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WO2023165303A1 - Dispositif d'implantation de particules ou de chaîne de particules actionné par frottement - Google Patents

Dispositif d'implantation de particules ou de chaîne de particules actionné par frottement Download PDF

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Publication number
WO2023165303A1
WO2023165303A1 PCT/CN2023/074945 CN2023074945W WO2023165303A1 WO 2023165303 A1 WO2023165303 A1 WO 2023165303A1 CN 2023074945 W CN2023074945 W CN 2023074945W WO 2023165303 A1 WO2023165303 A1 WO 2023165303A1
Authority
WO
WIPO (PCT)
Prior art keywords
push rod
particle
particle chain
friction
chain
Prior art date
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/CN2023/074945
Other languages
English (en)
Chinese (zh)
Inventor
王学堂
朱鼎臣
付光明
雷星星
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hangzhou Dashtech Co Ltd
Original Assignee
Hangzhou Dashtech Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hangzhou Dashtech Co Ltd filed Critical Hangzhou Dashtech Co Ltd
Publication of WO2023165303A1 publication Critical patent/WO2023165303A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • 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
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • 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

Definitions

  • the invention relates to the technical field of medical particle implantation devices, in particular to a friction-driven particle or particle chain implantation device.
  • Radioactive seed implantation therapy mainly relies on a stereotaxic system to accurately implant radioactive seeds into the tumor body, and emits continuous, short-distance radiation through a miniature radioactive source, causing maximum damage to tumor tissue, while normal tissue is not damaged or only slightly damaged.
  • This technology has the characteristics of strong targeting, less trauma, quick curative effect and less side effects.
  • Radioactive substances are implanted into the human body through the particle implantation device.
  • the front end of the particle implantation device is equipped with a puncture needle, and the rear end has a push rod for particle implantation.
  • the particle implantation device has a particle clip interface, and the particle clip passes through the interface.
  • the radioactive particles are pushed into the puncture needle through the push rod, and the particles are further implanted into the lesion, and then the puncture needle is pulled out to the next position, and the push rod is retracted to the top of the clip , the particle magazine will automatically eject the next particle, and then implant this particle, repeat the above operation to implant the predetermined number of particles into the tumor body, and 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.
  • dozens or even hundreds of radioactive particles need to be implanted in each operation. The operation process takes a long time, the labor intensity of the doctor is high, and the radiation damage will be suffered throughout the operation process. Based on the above situation, some particle implantation devices that can realize continuous automatic implantation actions have emerged.
  • a radioactive particle automatic implantation device disclosed in the Chinese utility model patent document with the application number CN201721166437.8 includes a radioactive particle storage device, a radioactive particle implantation needle, a push rod, a driving cylinder and a main controller; the radioactive particle storage There is a radioactive particle storage cavity in the device, and a radioactive particle delivery channel is opened at the bottom of the radioactive particle storage cavity; a radioactive particle implantation channel is horizontally opened at the lower end of the radioactive particle storage device, and the first end of the radioactive particle implantation channel is the implantation needle insertion end , the second end is the insertion end of the push rod; the top surface of the radioactive seed implantation channel is provided with a radioactive seed introduction port close to the insertion end of the implantation needle, and a radioactive particle slide is arranged between the radioactive seed import port and the bottom of the radioactive particle delivery channel.
  • the radioactive particle implantation needle is connected with the insertion end of the implantation needle; the front end of the push rod is
  • the push rod used to implant particles to the target position is driven by the drive cylinder at the rear end to directly push the support top to move.
  • the implanting path of the push rod and the straight line is more suitable, but the stroke distance of pushing the push rod to one end will be limited by the stroke of the cylinder.
  • the puncture needle will still vibrate slightly due to heartbeat, breathing, body shaking, etc. If it is connected and driven by a driving device such as an end cylinder or a motor to directly propel the push rod to move, it is easy to pull the puncture needle and cause scratches to the patient, causing danger.
  • the present invention provides a friction-driven particle or particle chain implantation device using a flexible push rod.
  • the present invention provides a device for friction-actuated particle or particle chain implantation using a flexible pusher.
  • a friction-driven particle or particle chain implantation device including a main body, a push rod output channel, a push rod, a friction drive mechanism and a radioactive source feeding part, and a push rod output for guiding the push rod to move back and forth is arranged on the main body Channel or particle chain output channel, the friction drive mechanism can drive the push rod to move back and forth along the push rod output channel or particle chain output channel, and transport the particles or particle chain arranged at the front end of the push rod along the push rod output channel or
  • the output channel of the particle chain is delivered to a preset position, and the output channel of the push rod or the output channel of the particle chain is a rigid structure or a flexible and bendable structure;
  • the friction drive mechanism includes a friction assembly, at least a part of the surface of the friction assembly is in contact with The surfaces of the push rod or the particle chain are closely attached to each other, and the friction force generated by the bonding drives the push rod or particle chain to move back and forth.
  • the radioactive source feeding part is one or a combination of
  • the present invention also includes a delivery conduit, the push rod output channel communicates with the delivery conduit, the friction drive mechanism can drive the push rod or the particle chain to move back and forth along the delivery conduit, and the radioactive source feeding part is arranged on the push rod
  • the delivery conduit is the first flexible delivery conduit
  • the push rod is a flexible push rod or particle chain
  • the friction drive mechanism is a flexible push rod Drive mechanism or particle chain drive mechanism.
  • the friction assembly is a friction wheel or a friction belt
  • the friction wheel or friction belt clamps the push rod or the particle chain through a pressing mechanism
  • the pressing mechanism adopts a passive pressing mechanism or an active pressing mechanism
  • the friction wheel or the friction belt itself is an elastic structure, which realizes the clamping of the push rod or the particle chain through self-extrusion;
  • the friction wheel or the friction belt is provided with anti-skid grooves or anti-skid patterns;
  • the friction wheel or the friction belt An annular groove is arranged on the top, and the push rod or particle chain is limited in the annular groove.
