of the motion platform or the bifurcated tube, multiple different push rod output channels and the conduction of the delivery catheter are realized, and finally in the push rod. Pushing along the delivery catheter and the puncture needle connected to the front end of the delivery catheter, it is always implanted into the biological tissue.
  • the cutting mechanism adopts one or more combinations of guillotine cutting mechanism, scissors cutting mechanism and circular cutting mechanism.
  • the guillotine cutting mechanism uses unilateral blade movement to complete the cutting. Cutting is completed by using both side blades to move toward each other at the same time, and the circumcision cutting mechanism uses at least three blades to move toward the center point simultaneously to realize cutting.
  • 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
  • the cut-off transmission mechanism is a continuous
  • the cut-off power source is one or more of motor, pneumatic push rod, air motor, hydraulic push rod, hydraulic Various combinations.
  • Particles and spacer rods 262113150101 are loaded in the particle chain 2621131501 of the front part of the push rod in turn, the front part of the push rod is the particle chain 2621131501, and the second half is the common flexible push rod 2621131502.
  • the follower wheel slider 2621133102 is installed in the guide block A 2621133101 chute, the spring 2621133103 is installed in the follower wheel slider 2621133102 groove, one end is close to the follower wheel slider 2621133102 and the other end is close to the micro switch 2621133104, and the micro switch 2621133104 is fixed For guide block A 2621133101.
  • the spring 2621133103 pushed the wheel slider 2621133102 back to the origin.
  • the microswitch 2621133104 contacts will be disconnected, so that it can be judged that the push rod 26211315 has returned to this position.
  • one end of the flexible conduit 26211301 is connected to the cutting device 26211302 , and the other end is connected to the quick connector 26211304 .
  • the quick connector 26211304 is fixed on the installation plate B 26211314, the contact switch 262113331 is fixed on the installation plate B 26211314, the metal drive wheel A 26211318 and the metal drive wheel B 26211333 are respectively installed in the drive wheel installation block 26211321, and the drive wheel installation block 26211321 is installed in the guide In the seat 26211330, the guide seat 26211330 is fixed on the installation base plate 26211303, the installation plate A 26211305 and the installation plate B 26211314 are fixed on the guide seat 26211330, the guide wire tube A 26211317 is fixed on the installation plate B 26211314, and the guide wire tube B 26211322 is fixed on the installation plate B 26211314.
  • the storage wheel mounting bracket 26211325 is fixed on the installation base plate 26211303
  • the protective shell B 26211328 is fixed on the storage wheel mounting bracket 26211325
  • the protective shell A 26211310 is fixed on the protective shell B 26211328
  • the storage wheel drive shaft 26211329 is connected to the transmission device
  • the coil spring 26211327 is fixed on the
  • the storage wheel drive shaft 26211329 is fixed on the storage wheel 26211326 at one end.
  • the storage wheel 26211326 is installed on the storage wheel drive shaft 26211329.
  • Manual driving wheel A 26211323 and manual driving wheel B 26211324 are installed in protective housing A 26211310 and protective housing B 26211328, and manual transmission handwheel 26211307 is connected to manual driving wheel A 26211323.
  • Tighten screw B 26211309 to fix protective shell A 26211310 and protective shell B 26211328 on the storage wheel mounting bracket 26211325.
  • Soft driving wheel A 26211316 and soft driving wheel B 26211332 are installed on mounting plate A 26211305 and mounting plate B 26211314.
  • Soft drive wheel A 26211316 is connected to push rod drive mechanism with soft drive wheel B 26211332.
  • Encoder 26211306 is connected to mounting plate A 26211305.
  • a travel switch may also be arranged behind the push rod driving mechanism to detect whether the push rod has been used up.
  • the push rod driving mechanism can also adopt a reciprocating clamping mechanism. After the push rod is clamped, it moves to one side, and then the push rod is released and then reset to the other side. Repeating the above process realizes pushing the push rod to one side. drive.
  • the encoder starts to record the number of turns of the metal driving wheel A 26211318 Judging the advancing position of the push rod 26211315 with this, when the push rod 26211315 reaches the position of the cutting device 26211302, the particle chain 2621131501 at the front section of the push rod 26211315 is cut into different lengths as required. The severed particle chain will continue to be pushed forward by the push rod 26211315 until it is pushed out from the puncture needle and implanted into the biological tissue.
