WO2023236861A1 - Particle implantation system and multi-channel needle-removing apparatus thereof - Google Patents

Abstract

Disclosed are a particle implantation system and a multi-channel needle-removing apparatus thereof. The multi-channel needle-removing apparatus comprises a needle-removing module used for guiding a puncture needle to be inserted and adjusting an insertion depth of the puncture needle, and a driving module used for driving the needle-removing module to act. In the present solution, the needle-removing module and the driving module thereof are arranged on the basis of a puncture template in the prior art to implement guided puncture and automatic removal of the puncture needle, and the needle-removing action is reliable and safe. Compared with the prior art, radiation damage caused by manual operation by a doctor is avoided, and the problems of the high difficulty and high risk of needle removal and positioning by a robot are also solved.

Description

Particle implantation system and its multi-channel needle extraction device Technical field

The invention belongs to the technical field of medical devices, and in particular relates to a particle implantation system and its multi-channel needle extraction device used in radioactive particle implantation operations.

Background technique

Brachytherapy refers to radiation therapy that uses one or more radiation sources in the patient's cavity, between tissues, or in superficial areas.

Radioactive seed implantation mainly refers to the technology of directly implanting isotope radioactive sources into tumor areas for treatment. It is a type of radiotherapy. At present, this technical method mainly uses modern imaging technology (CT, ultrasound, etc.) to place radioactive nuclide into the tumor target body or around the tumor through implantation, and kills the tumor cells through the continuous release of radionuclide rays. The implanted particles are usually iodine 125 particles. The half-life of iodine 125 particles is 59.6 days, and the radiation radius in the human body is less than 1.7 cm. They are safe and easy to protect. The gamma rays released by the particles can effectively irradiate tumor cells for 180 days, and have the ability to target tumors. High-dose distribution is used to kill tumor cells, while surrounding normal tissues receive trace amounts of radiation, causing no damage or only minor damage. This is essentially a precise radiotherapy method.

The advancement of imaging technologies such as ultrasound and CT and the emergence of computer radiation therapy planning systems (TPS, also known as three-dimensional treatment planning systems) have solved the problem of implant accuracy and enabled the rapid development of radioactive particle short-range tumor treatment technology. ; In the existing technology, the basic process of radioactive seed implantation surgery is: first, position and determine the implantation channel under the guidance of imaging equipment (such as B-ultrasound and CT, etc.); then, formulate the particle implantation channel through the radiation therapy planning system (TPS) The implanted treatment plan is mainly based on the location and size of the patient's tumor target area, determining the number, location, and puncture angle (or needle insertion direction) of particles to be implanted, and calculating the effective isodose distribution of the tumor target area. ; Finally, through surgery or under the guidance of imaging equipment, many puncture needles are percutaneously inserted into the predetermined position inside the tumor according to the needle insertion position and angle determined in the treatment plan. This process can be done with the help of a puncture guidance template. Complete to ensure that the spacing and direction between the needles are consistent with the preoperative plan. After confirming through CT that all puncture needles have reached the target position, the doctor will push each particle into the target location according to the preoperative plan through the channel established by the puncture needle. Inside the tumor, precise implantation and treatment are achieved. After all radioactive seeds are implanted, the puncture needle is pulled out from the patient's body to complete the operation. This type of surgery has a wide range of indications, including lung cancer, liver cancer, breast cancer, prostate cancer, etc. It has small incisions, less bleeding, and relatively few surgical complications, but it can effectively inhibit the growth of tumors and has unique therapeutic effects. , has been effectively verified at home and abroad. However, in the actual treatment process, in the treatment plan formulated based on factors such as the location and size of the patient's tumor target area, the number of particles that need to be implanted is usually multiple, and the number can reach hundreds of particles, and each particle usually requires They are implanted at different positions in the tumor target area, and the puncture angles when implanting each particle are also different, which makes the actual puncture and implantation process very time-consuming, and the doctor needs to be close to the radioactive particles during the implantation process. Long-distance contact will cause great radiation damage, which greatly limits the application and promotion of this type of surgery. Therefore, it has become an inevitable trend to use automated medical equipment to replace doctors in performing operations in a radiation environment.

In the existing technology, when performing radioactive particle implantation surgery, doctors often use puncture templates to limit the direction of the puncture needle to avoid puncture deviations during the puncture process, and thus cannot accurately insert radioactive particles into the tumor. . For example, puncture templates disclosed in patent documents such as CN208877700U, CN113244518B, CN209951352U, and CN108904966A generally require a doctor to manually implant particles and pull out the puncture needle, which will cause radiation damage to the doctor. In the existing technology, robots are also used to automatically pull out needles, but most of them have problems such as high mobile positioning accuracy and difficulty, which can easily cause dangerous injuries to patients.

Contents of the invention

In order to solve the above technical problems, the purpose of the present invention is to provide a particle implantation system and its multi-channel needle extraction device. A needle extraction module and its driving module are provided on the basis of the prior art puncture template to realize the puncture needle. Guided puncture and automatic needle withdrawal, the needle withdrawal action is reliable and safe.

In order to achieve the above objectives, the present invention adopts the following technical solutions:

Multi-channel needle extraction device for particle implantation system, including:

A needle withdrawal module used to guide the insertion of multiple puncture needles and selectively adjust the insertion depth of one of the puncture needles;

A driving module, used to drive the action of the pin pulling module.

Preferably, the needle extraction module includes a guide template and a needle clamping mechanism installed on the guide template; the needle clamping mechanism includes a plurality of clamping parts, the clamping parts are driven and moved by the clamping driving mechanism and can form several clamping parts for clamping and puncturing. The guide template is provided with a guide portion corresponding to the clamping position of the needle for guiding the puncture needle through. The guide part is one or more combinations of through holes, through grooves, chutes, guide rods, and guide blocks; an array of multiple guide parts is distributed on the guide template, and the guiding directions of the multiple guide parts are parallel to each other and perpendicular to Guide template; the width or diameter spacing of the guide part matches the outer diameter of the puncture needle, and the guide part and the puncture needle have a gap fit, and the outer diameter of the puncture needle is 0.8-1.8 mm.

