67 results about "Seed Implantation" patented technology

The invention discloses a 2 mu m all-fiber coherent laser Doppler wind finding radar system, which consists of a 2 mu m off-axis Cassegrain optical antenna system, a 2 mu m laser beam splitting system, a 2 mu m seed implantation laser amplifier, a 2 mu m monitoring detector system, and a 2 mu m balanced heterodyne detection system. The system overcomes the defect of ambient interference existing in a free space optical path, overcomes the influence of shot noise on heterodyne reception signal-to-noise ratio, and solves the problems of all fiber and miniaturization of the 2 mu m all-fiber coherent laser Doppler wind finding radar system, so that the 2 mu m all-fiber coherent laser Doppler wind finding radar system has a more compact structure. In addition, the system has the characteristics of safe laser for human eye, optical path connection by adopting flexible optical fiber devices, high operability and stability, low cost, good real time, long effectively measured distance, high measurement accuracy (speed measurement and distance measurement) and the like, and has high practical value in the field of coherent laser Doppler wind finding radar.

The invention relates to a 3D printing-based personalized cranial particle implantation guide system, including a head-fixed vacuum pad, particle implantation planning software, a personalized skull perforation template, a personalized particle implantation puncture template, template making and Printing software, 3D printer. The skull perforation template of the present invention is used in conjunction with the particle implantation puncture template, so that the intersection point of each particle implantation needle body is at the perforation of the skull, and the puncture needle passes through the skull smoothly, and the particle implantation needle column of the template can accurately guide the puncture needle. The puncture direction avoids blood vessels and important central nerves, accurately punctures to the lesion, reduces the difficulty of the operation, shortens the operation time, and reduces the risk of the operation.

The invention discloses an all-dimensional close-range seed implantation robot for the prostate and relates to the field of medical instruments. The robot is composed of a position adjustment mechanism, a cross joint gesture adjustment mechanism, an ultrasonic image navigation module, a seed implantation module and an operation table cart; by controlling a motor, the position and gesture of an ultrasonic probe can be adjusted, feeding and rotation motion around the axis of the ultrasonic probe are achieved, and a series of sequence ultrasonic images are obtained; under guide of the ultrasonicimages, by controlling the seed implantation module, the radioactive seed implantation treatment operation for the prostate cancer is completed. According to the robot, the defects can be overcome that in the traditional seed implantation operation process, due to the fatigued operation of doctors, the positioning precision and stability of manual operation are low, and the treatment process depends on the personal experience of the doctors. The operation efficiency and seed implantation precision are improved.

The invention discloses a close-range seed implantation robot and bed connection-type automatic control operating table. The end parts of the two sides of an operating bed are respectively fixedly provided with an operating table mounting rack; a horizontal guide rod is fixedly connected between the inner sides of the two operating table mounting racks; the outer side of one operating table mounting rack is connected with a horizontally moving servo motor through a lead screw drive seat; an output shaft of the horizontally moving servo motor is connected with one end of a first ball screw through the operating table mounting rack; the other end of the first ball screw can be rotatably connected onto the inner side of the other operating table mounting rack; the horizontal guide rod is arranged parallel to the first ball screw; the horizontal guide rod is in sliding connection with one end of the bottom of a support slider; the first ball screw is in threaded connection with the other end of the bottom of the support slider; the support slider is provided with an operating table vertical moving frame; and an operating table feed moving mechanism is arranged on the operating table vertical moving frame. The close-range seed implantation robot and bed connection-type automatic control operating table can be combined with the existing operating bed, and is easy to automatically control; and with the adoption of the bed-type automatic control operating table, the operating precision can be greatly improved, and the operating effect can be ensured.