  • the passive pressing mechanism includes a pressing guide mechanism and a pressing elastic element.
  • the pressing and guiding mechanism is used to guide the friction assembly to move along a fixed track.
  • a sliding groove, a hinge or a slide rail can be used.
  • the pressing elastic element is used to apply a pressing force to the friction assembly, so that it presses the push rod or the particle chain, specifically, one or a combination of elastic blocks, springs, torsion springs, coil springs or torsion bars can be used
  • the passive pressing mechanism also includes a pressure adjusting device 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.
  • 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 slide grooves, hinges or slide rails can be used.
  • the pressing The tightening drive element is used to actively apply a pressing force to the friction component to make it press the push rod or the particle chain. 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 present invention also includes a position detection component, which is used to measure the actual position of the push rod or the particle chain relative to the output channel of the push rod, and the position detection component includes a motor that is directly connected or transmission-connected with the measuring wheel.
  • Rotary encoder one side of the measuring wheel is in contact with the push rod or particle chain, when the push rod or particle chain moves back and forth, it will drive the measuring wheel to rotate, and the push rod can be converted by measuring the angular displacement of the measuring wheel through the rotary encoder or the displacement of the particle chain.
  • the position detection component includes a travel switch, which is installed on one side of the output channel of the push rod, and triggers a position signal 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 When the travel switch is a mechanical switch, the travel switch is triggered by contacting the push rod with a trigger member slidably or rotatably arranged outside the mechanical switch.
  • a trigger member slidably or rotatably arranged outside the mechanical switch.
  • One end of the trigger member is arranged in the output channel of the push rod, and the other end is It counteracts the mechanical switch;
  • the trigger is a trigger lever, a trigger piece or a trigger needle, or the trigger is a roller, thereby reducing the frictional resistance between the trigger and the push rod or the particle chain.
  • the present invention also includes a motor angle sensor, the friction drive mechanism is driven by a motor, and the motor angle sensor is directly connected or transmission connected to the output shaft of the motor, so as to measure the rotation angle of the motor and convert it into a push rod Or the theoretical displacement of the particle chain, through the difference between the theoretical displacement and the actual displacement of the push rod or the particle chain, it can be judged whether the friction drive mechanism is slipping.
  • the present invention also includes a thrust sensing module, which can sense the propulsion resistance of the push rod or the particle chain; the thrust sensing module is a current detection sensor of the drive motor of the friction drive mechanism, and uses the current to calculate the motor torque, thereby converting And sense the propulsion resistance of the push rod or particle chain.
  • the thrust sensing module is a force sensor or a torque sensor; at this time, the force sensing module is installed on the drive motor of the friction drive mechanism, and measures the real-time output torque of the motor, thereby converting and sensing the propulsion resistance of the push rod or particle chain.
  • the thrust sensing module is arranged inside or between the push rod drive mechanism and the push rod output channel, so as to measure their internal force or the relative force between any adjacent two, so as to realize the opposite push Measurement of propulsion resistance of a rod or particle chain.
  • the friction wheels or friction belts are provided with multiple sets, and the synchronous movement of multiple sets of friction wheels or friction belts is realized through a synchronous transmission mechanism, thereby jointly driving the push rod or the particle chain to move back and forth, improving the overall driving force
  • the synchronous transmission mechanism is one or a combination of belt drive, chain drive, and gear drive
  • a guide channel is provided between two adjacent groups of friction wheels or friction belts, and the push rod or particle chain passes through the inside of the guide channel , the guide channel plays a guiding role to prevent the push rod or particle chain from being bent between two adjacent groups of friction wheels or friction belts, resulting in drive blockage.
  • the flexible push rod is made of elastic material, which can be bent under the action of external force, and can be restored to its original state after removing the external force;
  • the material of the flexible push rod is nickel-titanium alloy, stainless steel, spring steel One or more combinations of elastomer materials, composite materials; or the flexible push rod itself is a particle chain; or the first half of the flexible push rod is a particle chain structure, and the second half of the flexible push rod is a push rod wire;
  • the length of the flexible push rod is greater than 300mm, and the outer diameter is 0.5-1.5mm.
  • the particle chain supply part includes a cutting mechanism, and the particle chain of the target length is cut off from the front end of the push rod by the cutting mechanism, thereby realizing the supply of the particle chain. material.
  • the particle chain feeding part includes a friction drive mechanism and a cutting mechanism, the particle chain is continuously output by the friction drive mechanism and the particle chain of the target length is cut off by the cutting mechanism, so as to realize the feeding of the particle chain, the friction drive mechanism and The particle chain output channel is connected, and the particle chain output channel is a rigid structure or a flexible bendable structure.
  • the particle chain output channel realizes setting the particle chain to the front of the push rod through a bifurcated pipe structure or a motion platform.
  • the radioactive source feeding part adopts a particle magazine or a particle chain magazine
  • the radioactive source feeding part is directly arranged in the push rod output channel, and the particles or the prefabricated particle chain are installed in the bomb storage slot or in the magazine.
  • the particles or the prefabricated particle chain are placed on the front end of the push rod for feeding through the clip feeding mechanism installed on the particle clip or the particle chain clip.
  • the present invention can achieve the following multiple beneficial effects:
  • the friction-driven particle or particle chain implantation device uses a flexible delivery catheter to transport particles or particle chains, and the friction drive mechanism can drive the flexible push rod or particle chain to move back and forth along the flexible delivery catheter, and will be set in The particles or particle chains at the front end of the flexible push rod or particle chain are transported to the preset position along the flexible delivery catheter. Since the flexible delivery catheter can adapt to the slight vibration of the puncture needle during the operation due to the patient's heartbeat, breathing, body shaking, etc., With higher security.
  • the friction-driven particle or particle chain implantation device adopts the mode of frictional contact between the friction component and the surface of the flexible push rod or particle chain, which drives the flexible push rod or particle chain to move inwardly and extend into it.