Preferably, the clamping member includes a first clamping member and a second clamping member, the clamping driving mechanism includes a first clamping driving mechanism and a second clamping driving mechanism, and the first clamping member is arranged transversely And driven by the first clamping driving mechanism to move longitudinally, the second clamping parts are arranged longitudinally and driven by the second clamping driving mechanism to move transversely, the plurality of first clamping parts and the plurality of second clamping parts are arranged vertically and horizontally Arranged in a staggered manner, the first clamping part is provided with a plurality of first clamping parts, the second clamping part is provided with a plurality of second clamping parts, a first clamping part and a second clamping part cooperate with the clamp Holding the puncture needle, a plurality of clamping positions for holding the puncture needle can be combined by moving each of the first clamping part and the second clamping part to different positions.

Preferably, the first clamping part is a protrusion or a groove provided on the first clamping member, and the second clamping part is a protrusion or groove provided on the second clamping member. , the first clamping part and the second clamping part are inclined to clamp the needle tube of the puncture needle.

Preferably, the first clamping driving mechanism includes a first driving member for pushing and/or pulling the first clamping member to move longitudinally and a first driving member transmission structure for driving the first driving member to move transversely, When the first driving member moves laterally, it can push and/or pull one of the plurality of first clamping members respectively; the second clamping driving mechanism includes a device for pushing and/or pulling the second clamping member to move laterally. A second driving member and a second driving member transmission structure for driving the second driving member to move longitudinally. When the second driving member moves longitudinally, it can push and/or pull one of the plurality of second clamping members respectively; The first driving member transmission structure and the second driving member transmission structure are a belt transmission mechanism, a rope driving mechanism, a chain transmission mechanism, a screw transmission mechanism, a hydraulic driving mechanism or a rack and pinion mechanism.

Preferably, the first clamping drive mechanism includes a first camshaft rotatably provided on the guide template, and a plurality of first camshafts are provided on the first camshaft for respectively pushing and/or pulling the plurality of first clamping members to move longitudinally. a cam; the second clamping drive mechanism includes a second camshaft rotatably provided on the guide template, and a plurality of second camshafts are provided on the second camshaft for respectively pushing and/or pulling a plurality of second clamping members to move laterally. Two cams.

Preferably, the first clamping drive mechanism includes a first camshaft that is rotated on the guide template through a camshaft bearing seat, and the first camshaft is configured to push or pull a plurality of first clamping parts respectively. A plurality of first cams that move longitudinally; the second clamping drive mechanism includes a second camshaft that is rotated by a camshaft bearing seat and is provided on the guide template. The second camshaft is provided for pushing or pulling multiple cams respectively. A plurality of second cams that move laterally on a second clamping member; wherein an elastic portion is provided on one side of the camshaft or/and the camshaft bearing seat or the cam itself is an elastic structure for exerting pressure on the clamping member and providing Rebound space to prevent the cam from getting stuck and squeezing and deforming the puncture needle.

Preferably, it also includes a clamping detection sensor for detecting the action position of the clamping member or the driving module; the clamping detection sensor is a rotary encoder, a displacement sensor, a travel switch, a proximity switch, a photoelectric sensor or a Hall switch. One or more combinations.

Preferably, the needle extraction module further includes a lifting mechanism for driving the needle clamping mechanism up and down; the lifting mechanism adopts a screw nut transmission structure, a synchronous belt transmission structure, a rope drive structure or a gear and rack transmission structure.

Preferably, the lifting mechanism is arranged between the upper and lower mounting plates located on the upper and lower sides of the needle clamp mechanism. The lifting mechanism adopts a rope drive mechanism to achieve synchronous pulling and lifting of at least 3 points through a single cable; or the lifting mechanism is arranged on Located between the upper and lower mounting plates on the upper and lower sides of the needle clamping mechanism, the lifting mechanism uses at least three screw nut pairs. The needle clamping mechanism is provided with at least three screw nuts. Multiple screws are arranged in parallel and vertical directions. The synchronous transmission mechanism drives multiple screws to rotate synchronously, thereby controlling the needle clamping mechanism to rise and fall; alternatively, the lifting mechanism is arranged on the left or right side of the needle clamping mechanism, or on the columns on the left and right sides, and linear guide rails are provided on the columns. Or linear chute, the pin clamping mechanism is connected to the slide block on the linear guide rail or linear chute, and the lifting mechanism drives the slide block to perform lifting movement. The synchronous transmission mechanism is a belt transmission, chain transmission, gear transmission mechanism, etc.

Alternatively, the lifting mechanism adopts a rope drive mechanism, and a single pulling cable is used to achieve synchronous pulling and lifting of at least three points of the needle clamping mechanism.

Preferably, the needle extraction module further includes a needle clamping mechanism for preventing the puncture needle from rebounding after adjusting its insertion depth.

A particle implantation system includes a multi-channel needle extraction device for the particle implantation system as described above.

beneficial effects

The present invention adopts the above technical solution and sets the needle extraction module and its driving module on the basis of the prior art puncture template, thereby realizing the guided puncture and automatic needle extraction of the puncture needle. The needle extraction action is reliable and safe, compared with the existing technology. Technically speaking, it avoids radiation damage caused by manual operation by doctors, and also overcomes the difficulty and high risk of robot needle removal and positioning.

Description of the drawings

The description and drawings that constitute a part of this application are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute a limitation of this application.

Figure 1 is an exploded view of the module of the multi-channel needle extraction device of the present invention;

Figure 2 is a partial exploded view of the multi-channel needle extraction device of the present invention;

Figure 3 is a schematic structural diagram of the needle clamping mechanism in the multi-channel needle extraction device of the present invention;

Figure 4 is one of the schematic structural diagrams of the needle clamping device of the multi-channel needle extraction device of the present invention (top view);

Figure 5 is the second structural schematic diagram of the needle clamping device of the multi-channel needle extraction device of the present invention (viewed from below);

Figure 6 is a schematic structural diagram of the needle clamping mechanism in the multi-channel needle extraction device of the present invention;

Figure 7 is a schematic structural diagram of another embodiment of the needle clamping mechanism in the multi-channel needle extraction device of the present invention.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and examples.

It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present application. Unless otherwise defined, all technical and scientific terms used herein have the same meanings commonly understood by one of ordinary skill in the art to which this application belongs.

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention and are not to be construed as limiting the present invention.

In the description of the present invention, the singular forms are also intended to include the plural forms unless the context clearly dictates otherwise. Furthermore, it will be understood that when the terms "comprises" and/or "includes" are used in this specification, they Indicate the presence of features, steps, operations, devices, components and/or combinations thereof.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " The directions or positional relationships indicated by "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" etc. are based on the attached The orientations or positional relationships shown in the figures are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have specific orientations, be constructed and operated in specific orientations, and therefore cannot be understood as limiting the present invention. Limitations of Invention.