The invention discloses an automatic seed implantation device. The device comprises a mounting base, a push needle, a first driving mechanism, a second driving mechanism, a feeding mechanism and a puncture needle guide mechanism, wherein a first track and a second track are arranged on the mounting base side by side; a push needle mounting seat is arranged on the first track; a puncture needle guide mechanism mounting seat is arranged on the second track; the push needle and the puncture needle guide mechanism are arranged on the push needle mounting seat and the puncture needle guide mechanism mounting seat; the push needle and the puncture needle guide mechanism are driven to move through the first driving mechanism and the second driving mechanism; the puncture needle guide mechanism comprises a driving assembly and a clamping assembly; the driving assembly drives the clamping assembly to clamp and loosen; the feeding mechanism is arranged at one end of the mounting base, and seedsin the feeding mechanism are pushed out through a push needle; and an external mechanical interface is arranged on the mounting base and is used for controlling the whole movement of the seed implanter. Seed implantation can be automatically executed by a machine, and ionizing radiation and implantation deviation of doctors in an operation are avoided.

The invention discloses an automatic vertical support of a close-range seed implantation robot. The automatic vertical support comprises a movable base, a lifting support and a cantilever expanding platform, wherein the movable base is provided with a motor; the lifting support is arranged on the movable base, is connected with the motor and is driven by the motor; the cantilever expanding platform is fixedly connected to the top end of the lifting support; the movable base comprises a base plate, a motor mounting seat, a motor and a transmission seat, wherein the motor mounting seat is arranged in a groove arranged on the upper surface of the base plate; the motor is arranged in the motor mounting seat; the transmission seat is arranged on the motor, can run through a motor shaft and is used for being fixedly connected with the lifting support; the lifting support comprises a support sleeve, a screw and a lifting sleeve; the lower end of the support sleeve is clamped in the groove on the base plate of the movable base; the upper end of the support sleeve is connected with the lifting sleeve; and the lifting sleeve moves up and down along a second sleeve under the condition that the screw is driven to rotate by the motor. The invention provides a novel support which is higher in positioning precision, rapid in positioning time, more convenient and more flexible in structure for the operating robot; and with the adoption of the automatic vertical support, doctors can be assisted to finish operation, and the speed, precision, success and completeness of the operation can be improved to a large extent.

The invention discloses a 2 mu m all-fiber coherent laser Doppler wind finding radar system, which consists of a 2 mu m off-axis Cassegrain optical antenna system, a 2 mu m laser beam splitting system, a 2 mu m seed implantation laser amplifier, a 2 mu m monitoring detector system, and a 2 mu m balanced heterodyne detection system. The system overcomes the defect of ambient interference existing in a free space optical path, overcomes the influence of shot noise on heterodyne reception signal-to-noise ratio, and solves the problems of all fiber and miniaturization of the 2 mu m all-fiber coherent laser Doppler wind finding radar system, so that the 2 mu m all-fiber coherent laser Doppler wind finding radar system has a more compact structure. In addition, the system has the characteristics of safe laser for human eye, optical path connection by adopting flexible optical fiber devices, high operability and stability, low cost, good real time, long effectively measured distance, high measurement accuracy (speed measurement and distance measurement) and the like, and has high practical value in the field of coherent laser Doppler wind finding radar.

The invention discloses an image guided seed implantation system based on a camera. The image guided seed implantation system comprises imaging equipment, a plan system workstation, a patient positioning marker, a positioning marker mounted on a seed implantation device and a camera real-time positioning device. The camera real-time positioning device calculates spatial coordinates of the positioning marker through binocular vision principles and displays three-dimensional images of tumor, a region of interest, a planned needle passage and a real-time needle passage in a plan system. The image guided seed implantation system brings convenience to a doctor to accurately implement and adjust plans.

The invention discloses a radioactive particle automatic implanting device. The radioactive particle automatic implanting device includes a radioactive particle storage device, a radioactive particle implanting needle, a push rod, a driving cylinder and a main controller, wherein the radioactive particle storage device is internally provided with a radioactive particle storage cavity, and a radioactive particle delivery channel is formed in the bottom of the radioactive particle storage cavity; a radioactive particle implanting channel is horizontally formed in the lower end of the radioactive particle storage device, and a first end of the radioactive particle implanting channel is an implanting needle insertion end; a second end is a push rod insertion end, and a radioactive particle lead-in mouth is formed in the part, close to the implanting needle insertion end, of the inner top surface of the radioactive particle implanting channel; a radioactive particle slide path is arranged between the radioactive particle lead-in mouth and the bottom of the radioactive particle delivery channel, and the radioactive particle implanting needle is connected with the implanting needle insertion end; the front end of the push rod is inserted into the push rod insertion end, and the rear end is connected with the driving cylinder. The radioactive particle automatic implanting device has the advantages of automatically implanting large-batch radioactive particles into a tumor part of the body of a patient, and the use effect is good.