  • the storage wheel 26211326 When the push rod 26211315 is retracted, because the storage wheel drive shaft 26211329 of the storage wheel 26211326 and the soft drive wheel B 26211332 are connected to the same drive shaft through the synchronous belt 26211313 transmission, the storage wheel 26211326 will synchronously wrap the push rod 26211315 for storage. 26211315 will be synchronously recovered into the storage wheel 26211326 along the channel until the push rod 26211315 completely enters the protective shell A 26211310 and the protective shell B 26211328, then the whole set of particle chain 2621131501 and push rod 26211315 can be combined for driving.
  • the synchronous belt 26211313 can be replaced by transmission mechanisms such as gear transmission or chain transmission.
  • manual drive wheel A 26211323 and manual drive wheel B 26211324 can be omitted, and the particle chain drive mechanism is directly arranged on the protective shell A 26211310 and the protective shell B 26211328 inside, avoiding the process of manual charging.
  • the storage wheel 26211326 is driven and controlled by an independently set power source, and the rotation of the storage wheel 26211326 is controlled according to the actual displacement of the push rod 26211315 measured by the position detection mechanism, so as to realize the dynamic retraction of the push rod 26211315; or the described
  • the independently set power source rotates with a set torque to drive the storage wheel 26211326 to rotate to realize the dynamic retraction of the push rod.
  • the storage wheel 26211326 adopts a concave storage wheel, the side of the concave storage wheel is open, and its concave surface is used to accommodate the push rod, and the concave storage wheel is provided with a guide tube to guide the push rod from the concave storage.
  • the side of the wheel extends into the winding wheel, and the concave storage wheel is in a free-rotating state, which automatically rotates under the push of the push rod 26211315, or the concave storage wheel moves synchronously with the push rod driving mechanism in a certain proportion, so as to realize the push Dynamic storage of rod 26211315.
  • the radioactive source feeding part adopts a magazine for 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 are installed in the storage in the magazine.
  • the particles or prefabricated particle chains are placed on the front end of the push rod through the clip feeding mechanism installed on the clip for feeding.
  • It also includes a first moving platform and a connecting piece, on which one end of a plurality of conveying conduits is installed; one end of the push rod output channel is installed on the first moving platform, and the first moving platform is used to realize the The relative movement between one end of the push rod output channel or one end of the mixing output channel and the connecting piece in space makes the pushing rod output channel or mixing output channel communicate with any conveying conduit on the connecting piece to form particles or particle chains Delivery channel, so as to realize multi-channel implantation;
  • the first motion platform is one of the following modes: A, the connecting piece moves, and one end of the push rod output channel is stationary; B, the connecting piece is stationary, and one end of the push rod output channel moves; C, the connecting piece moves, and the push rod One end of the output channel moves.
  • the first motion platform is a swing arm mechanism 2262202
  • the mixing output channel is a docking rod 2262210
  • the connecting piece is stationary, and one end of the push rod output channel or one end of the mixing output channel moves.
  • One side of the swing arm mechanism 22622 is provided with a clip seat 2262201, and a particle chain clip 2262207 is arranged in the clip seat 2262201.
  • Travel switch C 2262206 and travel switch D 2262209 can be set respectively at the two ends of magazine holder 2262201.
  • a plurality of particle chains 2262208 are arranged in the particle chain clip 2262207, and the particle chains 2262208 are sequentially arranged and combined by a plurality of radioactive particles and spacers.
  • particle chain clips 2262207 of different specifications will be selected according to the needs of patients.
  • the swing arm 2262202 first controls the movement of the docking rod at the front end of the particle chain clip 2262207 to the position of the docking hole 2262203 to be implanted. The other side will be connected with the puncture needle tube 2262204, and then the swing arm mechanism 2262202 pushes out the docking rod 2262210 to make it cooperate with the docking hole 2262203.
  • the particle push rod 2262205 pushes out the particle chain in the particle chain magazine 2262207, and the two travel switches inside the clip seat 2262201 will detect the current position of the particle push rod 2262205 and check whether it pushes out the particle chain 2262208, and the particle chain 2262208 is pushed out and passed Puncture the needle tube 2262204 to the human lesion.
