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WO2023236861A1 - Système d'implantation de particules et appareil de retrait d'aiguille à canaux multiples associé - Google Patents

Système d'implantation de particules et appareil de retrait d'aiguille à canaux multiples associé Download PDF

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Publication number
WO2023236861A1
WO2023236861A1 PCT/CN2023/098016 CN2023098016W WO2023236861A1 WO 2023236861 A1 WO2023236861 A1 WO 2023236861A1 CN 2023098016 W CN2023098016 W CN 2023098016W WO 2023236861 A1 WO2023236861 A1 WO 2023236861A1
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WO
WIPO (PCT)
Prior art keywords
clamping
needle
driving
guide
puncture
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/CN2023/098016
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English (en)
Chinese (zh)
Inventor
吴凡
林春生
习程梅
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.)
Huzhou Dashi Medical Technology Co Ltd
Original Assignee
Huzhou Dashi Medical Technology 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 Huzhou Dashi Medical Technology Co Ltd filed Critical Huzhou Dashi Medical Technology Co Ltd
Publication of WO2023236861A1 publication Critical patent/WO2023236861A1/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
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
    • A61N5/1007—Arrangements or means for the introduction of sources into the body

Definitions

  • 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.
  • 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 have solved the problem of implant accuracy and enabled the rapid development of radioactive particle short-range tumor treatment technology.
  • TPS computer radiation therapy planning systems
  • 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.
  • 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.
  • 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.
  • puncture templates 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.
  • 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.
  • 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.
  • 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.
  • 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;
  • 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.
  • the first clamping part is a protrusion or a groove provided on the first clamping member
  • 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.
  • the 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.
  • the clamping detection sensor is a rotary encoder, a displacement sensor, a travel switch, a proximity switch, a photoelectric sensor or a Hall switch.
  • 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.
  • 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.
  • 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.
  • 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.
  • Figure 1 is an exploded view of the module 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);
  • 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.
  • connection 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.
  • 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.
  • the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
  • the particle implantation machine includes a particle implantation device
  • 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.
  • 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.
  • 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.
  • the guide template is provided with a guide portion corresponding to the clamping position for guiding the puncture needle to pass through.
  • 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.
  • a needle clamping mechanism for guiding and clamping the puncture needle
  • a lifting mechanism for driving the needle clamping mechanism to move up and down.
  • 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.
  • the first clamping driving mechanism drives the first clamping member 2113 to move longitudinally
  • 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.
  • 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. .
  • 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.
  • 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.
  • the clamping portion is a separate component provided on the clamping member, such as a clamping jaw.
  • 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.
  • the clamping detection sensor includes a rotary encoder or a displacement sensor on the power source that drives the clamping drive mechanism.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first driving member or the second driving member itself has an elastic structure.
  • the clamping part itself has an elastic 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a first clamping member 2113 and a second clamping member 2115 in the needle clamping mechanism move and cooperate to clamp a puncture needle
  • the lifting mechanism drives the needle clamping mechanism to rise and fall to achieve depth adjustment of the puncture needle.
  • 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.
  • the elastic strip 2134 can urge the needle plate 2125 to return, thereby causing the friction plate 2127 to release the puncture needle 20 .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the present invention creatively proposes a new automated and unmanned implementation method.
  • an automatic particle implantation machine and an automatic needle removal device 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.
  • 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.

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  • Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Public Health (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Pathology (AREA)
  • Veterinary Medicine (AREA)
  • Surgery (AREA)
  • Radiology & Medical Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Infusion, Injection, And Reservoir Apparatuses (AREA)
  • Surgical Instruments (AREA)

Abstract

L'invention concerne un système d'implantation de particules et un appareil de retrait d'aiguille à canaux multiples de celui-ci. L'appareil de retrait d'aiguille à canaux multiples comprend un module de retrait d'aiguille utilisé pour guider une aiguille de ponction à insérer et ajuster une profondeur d'insertion de l'aiguille de ponction, et un module d'entraînement utilisé pour entraîner le module de retrait d'aiguille à agir. Dans la présente solution, le module de retrait d'aiguille et son module d'entraînement sont agencés sur la base d'un modèle de ponction dans l'état de la technique pour mettre en œuvre une ponction guidée et un retrait automatique de l'aiguille de ponction, et l'action de retrait d'aiguille est fiable et sûre. Par comparaison avec l'état de la technique, un endommagement par rayonnement provoqué par une opération manuelle par un médecin est évité, et les problèmes de difficulté élevée et de risque élevé de retrait et de positionnement d'aiguille par un robot sont également résolus.
PCT/CN2023/098016 2022-06-10 2023-06-02 Système d'implantation de particules et appareil de retrait d'aiguille à canaux multiples associé Ceased WO2023236861A1 (fr)

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Application Number Priority Date Filing Date Title
CN202210654723.8 2022-06-10
CN202210654723 2022-06-10

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WO2023236861A1 true WO2023236861A1 (fr) 2023-12-14

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Cited By (2)

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Publication number Priority date Publication date Assignee Title
CN117982211A (zh) * 2024-04-03 2024-05-07 北京智冉医疗科技有限公司 电极植入设备和电极植入方法
CN119257705A (zh) * 2024-12-06 2025-01-07 深圳拉尔文生物工程技术有限公司 一种提高密封籽源植入针穿刺精度的矫正器

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CN205698882U (zh) * 2016-02-24 2016-11-23 哈尔滨理工大学 多通道前列腺近距离放射性粒子植入装置
CN110141317A (zh) * 2019-05-21 2019-08-20 天津大学 一种肿瘤放射性粒子植入治疗多针自动穿刺装置

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Publication number Priority date Publication date Assignee Title
EP1486230A1 (fr) * 2003-06-03 2004-12-15 Eurotope Entwicklungsgesellschaft für Isotopentechnologien mbH Appareil pour charger des aiguilles d' implantation creuses avec des sources de radiation issues de sources de radiation placées en chaíne pour la curiethérapie interstitielle de tissu
US20070265487A1 (en) * 2006-05-09 2007-11-15 Worldwide Medical Technologies Llc Applicators for use in positioning implants for use in brachytherapy and other radiation therapy
CN104023760A (zh) * 2011-10-28 2014-09-03 普莱萨格生命科学公司 药物递送方法
CN205698882U (zh) * 2016-02-24 2016-11-23 哈尔滨理工大学 多通道前列腺近距离放射性粒子植入装置
CN110141317A (zh) * 2019-05-21 2019-08-20 天津大学 一种肿瘤放射性粒子植入治疗多针自动穿刺装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117982211A (zh) * 2024-04-03 2024-05-07 北京智冉医疗科技有限公司 电极植入设备和电极植入方法
CN119257705A (zh) * 2024-12-06 2025-01-07 深圳拉尔文生物工程技术有限公司 一种提高密封籽源植入针穿刺精度的矫正器

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