The invention discloses a prostate seed implantation robot. The robot comprises a base, a robot body and an end effector fixed to the tail end of the robot; the end effector mainly comprises a medicalultrasonic probe, a seed implantation needle and a guide sleeve adjusting mechanism capable of controlling implantation needle puncture location and angle; the medical ultrasonic probe can be conveniently assembled and disassembled on the end effector through a pressing plate and a buckle and can enter the rectum of a patient through the anus of the patient under the drive of the robot so as to obtain an ultrasonic image of the prostate, and the end effector can rotate around the center line of the medical ultrasonic probe and move horizontally along the center line; a guide sleeve in the guide sleeve adjusting mechanism can adjust the angle and can horizontally move along an adjusting support vertically, and the end effector rotates around the center line of the medical ultrasonic probeand horizontally moves along the center line. Accordingly, more flexible puncture location and angle can be obtained, and shielding of the sacrum in a human body on the seed implantation needle can beeffectively avoided while the prostate seed implantation operation precision is improved.

The invention relates to a novel detachable image-guided puncture device and a production method and application thereof. The device can be directly used for directional positioning of tumor ablation, percutaneous puncture tumor biopsy, intra-tumor intrathecal injection, intervertebral disc puncture decompression, intervertebral disc puncture ablation and the like and can be used for focuses with the depth being more than 10cm. The device can be used for performing next clinical operation flexibly and is more convenient for radio-frequency ablation and seed implantation; the device is reusable but only suitable for single-diameter needles. The device is safe, effective, easy to control, highly practical, simple in production process, low in production cost and remarkable in effect, is a significant improvement on the existing puncture device, is higher in usability and safety and easy to popularize and apply, is more suitable for large-scale production of the pharmaceuticals industry and clinical application of interventional therapy and has good application prospect, the application of the product system in the prior art is expanded, and significant social and economic benefits can be created within short time.

The invention discloses an electric rack-and-pinion-type prostate particle implanter, and relates to the technical field of medical instruments. The electric rack-and-pinion-type prostate particle implanter comprises a base plate, an external pin driver module, an internal pin driver module, an external pin, an internal pin, a limit block, and a radioactive particle supply module. The electric rack-and-pinion-type prostate particle implanter is characterized in that the base plate is fixedly connected with an external pin driving stepper motor and an internal pin driving stepper motor; the external pin is fixedly connected with an external pin clamping sleeve; the internal pin is connected with the internal pin driver module via a friction pair; the internal pin is a solid needle; the external pin is a hallow needle; and the internal pin is capable of performing linear sliding along the axial direction in the external pin. According to the electric rack-and-pinion-type prostate particle implanter, friction wheel driving is adopted for realizing internal pin implantation; and rack-and-pinion transmission is adopted for realizing feeding of the external pin. Compared with existing manual particle implantation mechanisms, the electric rack-and-pinion-type prostate particle implanter is capable of realizing continuous particle implantation process, so that operation efficiency is improved so as to have operation time shortened. The electric rack-and-pinion-type prostate particle implanter is simple in whole-apparatus structure that locking is realized by threaded connection, sothat the electric rack-and-pinion-type prostate particle implanter is convenient to assemble and disassemble; and moreover, the electric rack-and-pinion-type prostate particle implanter is compact inoverall structure and light in weight.

The invention discloses a device for locating a CT (Computed Tomography)-guided percutaneous biopsy and seed implantation template. The device comprises a CT bed, a support, a first sliding rail, first sliding blocks, a first motor, a first screw rod, first nuts, a connecting plate, a second sliding rail, a second sliding block, a second motor, a second screw rod, a second nut, a moving plate, a third motor and a controller. The device for locating the CT-guided percutaneous biopsy and seed implantation template has the advantages of ingenious structure, powerful functions and simple operation; by using the device, the puncturing and locating accuracy can be greatly improved; moreover, the working efficiency of medical workers is improved.