  • the radioactive source feeding part adopts a particle chain feeding part
  • the radioactive source feeding part includes a particle chain driving mechanism, a particle chain output channel, and a cutting mechanism, and is continuously connected through the particle chain driving mechanism.
  • the particle chain is output and the particle chain of the target length is cut off by the cutting mechanism to realize the feeding of the 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 flexible and bendable structure. structure.
  • the particle chain is output to the front of the flexible push rod through the bifurcated tube structure.
  • the particle chain feeding part is also provided with a particle chain storage mechanism, and the particle chain storage mechanism is used for dynamic retraction of the particle chain when the particle chain driving mechanism drives the particle chain to move back and forth.
  • a shielding shell is provided, and the shielding shell is used to shield the radiation of the particle chain to the outside world.
  • the flexible push rod or particle chain storage mechanism is a wheel-type storage mechanism, and the wheel-type storage mechanism includes a storage wheel, and the flexible push rod or particle chain is wound and stored on the inner surface of the storage wheel.
  • the storage wheel is provided with an inner recess, and an opening is provided on the side, and a guide tube is provided at the opening.
  • the flexible push rod or particle chain extends into the storage wheel under the guidance of the guide tube at the side opening, and under the action of its own elasticity, Wound on the inner recess of the storage wheel, the storage wheel can freely rotate around its own axis without external force.
  • the output channel of the push rod and the output channel of the particle chain are converged into a single channel through a bifurcated pipe, the first branch of the bifurcated pipe is connected with the output channel of the push rod, the second branch of the bifurcated pipe is connected with the output channel of the particle chain, and the bifurcation
  • the main pipe of the tube is connected with the mixing output channel, and the mixing output channel is a rigid structure or a flexible and bendable structure.
  • the particle chain driving mechanism withdraws the uncut particle chain The main pipe of the bifurcated pipe, 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 connected with the delivery pipe along the
  • the puncture needle at the front end of the delivery 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 types or lengths of spacer rods are provided.
  • the particle chain output channels of the chain drive mechanism are connected to different branches of the bifurcated tube, so that different types of particle chains can be converged into the main pipeline, so that different types of particle chains can be set according to surgical needs, and implanted into biological tissues through push rods Inside.
  • the main pipe of the branch pipe is provided with a one-way non-return mechanism to prevent the reverse flow of particle chains.
  • the cutting mechanism is arranged at any one of the particle chain output channel, the bifurcated pipe, and the mixing output channel.
  • the cutting mechanism adopts one or more combinations of guillotine cutting mechanism, scissors cutting mechanism and circular cutting mechanism.
  • the guillotine cutting mechanism uses unilateral blade movement to complete the cutting. Cutting is completed by using both side blades to move toward each other at the same time, and the circumcision cutting mechanism uses at least three blades to move toward the center point simultaneously to realize cutting.
  • the swing arm mechanism 2026216 works to insert the docking nozzle 2026215 into the hole on the needle plate to complete the docking with the implant channel 2026213, and the particle chain 202621 is sent into the docking after being cut off through the cooperation of the particle chain driving mechanism 202623, the travel switch and the cutting mechanism 202622 In the mouth 2026215, the flexible push rod 202624 moves forward through the friction drive mechanism 2026211 against the severed particle chain 202621 and enters the human body together to complete particle implantation at one time.
  • the position of the cutting mechanism 202622 can also be placed at the docking mouth (that is, after the pipes converge), so that the particle chain is first driven to the docking mouth, then cut off, and then withdrawn from the docking mouth, and then changed to a flexible push rod Push the chain of particles.
  • the arm mechanism 2026216 works (through the cooperation of one rotating component and two linear motion components), insert the docking nozzle 2026215 into the corresponding connection hole of the implanting channel 2026213 to complete the docking with the implanting channel 2026213.
  • the 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.