  • the driving method limits the maximum driving force acting on the flexible push rod or particle chain through the adjustment of the contact state between the surface of the friction component and the surface of the flexible push rod, so that it is enough to drive the particles or particle chain to move inward along the preset path, but When the end of the flexible push rod used to push the particles or particle chains is blocked, deflected and the resistance increases instantaneously, the friction component and the surface of the flexible push rod or particle chains will slide in time to avoid damage to the patient's body .
  • the friction-driven particle or particle chain implantation device uses a friction-driven method to drive the flexible push rod or particle chain to move.
  • the limitation of stroke also facilitates the lightweight and miniaturized production of particle or particle chain implantation devices.
  • Figure 1 is one of the overall structural schematic diagrams of the particle or particle chain implantation device of the present invention.
  • Fig. 2 is the second schematic diagram of the overall structure of the particle or particle chain implantation device of the present invention.
  • Fig. 3 is one of the structural schematic diagrams of the flexible push rod driving mechanism in the particle or particle chain implantation device of the present invention.
  • Fig. 4 is the second structural schematic diagram of the flexible push rod driving mechanism in the particle or particle chain implantation device of the present invention.
  • Fig. 5 is the enlarged schematic view of position C in Fig. 4 of the present invention.
  • FIG. 6 is a schematic diagram of the overall cross-sectional structure of the particle or particle chain implantation device of the present invention.
  • Figure 7 is an enlarged schematic view of the particle clip or the particle chain clip at position B in Figure 6 of the present invention.
  • Figure 8 is a schematic diagram of the state of particles or particle chains in the particle clip or particle chain clip in the present invention.
  • Fig. 9 is a schematic diagram of the state of no particle or particle chain passage in the particle clip or particle chain clip in the present invention.
  • Fig. 10 is a schematic diagram of the particle clip or the particle chain clip in the present invention without particles or a closed state of the particle chain;
  • Figure 11 is a schematic diagram of the overall structure of Embodiment 2 of the present invention.
  • Figure 12 is a schematic side view of Embodiment 2 of the present invention.
  • Figure 13 is a schematic diagram of the internal structure of Embodiment 2 of the present invention.
  • Figure 14 is a side view of Embodiment 2 of the present invention.
  • Fig. 15 is a schematic structural view of the passive pressing mechanism in the present invention.
  • Fig. 16 is another structural schematic diagram of the passive pressing mechanism in the present invention.
  • Fig. 17 is a schematic diagram of the general assembly of the shrapnel type travel switch in the present invention.
  • Fig. 18 is an explosion schematic diagram of a shrapnel type travel switch in the present invention.
  • Fig. 19 is a schematic diagram of the cut-off state of the shrapnel travel switch in the present invention.
  • Fig. 20 is a schematic diagram of the trigger cut state of the shrapnel travel switch in the present invention.
  • Fig. 21 is one of the structural schematic diagrams of the storage mechanism of the present invention.
  • Fig. 22 is the second structural schematic diagram of the storage mechanism of the present invention.
  • Fig. 23 is the third structural schematic diagram of the storage mechanism of the present invention.
  • Figure 24 is one of the structural diagrams of the film-type casing in the present invention.
  • Fig. 25 is the second structural diagram of the film-type casing in the present invention.
  • Fig. 26 is a schematic diagram of the connection structure between the film-type sleeve and the core-pulling mechanism in the present invention.
  • Fig. 27 is a schematic structural diagram of Embodiment 5 of the present invention.
  • Figure 28 is a top view of Embodiment 5 of the present invention.
  • Fig. 29 is a schematic diagram of the cutting mechanism, the particle chain driving mechanism and the friction driving mechanism of Embodiment 5 of the present invention.
  • Fig. 30 is a schematic structural view of the cutting mechanism of Embodiment 5 of the present invention.
  • Fig. 31 is a schematic diagram of the structure of the particle chain in Example 5 of the present invention when it is rolled out;
  • Figure 32 is a schematic structural diagram of Embodiment 6 of the present invention.
  • Figure 33 is a top view of Embodiment 6 of the present invention.
  • Fig. 34 is a schematic structural view of the cutting mechanism of Embodiment 6 of the present invention.
  • Fig. 35 is a schematic diagram of the docking structure of Embodiment 6 of the present invention.
  • a friction-driven particle or particle chain implantation device has a push rod output channel and can realize automatic implantation of particles or particle chains, mainly including a main body 50, a friction-driven Mechanism, particle clip or particle chain clip 75, flexible push rod 61, storage mechanism and push rod output channel 13.
  • the main body 50 is provided with a push rod output channel 13 for guiding the flexible push rod 61 or the particle chain to move back and forth.
  • 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, and
  • the particles or particle chains arranged at the front end of the flexible push rod 61 are implanted at preset positions along the push rod output channel 13 .
  • the push rod output channel is a rigid structure or a flexible and bendable structure.
  • the friction drive mechanism includes a friction assembly, at least a part of the surface of the friction assembly is in close contact with the surface of the flexible push rod or particle chain, and the flexible push rod or particle chain is driven to move forward and backward by the friction force generated by the fit, so
  • the radioactive source feeding part is used to place particles or particle chains to the front end of the flexible push rod, and the radioactive source feeding part is one of a particle clip, a particle chain clip, and a particle chain feeding part.
  • the push rod output channel can communicate with the delivery catheter, and the friction drive mechanism can drive the push rod or the particle chain to move back and forth along the delivery catheter and the puncture needle connected to the front end of the delivery catheter, so that the radioactive source feeding part is arranged on the pusher
  • the particles or particle chains at the front end of the rod or particle chain are implanted into the biological tissue along the delivery catheter and the puncture needle connected to the front end of the delivery catheter.
  • the friction assembly is a friction wheel or a friction belt, and the friction wheel or friction belt clamps the flexible push rod or the particle chain through a 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, and the clamping of the push rod or the particle chain is realized through self-extrusion; the friction wheel or the friction belt is provided with anti-skid grooves or anti-skid patterns; the friction wheel or the friction belt is provided with annular grooves , the flexible push rod or particle chain is confined 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.