In addition, the terms “first” and “second” are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present invention, unless otherwise stated, the meaning of "plurality" is two or more than two, unless otherwise clearly defined.

In the present invention, unless otherwise clearly stated and limited, the terms "installation", "connection", "connection", "fixing" and other terms should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. , or integrally connected; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

In the present invention, unless otherwise expressly provided and limited, the term "above" or "below" a first feature of a second feature may include direct contact between the first and second features, or may also include the first and second features. Not in direct contact but through additional characteristic contact between them. Furthermore, the terms "above", "above" and "above" a first feature on a second feature include the first feature being directly above and diagonally above the second feature, or simply mean that the first feature is higher in level than the second feature. “Below”, “under” and “under” the first feature is the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature is less horizontally than the second feature.

Example 1:

A particle implant system including:

Particle implantation machine; the particle implantation machine includes a particle implantation device;

Puncture needle; the puncture needle is connected to the particle implanter through a first flexible delivery catheter;

The puncture needle is positioned on an automatic needle withdrawal device or the puncture needle is connected to an automatic needle withdrawal device. The automatic needle withdrawal device is installed near the body of the surgical patient. After the doctor or robot completes the particle implantation, the automatic needle withdrawal device is used. The puncture needle is pulled out to a specified depth, and the particles are implanted at the specified location so that the particles are evenly distributed within the tumor to achieve a better effect of killing the tumor.

Wherein, the particle implantation device includes a particle box for storing radioactive particles, a flexible particle push rod for pushing the radioactive particles, and a particle push driving mechanism for driving the flexible particle push rod to push the radioactive particles along the first flexible delivery conduit. .

The puncture needle has a through-pipe structure. When used, it needs to be punctured to the target location in the tumor according to the preoperative surgical plan. Under the action of the flexible particle push rod, the particles are output from the tip of the puncture needle and implanted into the tumor. internal.

The first flexible delivery conduit is a bendable flexible pipe. The length of the first flexible delivery conduit exceeds 500mm. The specific material is plastic, rubber, silicone and other flexible materials, preferably polytetrafluoroethylene, nylon, polyethylene, One or more combinations of polyvinyl chloride.

The flexible particle push rod is a flexible filament that can be bent. The length of the flexible particle push rod exceeds 500mm. It is preferred that the flexible particle push rod has a certain elasticity and will return to a straight state when the external force is removed. The specific material is nickel titanium. One or more combinations of alloys, spring steels, elastomeric materials, composite materials.

As a preferred embodiment, the above-mentioned puncture needle and the first flexible delivery catheter are also provided with a flexible needle core with a length of more than 500 mm. The flexible needle core occupies the space in the puncture needle tube to avoid the influx of the inside of the puncture needle tube during the operation. The blood and coagulation cause the needle tube to become clogged. The particle implantation machine is also equipped with an automatic core pulling device. The automatic core pulling device is used to remove any selected puncture needle and its connected first flexible delivery catheter before implanting the particles. The flexible inner core inside is pulled out to form a smooth particle implantation channel, so that the flexible particle push rod can push the radioactive particles into the puncture needle.

In this embodiment, the automatic needle extraction device is a multi-channel needle extraction device, as shown in Figures 1 and 2. The multi-channel needle extraction device includes: used to guide the insertion of multiple puncture needles and to be able to adjust any one of the puncture needles. The needle extraction module 21 determines the needle insertion depth and the driving module 24 for driving the action of the needle extraction module 21 . The needle extraction module includes a guide template and a needle clamping mechanism installed on the guide template; the needle clamping mechanism includes a plurality of clamping parts, which are driven by a clamping drive mechanism and can form several clamping parts. As for the clamping position of the puncture needle, the guide template is provided with a guide portion corresponding to the clamping position for guiding the puncture needle to pass through.

The clamping power source of the needle clamping mechanism is one or a combination of motors, electromagnets, air cylinders, hydraulic cylinders, pneumatic motors, and hydraulic motors. The clamping driving mechanism is directly connected or transmission connected with the corresponding clamping power source on the driving module. The clamping driving mechanism is a cam mechanism, a rope driving mechanism, a belt transmission mechanism, a chain transmission mechanism, a rack and pinion mechanism, and a screw nut. One or more combinations of mechanisms and inclined roof mechanisms.

Preferably, in this embodiment, the guide part is one or more combinations of a through hole, a through groove, a slide groove, a guide rod, and a guide block. Multiple guide portion arrays are distributed on the guide template, and the guide directions of the multiple guide portions are parallel to each other and perpendicular to the guide template; the width or diameter spacing of the guide portions is adapted to the outer diameter of the puncture needle, and the guide portions are The outer diameter of the puncture needle is 0.8-1.8 mm.

Preferably, in this embodiment, the needle extraction module 21 includes a needle clamping mechanism for guiding and clamping the puncture needle and a lifting mechanism for driving the needle clamping mechanism to move up and down. In this way, it is equivalent to setting up a needle clamping mechanism and a lifting mechanism on the basis of the prior art puncture template, realizing guided puncture and automatic needle extraction, and the needle extraction action is reliable and safe.

As shown in Figures 3 and 4, the needle clamping mechanism includes an upper guide plate 2102, a lower guide plate 2103, a first clamping driving mechanism, a second clamping driving mechanism, a first clamping member 2113 and a second clamping mechanism. The upper guide plate 2102 and the lower guide plate 2103 are fixedly connected up and down. A plurality of first clamping parts 2113 and a plurality of second clamping parts 2115 are arranged between the upper guide plate 2102 and the lower guide plate 2103. One clamping member 2113 is arranged longitudinally and can move reciprocally longitudinally. A plurality of second clamping members 2115 is arranged transversely and can move reciprocally laterally. The plurality of first clamping members 2113 and the plurality of second clamping members 2115 are crisscrossed. It is set that the first clamping part 2113 is provided with a plurality of first clamping parts, the second clamping part 2115 is provided with a plurality of second clamping parts, and one first clamping part cooperates with one second clamping part. To clamp the puncture needle, the first clamping driving mechanism drives the first clamping member 2113 to move longitudinally, and the second clamping driving mechanism drives the second clamping member 2115 to move laterally, thereby moving each first clamping member 2113 and the second clamping member 2115 to move horizontally. The clamping member 2115 can be moved to different positions to form multiple clamping positions for clamping puncture needles. The upper guide plate 2102 and the lower guide plate 2103 are provided with puncture needles corresponding to the multiple clamping positions. The guide part that passes through, the guide part in this embodiment adopts one or more combinations of through holes, through grooves, slide grooves, guide rods, and guide blocks. In this way, the upper guide plate 2102 and the lower guide plate 2103 form a guide template for guiding and setting multiple puncture needles (i.e., a puncture guide template or a needle extraction template). The guide template is provided with a plurality of through holes in an array, and a plurality of through holes are arranged in an array. A clamping piece and a second clamping piece cooperate with each other to clamp the puncture needle passing through any one of the through holes. The structure is simple and easy to control. Two upper and lower guide plates are used to guide the puncture needle to ensure stable and reliable needle clamping action.