The invention discloses an auxiliary automatic positioning mechanism for tumor radiotherapy seed implantation. The auxiliary automatic positioning mechanism comprises a base, a horizontal linear module, an arc-shaped guide rail, an arc-shaped sliding module, a vertical linear module, a support arm, a cradle head, a steering engine and a template; the horizontal linear module is installed on the base, and a sliding block I moving left and right is arranged on the horizontal linear module; the lower end of the arc-shaped guide rail is fixedly connected to the sliding block I, and the horizontal projection of the arc-shaped guide rail extends in the front-and-back direction; the arc-shaped sliding module is installed on the arc-shaped guide rail; the vertical linear module is installed on one side of the arc-shaped sliding module, and a sliding block II moving up and down is arranged on the vertical linear module; the support arm laterally stretches out, and the upper end of the support arm is fixedly connected to the sliding block II; the cradle head is fixedly connected to the lower end of the support arm; the steering engine is rotatably connected with the cradle head; the template and the steering engine are fixedly connected through a rigid connecting part, and an electromagnetic position finder sensing contact, an inclinometer and a proximity switch are installed on the rigid connecting part. The auxiliary automatic positioning mechanism is efficient, precise, safe and convenient to operate.

The invention discloses a method for cultivating cold resistant Or citrus seedlings, which comprises the steps of seed selection, seed treatment, seed implantation, nutrient supply, seedling cultivation, seedling transplantation, post-transplantation maintenance, pruning and cultivation completion. Or citrus plants cultivated according to the method disclosed by the invention have high adaptability and can well survive and bear fruits under temperature conditions above -1 DEG C. Planting restrictions of the Or citrus are reduced, the planting area of the Or citrus is increased, and the Or citrus is enabled to become a fruit which is proper in price and high in nutritive value. Meanwhile, the death rate of Or citrus seedlings can be reduced through cultivation carried out according to the method, and the survival rate of the Or citrus seedlings is improved. In addition, the acquired Or citrus seedlings are thick and strong in branch and trunk and good in growth through cultivation carried out according to the method.

The invention relates to a device capable of continuously implanting radioactive particles and an implanting method using the device, and belongs to the field of medical instruments. The device is composed of a rack, a particle loading module and a push pin driving mechanism. The particle loading module is arranged on the rack and is used for loading the radioactive particles and realizing continuous implantation of the multiple particles by one time of pushing; and the push pin driving mechanism is arranged on the rack, is used for driving a push pin to move axially, and is matched with the particle loading module to realize particle push and implantation; and meanwhile, the invention provides an implantation method using the particle implantation device. The invention provides a continuously implantable particle magazine, and the continuously implantable particle magazines are sequentially arranged along the axis direction of a pin body, so that the requirement of simultaneously implanting the multiple particles in a radioactive particle implantation operation process is met, and the problem that the particle magazine needs to be replaced for multiple times in the current operation is solved. The quality efficiency and precision of the radioactive particle implantation operation are improved, and the labor intensity of medical staffs is reduced.

The invention discloses a prostate seed implantation gun and a use method thereof. It relates to the field of medical technology, the sleeve is provided with a slot hole and a sliding groove, a telescopic rod is embed in the slot hole, the inner needle and the loc mechanism thereof and the pull ring are integrated through screw connection, and the end position of the telescopic rod is provided with a pull rod. By adjusting the relative position of the pull rod in the sleeve, the relative position of the inner needle and the locking mechanism thereof in the sleeve can be changed, and the working space of the inner needle and the locking mechanism thereof can be shortened. The telescopic rod is provided with a sliding groove, and the insertion depth of the inner needle can be changed by adjusting the relative position of the pull ring on the sleeve, so as to meet the needle insertion requirements of different patients. The inner needle and the outer needle are provided with a clamping mechanism, and the clamping head and the clamping head cap are provided with threads. The clamping force of the inner needle and the outer needle can be changed by adjusting the screw length of the threads, so that the inner needle and the outer needle can be clamped or loosened, so that the inner needle and the outer needle can be changed and cleaned before the operation.