  • the particle chain drive mechanism 202623 continues to drive the particle chain 202621 forward (because the particle chain 202621 will be squeezed and deformed during the cutting process, in order to ensure that the particle chain 202621 after cutting can continue to move forward, a guide port 202622- is provided at the fracture 5 for guidance, see Fig. 32), after the particle chain 202621 that is cut off enters the front end of the docking nozzle, the particle chain 202621 is recycled back into the particle chain winding wheel 202628 (the front end of the docking nozzle is provided with damping to prevent the particle chain from being cut off when reclaiming the particle chain) The position of the particle chain is shifted, see Figure 33).
  • the flexible push rod 202624 moves forward through the friction drive mechanism 2026211 (detected and recorded by the travel switch G2026210) from the sub-pipeline of the delivery pipeline 202625 into the main pipeline (the main pipeline and the docking nozzle are relatively fixed) against the cut particles
  • the chains 202621 enter the human body forward together to complete the particle implantation at one time, and then the flexible push rod 202624 is recovered into the flexible push rod winding wheel 202629, and the travel switch G 2026210 can also be set in the push rod output channel, bifurcated tube, mixing In any one of the output channels, the travel switch G 2026210 and the travel switch E 2026212 can be the same.
  • step 1 can be performed in the process of step 2 to step 4. Synchronization complete.
  • the push rod of the radioactive source implantation device or the position control assembly of the particle chain, the radioactive source feeding part adopts a particle chain feeding part
  • the radioactive source feeding part includes a particle chain driving mechanism , a particle chain output channel, a cutting mechanism, and continuously output the particle chain through the particle chain driving mechanism and cut off the particle chain of the target length by the cutting mechanism, so as to realize the feeding of the particle chain, the particle chain driving mechanism and the particle chain output channel
  • the particle chain output channel is a rigid structure or a flexible and bendable structure, and the particle chain is output to the front of the flexible push rod through the motion platform.
  • the particle chain feeding part is also provided with a particle chain storage mechanism, and the particle chain storage mechanism is used for dynamic retraction of the particle chain when the particle chain driving mechanism drives the particle chain to move back and forth.
  • a shielding shell is provided, and the shielding shell is used to shield the radiation of the particle chain to the outside world.
  • the flexible push rod or particle chain storage mechanism is a wheel-type storage mechanism, and the wheel-type storage mechanism includes a storage wheel, and the flexible push rod or particle chain is wound and stored on the inner surface of the storage wheel.
  • the storage wheel is provided with an inner recess, and an opening is provided on the side, and a guide tube is provided at the opening.
  • the flexible push rod or particle chain extends into the storage wheel under the guidance of the guide tube at the side opening, and under the action of its own elasticity, Wound on the inner recess of the storage wheel, the storage wheel can freely rotate around its own axis without external force.
  • It also includes a mixing output channel and a second motion platform, one end of the push rod output channel and one end of the particle chain output channel are arranged on the second motion platform, and the push rod output channel and particle chain are realized through the switching motion of the second motion platform.
  • the chain output channels are respectively connected to the mixed output channels arranged on the second motion platform; the mixed output channels are rigid structures or flexible bendable structures.
  • the second motion platform can change the relative positional relationship of one end of the push rod output channel, one end of the particle chain output channel and one end of the mixing output channel, specifically in one of the following ways.
  • One end of the mixing output channel moves, one end of the fader output channel and/or one end of the particle chain output channel is still;
  • One end of the mixing output channel is static, one end of the fader output channel and one end of the particle chain output channel are moving;
  • One end of the mixing output channel moves, one end of the fader output channel and/or one end of the particle chain output channel moves;
  • the second motion platform connects the particle chain output channel with the mixing output channel, and the particle chain driving mechanism pushes the cut particle chain of the target length into the mixing output channel, and the mixing output channel is connected with the delivery conduit.
  • the second motion platform finally connects the output channel of the push rod with the mixing output channel, and the push rod driving mechanism drives the push rod to push the particle chain along the mixing output channel, the delivery catheter and the puncture needle connected to the front end of the delivery catheter until it is implanted into the within biological tissues.
  • the number of the particle chain drive mechanisms is greater than or equal to 2, and the number of particle chain output channels is also greater than or equal to 2 at this time.
  • the types of particle chains driven by different particle chain drive mechanisms or the lengths of spacer bars are different.