Preferably, in this embodiment, multiple clamping positions are distributed in an array. It is further preferred to be in the form of a square matrix of M×M, where M is a positive integer greater than or equal to 5.

Preferably, in this embodiment, the multiple clamping positions are close to the mutually staggered positions of the first clamping member 2113 and the second clamping member 2115.

Preferably, in this embodiment, as shown in Figure 5, the first clamping part is a first protruding part 21131 integrally formed on the first clamping member 2113, and the second clamping part is integrally formed on the second The second protruding portion 21151 on the clamping member 2115, the first clamping portion and the second clamping portion are inclined to clamp the needle tube of the puncture needle. In this way, the two protruding inclined surfaces are used to clamp the puncture needle, which has a simple structure and low manufacturing cost.

Further preferably, the first clamping member 2113 and the second clamping member 2115 are stacked and staggered up and down, and the first protruding portion 21131 and the second protruding portion 21151 extend upward or downward respectively to increase the clamping mating surface of the two. .

Further preferably, the above-mentioned inclined surface for clamping fit refers to an inclined surface forming an angle of 45°±5° with the longitudinal direction or transverse direction.

Further preferably, a layer of elastic material is fixed on the clamping matching slopes of the first protruding part 21131 and the second protruding part 21151, so as to more firmly clamp the needle tube of the puncture needle.

In other embodiments, the clamping portion is a separate component provided on the clamping member, such as a clamping jaw.

In other embodiments, the clamping portion is a groove structure provided on the clamping member.

In another preferred embodiment, as shown in Figure 7, the first clamping part and the second clamping part are movably provided on the first clamping part 2113 and the second clamping part 2115 respectively for relative cooperation. A pair of clamping blocks that clamp the puncture needle - the first clamping block 2138 and the second clamping block 2139. The upper guide plate 2102 and/or the lower guide plate 2103 are provided with the first clamping block 2138 and the second clamping block 2139. The upper and/or lower slide grooves 21031 of the two clamping blocks 2139. When the first clamping member 2113 and the second clamping member 2115 move, the first clamping block 2138 and the second clamping block 2139 move along the sliding grooves 21031. The groove 21031 moves relative to clamp or loosen the puncture needle. In this way, the two staggered clamping pieces move together to push the two clamping blocks closer to or apart to clamp or loosen the puncture needle. The structure is reasonable and the clamping is stable and reliable.

Further preferably, the clamping surface of the puncture needle tube held by the first clamping block 2138 and the second clamping block 2139 is a curved surface, which facilitates more reliable clamping of the puncture needle.

Further preferably, the first clamping member 2113 is provided with a plurality of first sliding holes 21133 that pass through the first sliding holes 21133 and have a waist-shaped cross-section. The first clamping member 2113 realizes a movable connection. When the first clamping member 2113 moves longitudinally, the pin 2137 and its fixedly connected first clamping block 2138 are driven to move through the first sliding hole 21133; The holding member 2115 is provided with a plurality of second sliding holes 21153 that pass up and down and have a waist-shaped cross-section. The second clamping block 2139 is movable with the second clamping member 2115 through a pin 2137 that penetrates the second sliding holes 21153. connection, when the second clamping member 2115 moves laterally, the second sliding hole 21153 drives the pin 2137 and its fixedly connected second clamping block 2139 to move. In this way, the structure is more flexible and reasonable, the clamping position is more accurate, and assembly, manufacturing and adjustment are convenient.

Further preferably, the first clamping block 2138 and the second clamping block 2139 reciprocate along the chute 21031 in the same direction as the longitudinal or transverse movement of the first clamping member 2113 and the second clamping member 2115. The angle is 45°±5°. In this way, the clamping piece drives the clamping block to move faster, and the clamping force is larger and more stable.

Further preferably, it also includes a clamping guide mechanism for guiding the movement of the clamping member, and the clamping guide mechanism is a hinge, a slide groove, or a guide rail. Preferably, in this embodiment, as shown in Figure 4, the upper guide plate 2102 and/or the lower guide plate 2103 are provided with guide grooves 21021 for guiding the movement of the first clamping member 2113 and/or the second clamping member 2115. . Further preferably, the first clamping member 2113 and the second clamping member 2115 are provided with limiting portions 21132 and 21152 for cooperating with the guide groove 21021 to limit the movement range.

Preferably, this embodiment also includes a clamping detection sensor for detecting the action position of the clamping member or the driving module; the clamping detection sensor is a rotary encoder, a displacement sensor, a travel switch, a proximity switch, a photoelectric sensor or a Hall sensor. One or more combinations of switches. That is, the guide template or/and the driving module are provided with a clamping detection sensor for detecting the clamping state of the clamping part or/and the current position of the clamping drive mechanism or/and the current position of the clamping power source. In this embodiment, the upper guide plate 2102 and/or the lower guide plate 2103 are provided with a first clamping detection sensor 2112 for detecting the movement position of the first clamping member 2113 and a first clamping detection sensor 2112 for detecting the movement of the second clamping member 2115. Second clamp detection sensor 2108 for position. The plurality of first clamping detection sensors 2112 are arranged in one-to-one correspondence with the plurality of first clamping parts 2113, and the plurality of second clamping detection sensors 2108 are arranged in one-to-one correspondence with the plurality of second clamping parts 2115.

Further preferably, the clamping detection sensor includes a rotary encoder or a displacement sensor on the power source that drives the clamping drive mechanism.