The invention discloses a radiotherapy dose planning method and system for implanting particles into a tumor, and a medium, and is used for a radiotherapy interventional surgical robot in radioactive particles. The method comprises the following steps: obtaining medical image information; a medical image multi-organ segmentation step of performing multi-organ segmentation on the medical image, including labeling one or more organs on the medical image; a puncture needle path planning step: limiting a feasible path of a puncture needle based on the marked organ and the virtual needle insertion panel; a radioactive particle radiation dose calculation step: calculating the radiation dose of the radioactive particles in the in-vivo environment; and a radioactive particle source arrangement dose optimization step: optimizing the number and spatial positions of the implanted particles according to the radiation dose of the particles and the form and volume of the tumor focus to obtain a particle source arrangement result with the accumulated radiation dose meeting the set dose. According to the invention, radiation particle dose distribution meets clinical requirements.

The invention relates to a seed implantation device with a magazine capable of being automatically replaced and an implantation method with the seed implantation device with the magazine capable of being automatically replaced applied, and belongs to the field of medical instruments. The seed implantation device with the magazine capable of being automatically replaced is composed of a fixing base, a magazine turntable, a seed magazine, a sleeve needle, a seed pushing needle, a driving motor, a left-hand Mecanum wheel and a right-hand Mecanum wheel; the fixing base is provided with a turntableguiding column, a magazine installation notch, a pushing needle channel and a sleeve needle connection base; and the magazine turntable is provided with a turntable sleeve and a magazine fixing clamping jaw. The implantation method with the seed implantation device applied is further provided. According to the seed implantation device with the magazine capable of being automatically replaced andthe implantation method with the seed implantation device with the magazine capable of being automatically replaced applied, in the premise of the standard safe magazine, the maximum seed bearing capacity of the implantation device is improved, and the seed magazine can be automatically switched in a puncture state in an operation, so that the problem of implantation operation breaks due to the fact that medical workers frequently communicate to replace a magazine in an operation is solved; and through cooperation of one set of Mecanum wheels and the turntable guiding column, rotation and lifting motions of the seed turntable is achieved, the structure is simple, driving is flexible, and the stationarity of seed implantation is effectively improved.

In order to solve the problems that when a radioactive particle implantation operation is carried out, a large number of radioactive particles need to be implanted in each operation, due to the fact that an implanted puncture needle can enter tumor cells to carry out particle implantation, an outer needle needs to be replaced when the particles are implanted in a channel changing mode, and the workload of the operation can be greatly increased due to manual replacement, the invention discloses a full-automatic needle and bomb replacement particle implantation device, which mainly comprises anautomatic bullet replacement module, a transmission slideway mechanism, a needle replacement turntable module and an internal driving module, the particle implantation needle is mounted on the automatic bullet replacement module and performs a particle implantation process through the transmission slideway mechanism; according to the invention, the time of auxiliary operations such as needle replacement, bullet replacement and the like except the operation process of a doctor can be reduced, the efficiency is improved, and the doctor can focus on the operation more intensively, so that the accuracy of particle implantation is improved, the treatment time is shortened, and the whole operation process is simpler, more accurate and more reasonable.

The invention discloses a floor type automatic puncture device for tumor radioactive seed implantation treatment. The main functions of the floor type automatic puncture device comprises the positioning of a puncture needle guide module and the automatic puncturing of a puncture module. The floor type automatic puncture device has the advantages that tumor puncture of different parts can be achieved by replacing different guide devices, the guide module and the puncture module implant seeds into the corresponding part in a coordinated manner to achieve precise implantation, and accordingly precise radiotherapy is achieved; when the floor type automatic puncture device is used, the device is placed beside a CT bed, the guide module precisely position the guide device to the treatment part,and the puncture module implant a puncture needle into a human body to achieve precise radioactive seed implantation; the floor type automatic puncture device is stable in structure, precise, efficient and capable of being used as the reference of radiotherapy seed implantation auxiliary equipment; the positioning of the guide module and the puncture module adopts rotation freedom degree, workingspace is increased, the extending part can be folded and retracted after work, space occupation is reduced greatly, and moving is facilitated; key freedom degrees are provided with limit sensors to guarantee moving safety.