  • the second motion platform is based on The operation needs to connect different particle chain output channels with the mixed output channel, and push different types of particle chains into the mixed output channel, the mixed output channel is connected with the delivery catheter, and the second motion platform finally puts The push rod output channel is connected to the mixing output channel, and the push rod is driven by the push rod driving mechanism to push the particle chain along the mixing output channel, the delivery catheter and the puncture needle connected to the front end of the delivery catheter and has been pushed into the biological tissue.
  • the cutting mechanism is arranged at any one of the particle chain output channel and the mixing output channel.
  • the cutting mechanism adopts one or more combinations of guillotine cutting mechanism, scissors cutting mechanism and circular cutting mechanism.
  • the guillotine cutting mechanism uses unilateral blade movement to complete the cutting. Cutting is completed by using both side blades to move toward each other at the same time, and the circumcision cutting mechanism uses at least three blades to move toward the center point simultaneously to realize cutting.
  • the particle or particle chain implantation device also includes a first motion platform and a connecting piece, on which one end of a plurality of delivery catheters is installed; one end of the push rod output channel or one end of the mixing output channel is installed on the second On a motion platform, the first motion platform is used to realize the relative movement between one end of the push rod output channel or one end of the mixing output channel and the connecting piece in space, so that the push rod output channel or the mixing output channel and the Any delivery catheter on the connector is connected to form a delivery channel for particles or particle chains, thereby realizing multi-channel implantation;
  • the first motion platform is one of the following modes: A, the connector moves, one end of the push rod output channel or one end of the mixed output channel is stationary; B, the connector is stationary, one end of the push rod output channel or the mixed output channel One end of the movement; C, the movement of the connector, one end of the push rod output channel or one end of the mixed output channel.
  • the first moving platform is exactly the second moving platform, and one end of the output channel of the push rod, one end of the output channel of the particle chain and the connector are all installed on the first moving platform, and the first moving platform can change the push rod One end of the output channel, one end of the particle chain output channel and the relative positional relationship between the connector, specifically one of the following methods: A, connector movement, one end of the push rod output channel and/or the particle chain output channel One end is stationary; B, the connector is stationary, one end of the push rod output channel and one end of the particle chain output channel move; C, the connector moves, one end of the push rod output channel and/or one end of the particle chain output channel moves;
  • the first motion platform first connects one end of the particle chain output channel with a certain conveying conduit provided on the connecting piece, and the particle chain driving mechanism pushes the particle chain cut with the target length into the conveying conduit, and then the The first moving platform connects one end of the push rod output channel with the delivery catheter, and the push rod is driven by the push rod driving mechanism to push the cut off particle chain along the delivery catheter and the puncture needle connected to the front end of the delivery catheter to push and implant to the within biological tissues.
  • One end of the delivery catheter is installed on the connector through an implanted quick connector, and the implanted quick connector adopts one or more combinations of screw connection, lock connection, taper connection, and pin connection.
  • the second motion platform is the cooperation of the guide assembly B262112215 (rail slider, guide post, etc.)
  • One end of the output channel is stationary, and one end of the fader output channel and one end of the particle chain output channel move.
  • the arm mechanism 2026216 works, insert the docking nozzle 2026215 into the hole on the needle plate to complete the docking with the implant channel 2026213, cut the particle chain 202621 into the required length according to the operation situation, and then guide the component B262112215 (rail slider, guide post, etc. ) cooperate with the transmission assembly B262112213 (rack and pinion, screw rod, timing belt, etc.) to make the particle chain outlet B2621122117 switch back and forth with the drive wire outlet B262112216 and dock with the docking nozzle 2026215, and the drive wire 202624 moves forward to hold the particles through the friction drive mechanism 2026211
  • the chain 202621 enters the body forward to complete the particle implantation in one go.
  • the particle chain implantation process in this embodiment is as follows:
  • the radial arm needle selection structure 2026216 works (through the cooperation of a rotating component and two linear motion components), insert the docking nozzle 2026215 into the corresponding connection hole of the implanting channel 2026213 to complete the docking with the implanting channel 2026213.
  • the guide assembly B262112215 (rail slider, guide post, etc.) cooperates with the transmission assembly B262112213 (pinion rack, screw, timing belt, etc.) to make the particle chain outlet B2621122117 dock with the docking nozzle 2026215 (the docking nozzle 2026215 is fixed with the installation frame B262112212 , the outlet of the particle chain, the outlet of the drive wire and the corresponding drive components are installed on the moving plate).