  • the tight elastic element is used to apply a compressive force to the friction assembly, so that it can press the flexible push rod or the particle chain.
  • one or a combination of elastic blocks, springs, torsion springs, coil springs or torsion bars can be used.
  • the tightening mechanism also includes a pressure adjusting device 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.
  • 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 slide grooves, hinges or slide rails can be used.
  • the pressing The tight drive element is used to actively apply a compressive force to the friction component to make it press the flexible push rod or particle chain. Specifically, one or a combination of electromagnets, motors, electric push rods, pneumatic push rods, and hydraulic push rods can be used. .
  • the flexible push rod 61 is made of elastic material, can be bent under the action of external force, and can be restored to its original state after removing the external force.
  • the material of the flexible push rod 61 is nickel-titanium alloy, stainless steel, spring steel, elastomer material, composite material One or more combinations of them.
  • the flexible push rod itself is a particle chain; or the first half of the push rod is a particle chain structure, and the second half of the push rod is a push rod wire; the length of the flexible push rod 61 is greater than 300 mm, and the outer diameter is 0.5-1.5 mm.
  • the main body 50 is provided with a storage mechanism, which can be used to store the flexible push rod 61 or the particle chain.
  • the storage tray is provided with a rotating elastic element, and the storage wheel is driven to rotate through the elastic release of the rotating elastic element.
  • 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 one or more combinations of coil springs, torsion springs, springs, elastic sheets, and elastic blocks.
  • the storage mechanism adopts a sleeve
  • the sleeve is connected to the rear end of the friction drive mechanism
  • the sleeve is any one of a straight sleeve, a spiral sleeve, and a film type sleeve
  • the material of the sleeve is metal,
  • One or more combinations of plastic, rubber, latex, silica gel or elastomer materials; lubricants are provided in the sleeve to facilitate the smooth insertion of flexible push rods or particle chains, or the inner surface of the sleeve can be evenly coated with
  • the lubricating coating is used for lubricating grease or the inner surface of the bushing, and the material of the lubricating coating is Teflon.
  • the friction drive mechanism includes a power component 68 , a transmission component 69 , a guide component 70 , a mounting frame 50 - 1 , and a position detection component 60 .
  • the power part 68, the transmission part 69, the guide part 70, and the position detection part 60 are all installed on the mounting frame 50-1.
  • the power part 68 is used to provide the power for the flexible push rod 61 or particle chain to move
  • the transmission part 69 It is used to transmit the power output by the power part 68 to the flexible push rod 61 or the particle chain
  • the guide part 70 guides the flexible push rod 61 or the particle chain
  • the position detection part 60 is used to measure the flexible push rod 61 or the particle chain.
  • the power component 68 adopts the first motor 51 , or adopts the combination form of the first motor 51 and the reducer 52 .
  • the speed reducer 52 is fixed on the installation frame 50 - 1 through the first fixing plate 56 .
  • the mechanism is one or a combination of belt drive, chain drive, and gear drive; a guide channel is provided between two adjacent groups of friction wheels or friction belts, and the flexible push rod or particle chain passes through the inside of the guide channel, and the guide channel The channel acts as a guide to prevent the flexible push rod or particle chain from being bent between two adjacent sets of friction wheels or friction belts, resulting in drive blockage.
  • the transmission part 69 includes a second friction assembly 63 and a first friction assembly 64, and one end of the first friction assembly 64 and/or the second friction assembly 63 is connected to the output of the power part 68
  • the shaft is connected; the transmission part is arranged between the third fixed plate 58 and the fixed frame.
  • the second friction assembly 63 is supported on the mounting frame through a set of limit seats 65, and a bearing 66 is arranged inside the limit seat 65, and the bearing 66 is sleeved on the second friction assembly 63 and supported on the support chute of the limit seat 65 internal.
  • the second friction assembly 63 is at least one, and the first friction assembly 64 is at least one;
  • the 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 It is in contact with the side of the first friction assembly 64 , 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 guide member 70 during the rotation.
  • the first friction assembly 64 is a driving friction wheel/driving friction belt
  • the second friction assembly 63 is a driven friction wheel/driven friction belt
  • the first friction assembly 64 is a driven friction wheel/driven friction belt
  • the second friction assembly 63 is a driving friction wheel/driving friction belt.
  • the guide component 70 includes a guide seat 62 and a connecting pipe 71 , the guide seat 62 is installed on the mounting frame 50 - 1 , and a position detection component is arranged on the guide component 70 .
  • the connecting pipe 71 used for transporting particles or particle chains is a bendable and flexible pipe
  • the flexible push rod 61 is a bendable and flexible push rod.
  • the flexible push rod has a certain degree of elasticity and will return to a straight state when the external force is removed.
  • the specific material is one or more combinations of nickel-titanium alloy, spring steel, elastomer, and composite material.
  • the second friction assembly 63 is directly connected to the encoder 55, or drives the encoder 55 to rotate through the transmission part 69;
  • the mounting frame 50-1 is provided with a storage tray 59, and the flexible push rod 61 or the particle chain is coiled on the storage tray 59; wherein, the storage tray 59 adopts an inner concave storage tray.
  • the encoder 55 is installed on the mounting frame 50 - 1 through the second fixing plate 57 .
  • the first friction component 64 and the second friction component 63 are one or more combinations of metal, plastic, ceramic, silica gel and rubber.
  • the first friction assembly 64 is at least one friction wheel, the surface of the friction wheel is provided with a transverse anti-skid groove, the width of the transverse anti-skid groove is 0.1-1mm, and the direction of the transverse anti-skid groove is clamped with the direction of the flexible push rod 61 or the particle chain. Angle greater than 60 degrees.