Further preferably, the clamping detection sensor is one or more combinations of a travel switch, a proximity switch, a photoelectric sensor or a Hall switch. The position signal is triggered when the drive member pushing and/or pulling the clamp moves laterally/longitudinally to a specific position. Preferably, in this embodiment, as shown in Figure 5, the first clamping driving mechanism includes a first driving member 2110 for pushing and/or pulling the first clamping member 2113 to move longitudinally and a first driving member for driving the first clamping member 2113. 2110 Transversely moving first driving member transmission structure. When the first driving member 2110 moves laterally, it can push and/or pull one of the plurality of first clamping members 2113 respectively; the second clamping driving mechanism includes a The second driving member 2107 that pushes and/or pulls the second clamping member 2115 to move laterally and the second driving member transmission structure used to drive the second driving member 2107 to move longitudinally, the second driving member 2107 can respectively push the second driving member 2107 when moving longitudinally. Push and/or pull one of the plurality of second clamps 2115.

In a preferred embodiment, the first driving member transmission structure and the second driving member transmission structure are both belt transmission mechanisms; in other embodiments, a chain transmission mechanism, a rope driving mechanism, a screw transmission mechanism, or a hydraulic driving mechanism are used. Or rack and pinion mechanism. In this embodiment, a transmission belt 2111 is used to drive the driving member to move; the upper guide plate 2102 and/or the lower guide plate 2103 are provided with a first pulley for installing the first driving member transmission belt and a first pulley for installing the second driving member. The second pulley of the transmission belt. The first pulley is sleeved on the first clamping transmission shaft 2109 in a circumferentially fixed and axially unfixed manner. The second pulley is circumferentially fixed and axially unfixed. The way is sleeved on the second clamping drive shaft 2106, so that the pulley and the clamping drive shaft can transmit power and the pulley can move up and down on the clamping drive shaft.

Further preferably, the clamping part or/and the clamping driving mechanism or/and the clamping power source are provided with an elastic buffer structure to prevent the puncture needle from being squeezed and deformed by the clamping.

Preferably, in this embodiment, an elastic portion is provided on one side of the first driving member or the second driving member for exerting pressure on the first driving member or the second driving member and providing a rebound space to avoid the first driving member or the second driving member. The second driving part is stuck to prevent the puncture needle from being squeezed and deformed. Or the first driving member or the second driving member itself has an elastic structure. Or the clamping part itself has an elastic structure.

In this embodiment, the outside of the first driving member 2110 is provided with a first support body for elastically supporting the first driving member 2110. When the inside of the first driving member 2110 offsets the first clamping member 2113, the first The outer side of the driving member 2110 is against the first support body; the outer side of the second driving member 2107 is provided with a second supporting body for elastically supporting the second driving member 2107. When the inner side of the second driving member 2107 is in contact with the second clamping member When the parts 2115 are against each other, the outer side of the second driving part 2107 is against the second support body. The purpose of providing the support body is to provide certain elastic support for the driving member to prevent it from being stuck by the clamping member when moving, and to prevent the clamping member from completely squashing the puncture needle and damaging the puncture needle.

Further preferably, the first support body and the second support body adopt a sandwich plate structure, including an outer support plate, a middle elastic plate and an inner sliding plate. The outer supporting plate functions as an overall fixed support, the middle elastic plate provides elasticity, and the inner sliding plate The plate is smooth and wear-resistant to reduce friction in the movement of the driving parts. In this embodiment, it is preferred that the outer support plate is an aluminum plate, the middle elastic plate is an elastic foamed silicone plate, and the inner sliding plate is a polytetrafluoroethylene plate. The three plates are glued together and connected with screws to reinforce them; when polytetrafluoroethylene When the board is squeezed by force, the foamed silicone board compresses and rebounds when the external force is removed; in other embodiments, the above three boards can also be made of other materials with similar properties.

In other embodiments, since the supporting surface of the driving member itself is supported by upper and lower guide plates, the outer supporting plate in the above three-layer sandwich panel can be omitted and turned into a two-layer board. If the elastic board itself has a larger For good wear resistance and friction reduction, the inner sliding plate can be omitted and turned into a single layer, but the elastic plate cannot be omitted.

In another preferred embodiment, as shown in Figure 7, the first clamping driving mechanism includes a first camshaft rotatably provided on the upper guide plate 2102 and/or the lower guide plate 2103. A plurality of first cams 2140 are provided for respectively pushing and/or pulling a plurality of first clamping members 2113 to move longitudinally; the second clamping driving mechanism includes a rotationally arranged upper guide plate 2102 and/or a lower guide plate. 2103 on the second camshaft, the second camshaft is provided with a plurality of second cams 2136 for respectively pushing and/or pulling a plurality of second clamping members 2115 to move laterally; the upper guide plate 2102 and/or The lower guide plate 2103 is also provided with a first bevel gear for transmission connection with the first camshaft and a second bevel gear for transmission connection with the second camshaft. The first bevel gear is circumferentially fixed and axially unfixed. The second bevel gear is sleeved on the first clamping transmission shaft 2109 in a circumferentially fixed and axially unfixed manner. In this way, the bevel gear and the clamping transmission The shaft transmits power and the bevel gear moves up and down on the clamped drive shaft.

Preferably in this embodiment, the first clamping transmission shaft 2109 is transmission connected to the first clamping motor 2403 through the first clamping gear set 2117 and the first clamping input shaft 2121, and the second clamping transmission shaft 2106 is through The second clamping gear set 2116, the second clamping input shaft 2119 and the second clamping motor 2404 are transmission connected. In other embodiments, the clamping transmission shaft may also be directly connected to the clamping motor, or may be drivingly connected to the clamping motor through a synchronous belt or the like.

In other preferred embodiments, a first elastic return member for pushing or pulling the first clamping member 2113 to reset can also be provided on the other outside of the first clamping member 2113. Similarly, on the second clamping member 2113 The other outer side of 2115 is provided with a second elastic return member for pushing or pulling the second clamping member 2115 to return to its original position. In this way, a clamping drive mechanism and an elastic return member are respectively provided on both sides of the clamping member. The clamping drive mechanism actively pushes the clamping member to move to implement the clamping action, and the elastic return member prompts the clamping member to passively reset to implement the releasing action. In this way, the structural movement is more reasonable and unnecessary interference with the puncture needle is avoided. The elastic return member is an elastic structure or an elastic component, or the elastic return member may be shared by multiple clamping members, such as using the above elastic plate structure.