  • Particle chain 202621 (a chain-shaped implant composed of particles and spacer rods) is transported forward to a specified length by particle chain drive mechanism 202623 and cut off by cutting mechanism 202622 (travel switch E 2026212 marks the zero position, and travel switch F202627 judges the particle Whether the chain is used up, the cutting knife 202622-2 is connected with the push rod 202622-3, and when the push rod 202622-3 moves forward, it will drive the cutting knife 202622-2 forward together to complete the cutting, and the cutting knife 202622-2 moves along the cutting direction Guide post 202622-4 is provided to ensure that the cutting knife will not deviate from the cutting direction (see Figure 36).
  • the particle chain drive mechanism 202623 continues to drive the particle chain 202621 forward (because the particle chain 202621 will be squeezed and deformed during the cutting process, in order to ensure that the particle chain 202621 after cutting can continue to move forward, a guide port 202622- is provided at the fracture 5 for guidance, see Fig. 36), after the particle chain 202621 that is cut off enters the docking nozzle 2026215, the particle chain 202621 is recovered in the particle chain winding wheel 202628 backwards.
  • the guide component B262112215 (rail slider, guide post, etc.) cooperates with the transmission component B262112213 (pinion rack, screw rod, timing belt, etc.) to make the drive wire outlet B262112216 dock with the docking nozzle 2026215.
  • the drive wire 202624 moves forward through the friction drive mechanism 2026211 (detected and recorded by the travel switch G2026210) and enters the human body forward through the drive wire outlet B262112216 from the docking nozzle 2026215 against the severed particle chain 202621 to complete particle implantation at one time , and then the driving wire 202624 is recovered into the flexible push rod winding wheel 202629.
  • the radial arm needle selection structure 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.

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Abstract

L'invention concerne un ensemble de commande de position pour une tige de poussée ou une chaîne de particules dans un dispositif d'implantation de particules ou de chaîne de particules et un procédé d'utilisation de celui-ci. L'ensemble de commande de position comprend un corps (50), une unité de détection de position (60), un mécanisme d'entraînement par friction et une partie d'alimentation en source radioactive L'unité de détection de position (60) et le mécanisme d'entraînement par friction sont disposés sur le corps (50). L'unité de détection de position (60) est configurée pour déterminer la valeur du déplacement réel de la tige de poussée (61) ou de la chaîne de particules et la position de la tige de poussée (61) ou de la chaîne de particules par rapport au corps (50). Le mécanisme d'entraînement par friction peut entraîner la tige de poussée (61) ou la chaîne de particules à se déplacer dans un mouvement de va-et-vient le long d'un canal de sortie de la tige de poussée ou d'un canal de sortie de la chaîne de particules. La partie d'alimentation en source radioactive est configurée pour placer des particules ou des chaînes de particules à l'extrémité avant de la tige de poussée (61). Selon l'ensemble, le mécanisme d'entraînement par friction est utilisé pour permettre l'entraînement de la tige de poussée (61). Une unité de transmission (69) utilise un composant de friction, est entraînée par un engrenage à friction, et utilise un codeur pour déterminer la distance réelle, de façon à obtenir la commande de position de grande poussée et de position de haute précision de la tige de poussée (61), ce qui permet d'obtenir la fonctionnalité d'implantation de particules. Une unité d'alimentation (68) est entraînée par un moteur (51). Diverses situations dans le processus d'implantation de particules sont déterminées au moyen de la différence entre la valeur du déplacement entraînée par le moteur (51), un signal de déclenchement de commutateur de déplacement et la valeur du déplacement mesurée par le codeur.
PCT/CN2022/142687 2022-03-03 2022-12-28 Ensemble de commande de position pour tige de poussée ou chaîne de particules dans un dispositif d'implantation de source radioactive et son procédé d'utilisation Ceased WO2023165239A1 (fr)

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CN202210207077 2022-03-03
CN202210207077.0 2022-03-03
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CN202211032981.9 2022-08-26
CN202211492842.4 2022-11-25
CN202211492842 2022-11-25
CN202211586593 2022-12-09
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