  • Both the first friction assembly 64 and the second friction assembly 63 are provided with limiting grooves adapted to the flexible push rod 61 or the particle chain, so as to prevent the flexible push rod 61 or the particle chain from detaching from the friction wheel.
  • the mounting frame 50-1 is provided with a storage tray 59 for accommodating flexible push rods 61 or particle chains, and the flexible push rods 61 or particle chains are coiled inside or outside the storage tray 59.
  • the storage tray 59 adopts a concave shape. shaped storage tray, at this time, under the elastic action of the flexible push rod, the flexible push rod is automatically wound inside the inner concave surface of the storage tray.
  • one or more position detection components are provided on the mounting bracket 50-1, the position detection components include travel switches, position encoders or displacement sensors, and the position detection components can measure the flexible push rod 61 or The actual position of the particle chain.
  • the limit switch is installed on one side of the push rod output channel, and the position signal is triggered when the flexible push rod or particle chain passes the limit switch.
  • the travel switch is a conductive travel switch, which uses conductive on-off to judge the position of the flexible push rod or particle chain, including elastic contacts or spring pins; when used, it needs to cooperate with a flexible push rod 61 or particle chain with good conductivity, so that the flexible When the push rod 61 or the particle chain passes the conductive travel switch 60-1, a conductive loop will be formed between the multiple contacts, and a corresponding position detection signal can be triggered at this time.
  • 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 mechanical travel switch will squeeze the corresponding mechanical button when the flexible push rod or the particle chain passes by, thereby triggering the corresponding position detection signal;
  • One end of the trigger is set in the output channel of the push rod, and the other end is against the mechanical switch;
  • the trigger is a trigger lever, a trigger piece or a trigger needle, or the trigger is a roller , thereby reducing the frictional resistance between the trigger and the flexible push rod or particle chain.
  • Mounting seat B 2132202 is fixed to mounting seat A 2132201
  • micro switch 2132203 is fixed to mounting seat A 2132201
  • sheet probe 2132205 is installed in the chute between mounting seat B 2132202 and mounting seat A 2132201
  • spring 2132204 is tight on the sheet
  • the measuring head 2132205 is tightly connected to the micro switch 2132203 at one end.
  • the stop clip 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 downwards 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 rebounds and resets immediately.
  • 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 between the mounting base B 2132202 and the mounting base A 2132201 can also be replaced by a hinge.
  • the sheet measuring head 2132205 will rotate around the hinge, and the sheet measuring head 2132205 can use a stylus, a measuring lever, and a measuring pulley replace.
  • the position detection component includes a rotary encoder 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 moves back and forth, it will drive the measuring wheel to rotate,
  • the displacement of the push rod or the particle chain can be converted by measuring the angular displacement of the measuring wheel through the rotary encoder.
  • the transmission part 69 also includes a pressure regulating device 67, which is used to regulate the extrusion force between the second friction assembly 63 and the first friction assembly 64, thereby regulating the driving of the flexible push rod 61 or the particle chain Frictional force facilitates the transmission part 69 to drive the flexible push rod 61 or the particle chain; wherein, the pressure regulating device 67 adopts a limit screw and an elastic body, and one side of the elastic body withstands the second friction assembly or/and the first friction assembly
  • the bearing of the component, the elastic body has a certain amount of preload, so that a squeeze force is generated between the two, and the limit screw withstands the other side of the elastic body, and the preload of the elastic body is adjusted by adjusting the upper and lower positions of the limit screw amount, so as to adjust the pressing force between the second friction component 63 and the first friction component 64 .
  • the elastic body is one or more combinations of springs, shrapnel, and elastic blocks.
  • the elastic block is made of elastic material.
  • the first 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 encoder 55 through the spur gear 54, the encoder 55 can calculate the displacement length of the flexible push rod 61 or the particle chain according to the amount of rotation, and the guide component 70 can guide the flexible push rod 61 or the particle chain to adjust the position and direction.
  • the flexible push rod 61 or the particle chain When the chain passes through the limit switch, the contact on the flexible push rod 61 or the particle chain contacts with the contact in the limit switch to generate a signal, and cooperates with the displacement length measured by the encoder, that is, the current position of the flexible push rod 61 or the particle chain can be measured. actual location.
  • the method for detecting whether there is particle 86 or particle chain in the particle clip or particle chain clip 75 is: if after the travel switch occurs the trigger signal, the value calculated by the encoder If the theoretical position of the flexible push rod or the particle chain does not reach the actual position of the limit switch, it means that the flexible push rod or the particle chain is releasing a new particle 86 or particle chain at this moment, because this particle 86 or the particle chain is also conductive The contact between the two increases the length of the conductor, and the travel switch is touched in advance, or the mechanical travel switch is triggered in advance by the particles or particle chains, generating a trigger signal. And if there is no trigger signal ahead of time, it means that no new particle 86 or particle chain is released at this time, that is, there is no particle 86 or particle chain in the particle clip or particle chain clip 75 .
  • the conversion of the theoretical motion of the flexible push rod or the particle chain uses a motor or a motor equipped with an encoder, and the conversion of the actual motion of the flexible push rod or particle chain uses a position detection component, and the slipping position can be converted through the encoder.
  • the particle clip or 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 pushes Device comprises pressing sheet 85, guide block 84, spring 83, and guide block 84 is slidably arranged in guide groove 89, and spring 83 is pressed on the guide block 84, and pressing sheet 85 is arranged in the storehouse body below guide block, and particle 86 or particle chain contacts.
  • a particle channel 48 is provided between the bin body 82 and the particle anti-drop mechanism 87, and an elastic plug 88 is arranged on the particle anti-drop mechanism 87, 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 front end of the particle delivery mechanism is provided with a flexible conduit, and the flexible conduit is connected to a particle clip or a particle chain clip 75 after extending for a certain distance.
  • the particle clip or the particle chain clip 75 and the particle delivery mechanism can be within a small range.
  • the flexible push rod will move to the particle clip or particle chain clip 75 through the flexible conduit, and push out and move the most end particles or particle chains in the particle clip or particle chain clip 75.