The lifting power source of the lifting mechanism is one or a combination of a motor, an electromagnet, a cylinder, a hydraulic cylinder, a pneumatic motor, and a hydraulic motor. The lifting mechanism adopts a screw nut transmission structure, a synchronous belt transmission structure, a rope drive structure or a gear and rack transmission structure. This embodiment is preferred. As shown in Figure 2, the lifting mechanism adopts a screw-driven lifting structure, including a number of guide rods and a number of lifting screws 2114 arranged between the first installation plate 2101 and the second installation plate 2104. The rod is covered with a guide sleeve, and the lifting screw 2114 is threaded with a screw nut. The guide sleeve and screw nut are installed on the upper guide plate 2102 and/or the lower guide plate 2103. The lifting motor 2402 and the lifting screw 2114 drive The connection drives the screw nut and needle clamp mechanism to move up and down. In the preferred embodiment, a plurality of lifting screws 2114 are provided, and the plurality of lifting screws 2114 are connected for synchronous movement through a lifting belt transmission group 2124. The lifting screws 2114 pass through a lifting belt transmission group 2124, a lifting gear group 2123, The lifting input shaft 2122 is transmission connected with the lifting motor 2402. Preferably in this embodiment, the guide rod function is realized by the first clamping transmission shaft 2109 and the second clamping transmission shaft 2106 (the two axes are hexagonal transmission guide shafts), and the guide bush function is implemented by a sleeve set on the clamping transmission shaft. The bevel gear or pulley can move up and down.

In other embodiments, the lifting mechanism adopts a gear and rack structure, a wire rope/belt traction structure, etc. to achieve lifting; or the lifting motor can also directly drive the lifting screw. In other embodiments, the lifting mechanism adopts a rope drive mechanism, which can achieve synchronous pulling and lifting of at least 3 points of the needle clip mechanism through a single pulling cable.

The lifting mechanism adopts a rope drive mechanism. One or more cables or elastic wires are installed in the casing and can be pulled relative to the casing. One end of the casing is clamped on the upper guide plate or the lower guide plate. Through one or more pull cables, the lifting mechanism adopts a rope drive mechanism. The cable or elastic wire extends downward perpendicular to the direction of the upper and lower guide plates to connect with the needle clamping mechanism, and realizes the up and down movement of the needle clamping mechanism through the pulling of the pulling cable; or at least three points of the needle clamping mechanism can be realized through a single pulling cable The position is pulled up and down synchronously; the cable rotates through the guide and shuttles between the upper and lower guide plates. The shuttle path includes several cable segments perpendicular to the upper and lower guide plates. The needle clamp mechanism is connected and fixed with these cable segments. When the cable is pulled, these cable segments perpendicular to the upper and lower guide plates will pull the needle clamp mechanism to move up and down; or the lifting mechanism uses at least three screw nut pairs, and the needle clamp mechanism is provided with at least three screw nuts. Each screw nut is equipped with a screw rod, and multiple screw rods are arranged in parallel and vertical directions. Each screw rod is driven to rotate synchronously through a synchronous transmission mechanism, thereby controlling the up and down movement of the needle clamp mechanism. In this way, a first clamping member 2113 and a second clamping member 2115 in the needle clamping mechanism move and cooperate to clamp a puncture needle, and the lifting mechanism drives the needle clamping mechanism to rise and fall to achieve depth adjustment of the puncture needle.

Further preferably, a lifting position sensor for detecting the displacement of the needle clamping mechanism is also provided. The lifting position sensor is a rotary encoder or a displacement sensor on the power source of the lifting mechanism. The lifting position sensor is one or more combinations of a travel switch, a proximity switch, a photoelectric sensor or a Hall switch provided on the lifting mechanism. The position signal is triggered when the needle clamping mechanism moves up and down to a specific position.

Because human body tissue has a certain degree of elasticity, the skin will be pulled upward during the needle removal process, and then it will spring back a short distance as soon as you let go. Regarding this problem, manual needle extraction is currently judged by visually observing the tangent position between the scale line on the puncture needle shaft and the skin, which is relatively accurate. However, if the automatic needle withdrawal device does not handle this problem well, errors will accumulate after each needle withdrawal.

Therefore, in this embodiment, it is preferred that the needle extraction module 21 also includes a needle clamping mechanism for preventing the puncture needle from rebounding after adjusting the insertion depth. The needle clamping mechanism is provided at the bottom of the needle extraction module 21, and the puncture needle passes through it. The needle clamping mechanism is inserted into the human body. The needle clamping mechanism can achieve semi-locking of the puncture needle. Specifically, it requires a certain driving force to overcome the friction of the needle clamping mechanism to pull out or insert the puncture needle. At the same time, It can stay at any depth, so that it can overcome the elasticity of human tissue and accurately stay the puncture needle at the position where it was just pulled out.

Further preferably, the needle clamping mechanism includes two friction plates stacked up and down. Both friction plates are provided with an array of through holes. The shear dislocation of the two friction plates is used to realize the penetration of the two friction plates. To tighten the puncture needle, at least one of the two friction plates is elastic. Preferably, a shear force adjustment mechanism is provided to adjust the shear force applied to at least one of the two friction plates, and the shear force adjustment mechanism is a screw adjustment.

As shown in Figures 2 and 6, in this embodiment, the needle clamping mechanism includes a needle clamping plate 2125 and a friction plate 2127 that are stacked up and down on the third mounting plate 2105. The needle clamping plate 2125 and the friction plate 2127 are Both have a plurality of through holes corresponding to the multiple clamping positions in the needle clamping mechanism, and these through holes can be used for the puncture needle 20 to pass through; the opposite sides of the needle clamping plate 2125 are respectively provided with adjustment members 2133 and elastic ones. Bar 2134, the needle plate 2125 can be moved through the adjusting member 2133, so that the through holes on the needle plate 2125 and the corresponding through holes on the friction plate 2127 are misaligned, so that the friction plate 2127 resists the puncture needle 20 and generates frictional resistance to prevent the puncture needle. After rebounding, the elastic strip 2134 can urge the needle plate 2125 to return, thereby causing the friction plate 2127 to release the puncture needle 20 .

Preferably in this embodiment, the friction plate 2127 is made of a material that can generate sufficient friction, preferably polyurethane, silica gel, rubber, latex, etc.; the elastic strip 2134 is made of an elastic material, preferably silica gel, rubber, latex, Polyurethane and other materials.

Preferably, in this embodiment, a partition 2126 is provided between the needle plate 2125 and the friction plate 2127. The partition 2126 is made of a material with a smooth surface to reduce the friction between the needle plate 2125 and the friction plate 2127. , to prevent the friction plate from sticking to the jammed needle plate and making it impossible to push and adjust, and to ensure that the movement and reset of the jammed needle plate 2125 is reliable. Preferably, the separator 2126 is a PTFE plate. In other embodiments, if the surface of the friction plate 2127 is smooth enough, the partition 2126 may not be provided.