  • the particle clip or the particle chain clip 75 has two designs. The first is that there is no particle or particle chain path (as shown in Figure 9), that is, the particle clip or the particle chain When there is no particle or particle chain in the clip, for example, the guide block 84 no longer moves downward under the constraint of the guide groove 89, and the pressure piece 85 will also allow the space of the passage, and the flexible push rod 61 can pass through the particle clip or particle freely.
  • the guide block 84 can slide in the guide groove 89 in the bin body 82.
  • the particle channel 48 is arranged between the bin body 82 and the particle anti-falling mechanism 87.
  • the bottommost particle 86 or particle chain remains stationary under the action of friction, but if it is separated due to vibration, etc., the elastic plug 88 of the particle anti-dropping mechanism 87 will block the particle 86 or particle chain
  • the front and rear motion passages make the particles 86 or particle chains no longer continue to slide out along the particle passage 48.
  • the elastic plug 88 When the flexible push rod 61 or the particle chains are pushed forward with a larger thrust, the elastic plug 88 will be deformed downward, so that The particle channel 48 is unblocked, and the flexible push rod 61 pushes the bottommost particle 86 or particle chain forward along the pipeline until it reaches the inside of the tumor, and then retracts to the initial position. Make up in time under the action of thrust, repeat above-mentioned flow process, all push out until all particles 86 or particle chain; And the pressing piece 85 will also give up the space of the particle channel 48, so that the flexible push rod 61 or the particle chain can pass through freely.
  • the particle or particle chain implantation device in this embodiment provides an automatic particle or particle chain implantation device with a push rod output channel, separates the particle or particle chain implantation device from the puncture needle, and realizes docking through the push rod output channel , since the output channel of the push rod can be deformed to a certain extent, it can adapt to some small-scale drift of the puncture needle to ensure the safety of the patient. Thereby realizing high-precision position control and high-precision implantation of particles or particle chains, so as to solve existing technical defects and technical requirements that cannot be met.
  • the particle or particle chain implantation device in 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.
  • High-precision particle or particle chain implantation to 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 particles or particle chains, which can realize the stable driving of the friction wheel while ensuring safety, which is conducive to the transmission of the driving force from the rear end of the flexible push rod to the front end, thus Realize 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 in the push rod output channel needs high-precision real-time measurement.
  • the thrust of the flexible push rod should not be too small.
  • the large thrust drive and high-precision position control of the flexible push rod much more difficult.
  • blood coagulation in the puncture needle may also cause needle sheath blockage, and there may be no particles or particle chains in the particle clip or particle chain clip.
  • the particle or particle chain The chain implant should have the ability to sense and judge in order to feed these back to the doctor.
  • Embodiment 2 In this embodiment, a friction-driven particle or particle chain implantation device, its technical solution is basically the same as that of Embodiment 1, except that:
  • the storage mechanism includes a storage wheel 59, the storage wheel 59 is an internal concave structure, and an opening is provided on the side, and the flexible push rod 61 or the particle chain extends into the storage wheel 59 from the side opening, and Under the action of its own elastic force, it is wound in the concave area inside the storage wheel 59 .
  • the storage wheel 59 can freely rotate along its axis without external force, and a guide pipe 2600 for guiding the flexible push rod 61 or the particle chain is provided between the storage mechanism 1500 and the flexible push rod driving mechanism 1600 or the particle chain driving mechanism.
  • the guide tube 2600 extends the flexible push rod 61 or particle chain into the storage wheel 59 along the tangential direction or approximately tangential direction of the storage wheel 59, and the flexible push rod driving mechanism 1600 is driving the flexible push rod While 61 is moving back and forth, or the particle chain drive mechanism is driving the particle chain to move back and forth, it pulls or extends the storage wheel 59 to make it rotate synchronously, and automatically accommodates the flexible push rod 61 or particle chain, flexible push rod 61 or particle chain.
  • the end of the chain is fixedly connected with the fixed opening in the inner recessed area of the receiving wheel 59 .
  • the flexible push rod driving mechanism 1600 or the particle chain driving mechanism also includes a power element 1300 and a measuring element 1400.
  • a power element 1300 There is a gap for the flexible push rod or particle chain to pass between the friction components, and the friction wheel 2400 can be in contact with the flexible push rod or particle chain.
  • the power element 1300 is connected with the active friction wheel or the active friction belt to provide power
  • the measuring element 1400 is connected with the driven friction wheel or the driven friction belt
  • the measuring element 1400 can pass through the friction wheel 2400
  • the movement of the friction belt measures the actual delivery length of the flexible push rod or the particle chain, and one side of the friction assembly is also connected with the transmission mechanism 1200 .
  • Embodiment 3 In this embodiment, the friction drive mechanism 1600 drives the flexible push rod to move through the friction wheel or friction belt, and the friction wheel or friction belt clamps the flexible push rod or the particle chain through the pressing mechanism, and the pressing mechanism A passive pressing mechanism or an active pressing mechanism is adopted; or the friction wheel or the friction belt itself is an elastic structure, and the clamping of the flexible push rod or the particle chain is realized through self-extrusion.
  • the friction wheel or the friction belt is provided with an anti-skid groove or an anti-skid pattern; or the friction wheel or the friction belt is provided with an annular groove, and the flexible push rod or particle chain is restricted in the annular groove.
  • the passive pressing mechanism 6000 in the present embodiment mainly uses a driving device 6001 to drive the driving shaft 6002 to rotate, the driving shaft 6002 is equipped with a friction wheel or a measuring wheel, and the driven shaft 6003 is equipped with a friction wheel or 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, and the drive shaft 6002 and the driven shaft A clamping element is installed between 6003, and the clamping element is composed of two sets of jaws 6005 hingedly connected by hinge shaft 6004, which is similar to the structure of pliers.
  • the middle part of the group 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 combined action of the body and 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 particle chain can be driven from between the two sets of friction wheels or two sets of measuring wheels. roll out.
  • 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.
  • Embodiment 4 As shown in Figure 21, Figure 22, and Figure 23, in the shown embodiment, a friction-driven particle or particle chain implantation device, its technical solution is basically the same as that of Embodiment 1, the difference is that :
  • the storage mechanism adopts a passive storage mechanism, and the passive storage mechanism includes a sleeve 38, which is connected to the rear end of the friction drive mechanism, and the sleeve is any one of a straight sleeve, a spiral sleeve or a film type sleeve.
  • the material of the sleeve is one or more combinations of metal, plastic, rubber, latex, silica gel or elastomer materials; a lubricant is provided in the sleeve to facilitate the smooth insertion of the needle core, and it can be evenly distributed on the inner surface of the sleeve.
  • Coated with lubricating oil or grease, or the inner surface of the casing is lubricated by a lubricating coating, and the lubricating coating is made of Teflon.
  • the film-type sleeve 4000 is made of two layers of flexible and deformable films, and heat-sealing stripes are arranged on the films, and the heat-sealing stripes connect the two layers of films to form an isolation
  • the bag 4002 is provided with a semi-rigid support 4003 on the film-type sleeve, and the semi-rigid support is evenly distributed and attached to the outer surface of the isolation bag. deformation, the inside of the isolation bag will expand to form a strip-shaped cavity for storing needle cores, and there are guide strips on the film-type sleeve to improve the rigidity of the film, avoid wrinkles in the film, and facilitate flexible push Feeding and storage of rods or particle chains.
  • the film-type sleeve 4000 includes a connecting piece 4001, which is connected to the opening end of the isolation bag, and the film-type sleeve is arranged at the output position of the core-pulling mechanism through the connecting piece for collecting needle cores.
  • the radioactive source feeding part adopts a particle chain feeding part, and the radioactive source feeding part includes a particle chain driving mechanism, a particle chain output channel, and a cutting mechanism, and passes through particle chains.
  • the chain driving mechanism continuously outputs the particle chain and cuts the particle chain of the target length through 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.
  • 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 storage mechanism and/or the 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 and/or particle chain are 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, and the flexible push rod and/or particle chain extend into the storage wheel under the guidance of the guide tube at the side opening, and are elastically Under the action, it is wound on the inner concave part of the storage wheel, and 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 cutting mechanism is arranged at any one of the particle chain output channel, the bifurcated pipe, and the mixing output channel.
  • the main pipe of the branch pipe is provided with a one-way non-return mechanism to prevent the reverse flow of particle chains.
  • 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 of particles or particle chains, thereby realizing multi-channel implantation.
  • the first motion platform is one of the following ways:
  • the connector moves, and one end of the push rod output channel or one end of the mixed output channel is stationary;
  • the connector is stationary, and one end of the push rod output channel or one end of the mixed output channel moves;
  • the connector moves, and one end of the push rod output channel or one end of the mixed output channel moves.
  • 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 first motion platform is a rotary arm mechanism 2026216, and the connector is a needle plate.
  • the rotary 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
  • particle chain driving mechanism 202623 travel switch and cutting mechanism 202622, after being cut off, it is sent into the docking nozzle 2026215, and the flexible push rod 202624 moves forward through the friction driving mechanism 2026211 against the cut particle chain 202621 and enters together.
  • the human body thus completes particle implantation at one time.
  • the position of the cutting mechanism 202622 can also be placed at the docking nozzle (that is, after the pipes converge), so that the particle chain can be driven to the docking nozzle first, then cut off, and then withdrawn from the docking nozzle, and then changed to a flexible push Rod pushes particle chain
  • the rotary 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 cutting mechanism 202622 After being transported to the specified length (the specified length is less than the length of the docking nozzle 2026215, as shown in Figure 30), it is cut off by the cutting mechanism 202622 (the travel switch 3 2026212 marks the zero position, the travel switch 1 202627 judges whether the particle chain is used up, and 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.
  • the cutting knife 202622-2 is provided with a guide column 202622-4 along the cutting direction to ensure The cutting knife will not deviate from the cutting direction (see Figure 30), the cutting knife 202622 can also be set at any one of the particle chain output channel, branch pipe, and mixing output channel; the travel switch 3 2026212 can also be set at the particle chain Anywhere in the output channel, branch pipe, and mixed output channel.
  • 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 Figure 30), after the cut particle chain 202621 enters the front end of the docking nozzle, the particle chain 202621 is recovered backward 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 recycling the particle chain) The position of the particle chain is shifted, see Figure 31).
  • the flexible push rod 202624 moves forward through the friction drive mechanism 2026211 (detected and recorded by the limit switch 2 2026210) and merges into the main pipeline from the sub-pipeline of the delivery pipeline 202625 (the main pipeline and the docking nozzle are relatively fixed) against the cut off
  • the particle chains 202621 enter the human body 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.
  • the limit switch 2 2026210 and the limit switch 3 2026212 may be the same.
  • step 1 can be performed in the process of step 2 to step 4. Synchronization complete.
  • Embodiment 6 As shown in Figures 32-35, a friction-driven particle or particle chain implantation device, the radiation source feeding part adopts a particle chain feeding part, and the radiation source feeding part includes a particle chain drive Mechanism, particle chain output channel, cutting mechanism, and continuously output the particle chain through the particle chain driving mechanism and cut off the particle chain of the target length through the cutting mechanism, so as to realize the feeding of the particle chain, the particle chain driving mechanism and the particle chain output
  • the channel is connected, and the output channel of the particle chain 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 storage mechanism and/or the 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 and/or particle chain are 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, and the flexible push rod and/or particle chain extend into the storage wheel under the guidance of the guide tube at the side opening, and are elastically Under the action, it is wound on the inner concave part of the storage wheel, and 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 drive 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 push rod output channel 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. implanted into living tissue.