In this embodiment, as shown in Figure 6, the needle clamping plate 2125 is made of a material with a certain rigidity to facilitate movement and adjustment. The needle clamping plate 2125 passes two limiting members 2131 in front and back to limit its up and down movement. Installed on the third installation plate 2105, the adjustment member 2133 is installed on the third installation plate 2105 through the adjustment member seat 2132. The adjustment member 2133 is a hand screw threadedly connected to the adjustment member seat 2132; the elastic strip 2134 is installed on the third installation plate 2105 through the elastic strip 2135; the friction plate 2127 is embedded on the third installation plate 2105; the third installation plate 2105 is fixedly installed below the second installation plate 2104.

In this way, in order to prevent the puncture needle from rebounding when the puncture needle is inserted into the skin and the needle is intermittently withdrawn, the adjusting member 2133 is used to resist the needle plate 2125, so that the puncture needle 20 and the friction plate 2127 generate sufficient friction to prevent the puncture needle 20 from rebounding. When the adjusting member 2133 thumb screw is loosened, the needle plate 2125 is bounced back to the original position, thereby making the puncture needle 20 loose.

In other embodiments, the above-mentioned needle clamping mechanism can also be directly replaced by a friction plate with a smaller hole diameter (the friction plate is made of a material with a certain elasticity, such as polyurethane, TPU, silicone, rubber, latex, elastomer materials, etc.). The semi-clamping state is achieved by tightly fitting the puncture needle with the hole.

However, since the needle extraction module guides percutaneous puncture, if it is necessary to puncture through the ribs, it may be necessary to use a bone drill to drill holes through the needle extraction module. At this time, if a hole with a smaller diameter is used, it may be drilled by the bone drill. Drill bit destroyed.

In addition, there is a certain danger in leaving the puncture needle in a semi-clamped state. If the tip of the puncture needle is close to blood vessels and other important organs, a slight body tremor may cause danger. However, if the puncture needle is in a floating state, it can ensure safety. sex.

Therefore, the preferred solution for the needle clamping mechanism is to achieve clamping through the shearing action of the two plates. At this time, the strength of the clamping needle can be adjusted at any time, and the needle clamping mechanism can be adjusted to be stable when drilling or puncturing dangerous areas. Tightened state.

The driving module 24 includes a lifting motor 2402 used to provide power to the lifting mechanism, a first clamping motor 2403 used to provide power to the first clamping driving mechanism, and a first clamping motor 2403 used to provide power to the second clamping mechanism. The drive mechanism powers the second clamping motor 2404.

In order to ensure the safety of the surgical environment and reduce the cost of surgical instruments, it is preferred to make the needle extraction module 21 a passive component, and isolate the active components (driving module 24) independently. All passive components (including the needle extraction module 21 and its sensors) etc.) are designed to be washable and disinfectable, and have good waterproof performance or high temperature resistance. Therefore, in this embodiment, it is preferred that the multi-channel needle pulling device is a passive needle pulling device: as shown in Figure 1, the driving module 24 is set independently relative to the needle pulling module 21, and also includes a driving bracket 2401 and a lifting motor 2402. , the first clamping motor 2403 and the second clamping motor 2404 are both installed on the driving bracket 2401. The driving bracket 2401 is also equipped with a control panel, control buttons and display devices. The pin pulling module 21 and the driving module 24 are connected by The module 22 is connected, and an isolation film 23 is provided on the connection module 22 to isolate the driving module 24 from the needle extraction module 21 to prevent blood from contaminating the driving module 24 and operating parts.

Or, when the lifting mechanism and/or the needle clamping mechanism is driven by a rope or hydraulically driven, a casing is provided between the driving module 24 and the needle pulling module 21, and a pull rope or elastic wire or hydraulic oil is provided in the casing. The driving module 24 can drive the pull rope or elastic wire or hydraulic oil provided in the casing to move forward and backward relative to the casing to realize the transmission of power. Since the distance between the needle pulling module 21 and the driving module 24 is far, mutual contamination is not easy to occur. , therefore the pin extraction module 21 and the driving module 24 can no longer be isolated from the isolation film 23 by the connection module 22 . The length of the sleeve is greater than 500mm, and electrical signals are transmitted through cables or elastic wires or metal pull ropes.

Preferably in this embodiment, the connection module 22 includes a first plywood 2201, a second plywood 2202 and a reinforcing plate 2203. The first plywood 2201, the second plywood 2202 and the reinforcing plate 2203 are isolated from each other. The membrane 23 is sandwiched in the middle and strengthened by the reinforcing plate 2203. The first plywood 2201, the second plywood 2202 and the reinforcing plate 2203 are respectively fixedly connected to the pin extraction module 21 and the driving module 24 through fasteners; the first plywood 2201 and the second plywood 2203 are respectively There is also an intermediate transmission shaft between the clamping plates 2202. The first clamping input shaft 2121 and the second clamping input shaft 2119 are respectively connected to the first clamping motor 2403 and the second clamping motor 2404 through the two intermediate transmission shafts. Thus, isolation transmission and needle clamping control at different matrix points are realized; the lifting input shaft 2122 is connected to the lifting motor 2402 through an intermediate transmission shaft, thereby realizing isolation transmission and the lifting of the needle clamping mechanism. There is also an electrical connector between the first plywood 2201 and the second plywood 2202. The electrical connector 2120 on the pin extraction module 21 is connected to the control board on the drive module 24 through this electrical connector.

For particle implantation surgery, the present invention creatively proposes a new automated and unmanned implementation method. By setting up an automatic particle implantation machine and an automatic needle removal device independently, the two are connected through a flexible hose. The doctor first removes the needle. The puncture is completed under the guidance of the needle device (similar to the currently commonly used clinical puncture guide template), and then the doctor connects the hose to the tail of the puncture needle, and the other end of the hose is connected to the particle implanter. The particle implanter can be selected Different channels are used to push the particles forward along different channels, and then along the hose and puncture needle to reach the inside of the tumor. At the same time, the automatic needle withdrawal device pulls out the puncture needle for a certain distance, then implants it again, pulls it out again, and cycles it for many times. It implants the particles at the designated position so that the radioactive particles are evenly distributed within the tumor to achieve better tumor killing. Effect. The entire surgical process can be completely unmanned to avoid radiation damage to doctors caused by radioactive particles.