  • 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 moving platform is exactly the second moving platform, one end of the output channel of the push rod, one end of the output channel of the particle chain and the connecting piece are all installed on the first moving platform, and the first moving platform can change the pushing One end of the output channel of the rod, one end of the output channel of the particle chain and the relative position relationship of the connector, specifically one of the following methods:
  • the connector moves, and one end of the push rod output channel and/or one end of the particle chain output channel is stationary;
  • the connector is stationary, and one end of the output channel of the push rod and one end of the output channel of the particle chain move;
  • the first moving 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 into the conveying conduit, and then the first moving platform Connect one end of the push rod output channel to the delivery catheter, drive the push rod to push the particle chain along the delivery catheter and the puncture needle connected to the front end of the delivery catheter through the push rod driving mechanism and push it into the biological tissue.
  • 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 second motion platform is the cooperation of guide assembly B262112215 (rail slider, guide post, etc.)
  • 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 first motion platform is a rotary arm mechanism 2026216, and the connector is a needle plate.
  • the rotary 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.
  • Cut the particle chain 202621 to the required length and then cooperate with the guide assembly B262112215 (rail slider, guide post, etc.) Switching back and forth and docking with the docking nozzle 2026215, the driving wire 202624 moves forward through the friction drive mechanism 2026211 against the particle chain 202621 and enters the human body forward to complete particle implantation at one time.
  • the cantilever 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 rod, 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 and the outlet of the driving wire and the corresponding driving components are installed on the moving plate)
  • Particle chain 202621 (a chain-shaped implant composed of particles and spacers) is transported forward to a specified length via particle chain drive mechanism 202623 and then cut off by cutting mechanism 202622 (travel switch 3 2026212 marks the zero position, travel switch 1 202627 judges Whether the particle 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 is along the cutting direction There is a guide column 202622-4 on it to ensure that the cutting knife will not deviate from the cutting direction (see Figure 34)
  • 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 Figure 34), after the severed particle chain 202621 enters the docking nozzle 2026215, the particle chain 202621 is recycled backward into the particle chain winding wheel 202628
  • guide assembly B262112215 (rail slider, guide post, etc.) and transmission assembly B262112213 (pinion rack, screw, 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 2 2026210) 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 In, then the drive wire 202624 is recovered into the flexible push rod winding wheel 202629.
  • the cantilever 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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  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Vascular Medicine (AREA)
  • Anesthesiology (AREA)
  • Hematology (AREA)
  • Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)

Abstract

La présente invention est destinée à fournir un dispositif d'implantation de particules ou de chaîne de particules actionné par frottement. Un canal de sortie de tige de poussée ou un canal de sortie de chaîne de particules configuré pour guider une tige de poussée pour qu'elle se déplace en va-et-vient est disposé sur un corps du dispositif ; un mécanisme d'entraînement à base de frottement peut actionner la tige de poussée pour se déplacer en va-et-vient le long du canal de sortie de tige de poussée ou du canal de sortie de chaîne de particules et délivrer une particule ou une chaîne de particules disposée au niveau d'une extrémité avant de la tige de poussée à une position prédéfinie le long du canal de sortie de tige de poussée ou du canal de sortie de chaîne de particules ; le canal de sortie de tige de poussée ou le canal de sortie de chaîne de particules est une structure rigide ou une structure flexible et pliable ; le mécanisme d'entraînement à base de frottement comprend un composant de frottement, et au moins une partie de la surface du composant de frottement est en contact étroit avec la surface de la tige de poussée ou de la chaîne de particules, ce qui permet d'actionner la tige de poussée ou la chaîne de particules pour se déplacer en va-et-vient par frottement ; une partie fournisseur de source radioactive est configurée pour fournir la particule ou la chaîne de particules à l'extrémité avant de la tige de poussée, et la partie fournisseur de source radioactive est l'une ou une combinaison d'une cartouche de particules, d'une cartouche de chaîne de particules et d'une partie fournisseur de chaîne de particules. La présente invention présente une sécurité élevée, et peut éviter des blessures dans le corps d'un patient.
PCT/CN2023/074945 2022-03-03 2023-02-08 Dispositif d'implantation de particules ou de chaîne de particules actionné par frottement Ceased WO2023165303A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
CN202210207077 2022-03-03
CN202210207077.0 2022-03-03
CN202211032981.9 2022-08-26
CN202211032981 2022-08-26
CN202211586593.5 2022-12-09
CN202211586593 2022-12-09

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WO2023165303A1 true WO2023165303A1 (fr) 2023-09-07

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020120174A1 (en) * 2001-02-23 2002-08-29 Steele Martin T. Radioactive seed-holding device
CN109260586A (zh) * 2018-07-23 2019-01-25 深圳先进技术研究院 一种放射性粒子植入手术机器人
CN110496301A (zh) * 2019-08-03 2019-11-26 芜湖安普机器人产业技术研究院有限公司 一种适用于临床人体截石位靶向粒子植入机器人
CN111281498A (zh) * 2020-03-13 2020-06-16 江苏工大博实医用机器人研究发展有限公司 一种自动粒子植入器
CN113941082A (zh) * 2021-09-30 2022-01-18 中国科学院深圳先进技术研究院 一种面向腔道粒子支架释放的机器人系统

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020120174A1 (en) * 2001-02-23 2002-08-29 Steele Martin T. Radioactive seed-holding device
CN109260586A (zh) * 2018-07-23 2019-01-25 深圳先进技术研究院 一种放射性粒子植入手术机器人
CN110496301A (zh) * 2019-08-03 2019-11-26 芜湖安普机器人产业技术研究院有限公司 一种适用于临床人体截石位靶向粒子植入机器人
CN111281498A (zh) * 2020-03-13 2020-06-16 江苏工大博实医用机器人研究发展有限公司 一种自动粒子植入器
CN113941082A (zh) * 2021-09-30 2022-01-18 中国科学院深圳先进技术研究院 一种面向腔道粒子支架释放的机器人系统

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