In the description of this specification, reference is made to the terms "one embodiment," "some embodiments," "one implementation," "specific implementations," "other implementations," "examples," "specific examples," or Descriptions of "some examples" and the like mean that a particular feature, structure, material or characteristic described in connection with the embodiment or example is included in at least one embodiment, implementation or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described above may be combined in any suitable manner in any one or more embodiments, implementations or examples. The technical solutions recorded in the present invention also include technical solutions in which any one or more of the specific features, structures, materials or characteristics described above are formed individually or in combination.

Although the embodiments of the present invention have been shown and described above, it can be understood that the above-mentioned embodiments are illustrative and should not be construed as limitations of the present invention. Those of ordinary skill in the art will not deviate from the principles and purposes of the present invention. Under such circumstances, within the scope of the present invention, the above embodiments can be changed, modified, replaced, modified, some features can be deleted, features can be added, or features can be re-combined to form a technical solution. Any modification of the above embodiments based on the innovative principles of the present invention Any simple modifications, equivalent changes and modifications made still fall within the scope of the technical solution of the present invention.

Claims (10)

A multi-channel needle extraction device for particle implantation systems, characterized by including: a needle extraction module for guiding the insertion of multiple puncture needles and selectively adjusting the insertion depth of one of the puncture needles; a driving module, Used to drive the action of the pin extraction module. The multi-channel needle extraction device for particle implantation systems according to claim 1, wherein the needle extraction module includes a guide template and a needle clamping mechanism installed on the guide template; the needle clamping mechanism includes multiple A clamping piece is driven by a clamping drive mechanism and can form several clamping positions for clamping the puncture needle. The guide template is provided with a plurality of clamping parts corresponding to the clamping positions for guiding the puncture needle. A guide part that passes through; the guide part is one or more combinations of a through hole, a through groove, a chute, a guide rod, and a guide block; an array of multiple guide parts is distributed on the guide template, and the multiple guide parts The guide directions are parallel to each other and perpendicular to the guide template; the width or diameter of the guide portion matches the outer diameter of the puncture needle, and the guide portion and the puncture needle have a clearance fit. The outer diameter of the puncture needle is 0.8-1.8 mm. The multi-channel needle extraction device for particle implantation system according to claim 2, wherein the clamping member includes a first clamping member and a second clamping member, and the clamping driving mechanism includes a third clamping member. A clamping drive mechanism and a second clamping drive mechanism, the first clamping part is arranged longitudinally and is driven by the first clamping driving mechanism to move longitudinally, the second clamping part is arranged transversely and is driven by the second clamping driving mechanism Driven to move laterally, a plurality of first clamping parts and a plurality of second clamping parts are arranged in a criss-cross pattern. The first clamping part is provided with a plurality of first clamping parts, and the second clamping part is provided with a plurality of The second clamping part, a first clamping part and a second clamping part cooperate to clamp the puncture needle, so that multiple uses can be combined by moving each first clamping part and the second clamping part to different positions. In the clamping position of the puncture needle. The multi-channel needle extraction device for particle implantation system according to claim 3, wherein the first clamping part is a protrusion or a groove provided on the first clamping member, and the The second clamping part is a protruding part or a groove provided on the second clamping member. The first clamping part and the second clamping part are inclined to clamp the needle tube of the puncture needle. The multi-channel needle extraction device for particle implantation system according to claim 3, characterized in that the first clamping driving mechanism includes a third clamping member for pushing and/or pulling the first clamping member to move longitudinally. A driving member and a first driving member transmission structure for driving the first driving member to move laterally. When the first driving member moves laterally, it can push and/or pull one of the plurality of first clamping members respectively; The two clamping driving mechanisms include a second driving member for pushing and/or pulling the second clamping member to move laterally and a second driving member transmission structure for driving the second driving member to move longitudinally. The second driving member moves longitudinally. can respectively push and/or pull one of the plurality of second clamping parts; the first driving part transmission structure and the second driving part transmission structure are a belt transmission mechanism, a rope driving mechanism, a chain transmission mechanism, and a screw rod. Transmission mechanism, hydraulic drive mechanism or rack and pinion mechanism. The multi-channel needle extraction device for particle implantation system according to claim 3, characterized in that the first clamping drive mechanism includes a first camshaft rotatably provided on the guide template, and the first camshaft A plurality of first cams are provided for respectively pushing and/or pulling a plurality of first clamping members to move longitudinally; the second clamping driving mechanism includes a second camshaft that is rotated on the guide template, and the second cam A plurality of second cams for respectively pushing and/or pulling a plurality of second clamping members to move laterally are provided on the shaft. The multi-channel needle extraction device for particle implantation systems according to claim 2, further comprising a clamping detection sensor for detecting the action position of the clamping member or the driving module; the clamping detection sensor It is one or more combinations of rotary encoder, displacement sensor, travel switch, proximity switch, photoelectric sensor or Hall switch. The multi-channel needle extraction device for particle implantation system according to claim 2, characterized in that the needle extraction module further includes a lifting mechanism for driving the needle clamping mechanism to move up and down; the lifting mechanism adopts a screw rod Nut drive structure, synchronous belt drive structure, rope drive structure or rack and pinion drive structure; the lifting mechanism is set between the upper and lower mounting plates located on the upper and lower sides of the needle clamp mechanism. The lifting mechanism adopts a rope drive mechanism and achieves at least Synchronous pulling and lifting of 3 points; or the lifting mechanism is set between the upper and lower mounting plates located on the upper and lower sides of the needle clamping mechanism. The lifting mechanism uses at least three screw nut pairs, and the needle clamping mechanism is provided with at least three screws. Nut, multiple screw rods are arranged in parallel and vertical directions, and the multiple screw rods are driven to rotate synchronously through a synchronous transmission mechanism, thereby controlling the up and down lifting of the needle clamping mechanism; or, the lifting mechanism is arranged on the left or right side of the needle clamping mechanism Or on the columns on the left and right sides, there are linear guide rails or linear chute on the column. The needle clamp mechanism is connected to the slide block on the linear guide rail or linear chute. The lifting mechanism drives the slide block to perform lifting movement. The multi-channel needle extraction device for particle implantation system according to claim 2, wherein the needle extraction module further includes a needle clamping mechanism for preventing the puncture needle from rebounding after adjusting its insertion depth. A particle implantation system, characterized by comprising the multi-channel needle extraction device for the particle implantation system according to any one of claims 1 to 9.