The present invention relates to a seed counting method of interaction of a 2D image and a 3D image. The method comprises the steps of: obtaining a CT image of a patient after seed implantation and atumour area corresponding to the CT image; obtaining a 2D image; regulating and setting a reconstructed threshold value of a 3D model, extracting an outer contours of a seed, and establishing a 3D model according to the outer contour; taking the position of the seed selected in the 2D image as a center of the seed, and establishing a coordinate system; displaying a layer position of a 2D layer inthe 3D model, and determining the position of the center of the seed according to the interaction relation thereof; and performing statistics of the number of implanted seeds according to the determined position of the center to obtain the number of the implanted seeds. The seed counting method of interaction of a 2D image and a 3D image is applied to the seed implantation radiotherapy guided by images so as to improve the accuracy of the dosage assessment of seed implantation.

The invention discloses a radiotherapy particle implantation robot end effector, and belongs to the field of medical robots. The problems that an existing particle implantation actuator is long, the execution precision and efficiency are affected, medical staff need to clamp radioactive particles on site, and the medical risk is large are solved. The device comprises a machine shell, a clamping jaw finger mechanism, a puncture needle, a wire feeding mechanism, a particle bin and a driver. The wire feeding mechanism, the particle bin and the driver are packaged in the machine shell. A flange is arranged at the bottom of the wire feeding mechanism and used for being in butt joint with an external mechanical arm. The wire feeding mechanism is used for feeding a guide wire in the wire feeding mechanism into the particle bin, pushing radiotherapy particles in a particle disc in the particle bin to the puncture needle and pushing the radiotherapy particles out of the puncture needle; the driver is used for driving the particle disc in the particle bin to rotate and is also used for driving the clamping jaw finger mechanism to open or close; the clamping jaw finger mechanism is used for clamping or releasing the puncture needle. The radiotherapy particle implantation device is mainly used for implantation of radiotherapy particles.

The invention relates to a radioactive particle implantation dose in-vitro measuring device and a method. The device comprises a fixing ring, a dose measuring ring coaxial with the fixing ring is arranged at one end of the fixing ring, the fixing ring and the dose measuring ring are connected with each other through a distance adjusting mechanism, the distance between the fixing ring and the dose measuring ring is adjusted by the distance adjusting mechanism, a plurality of fixing rods are arranged on the fixing ring in the circumferential direction, the length direction of the fixing rods is the radius direction of the fixing ring, a plurality of dosimeters are arranged on the dose measuring ring in the circumferential direction, the length direction of the dosimeters is the radius direction of the dose measuring ring, and an expansion and contraction adjusting mechanism used for adjusting the expansion and contraction amount of all the dosimeters is arranged on the dose measuring ring. According to the radioactive particle implantation dose in-vitro measuring device and the method, the dose of a measured object is directly measured, so that the dose measurement result is objective and accurate, and multi-layer and 360-degree dose measurement can be carried out on the measured object.

The invention discloses a magnetic resonance imaging navigation planning system based on a special breast clamping device. The magnetic resonance imaging navigation planning system comprises the breast clamping device, which is matched in size with the soft tissue of the breast of a human body, has complete magnetic resonance compatibility and is used for clamping and fixing the soft tissue of thebreast of the human body to reduce displacement and deformation of the soft tissue during seed implantation or biopsy surgery; the breast clamping device comprises a ring-shaped unit, the ring-shapedunit is connected with a hemispherical grid unit formed by connecting hollow plates on meridians and parallels in a through mode, and the hollow plates are filled with copper sulfate aqueous solution. By means of the breast clamping device, the optimal puncture pathway can be determined according to the relative position relation between tumors in magnetic resonance images and the meridians and parallels of the breast clamping device to provide accurate needle inserting depth.

The invention discloses a hand-touch type seed implantation apparatus comprising an outer protective jacket, a puncture trocar and a guide rod. The guide rod is inserted into the puncture trocar, the outer protective jacket sleeves the puncture trocar, the outer protective jacket, the puncture trocar and the guide rod slide relatively, and a puncture positioning slider located in the rear of the outer protective jacket is arranged on the puncture trocar slidably. The puncture depth is preset through the puncture positioning slider, the point of the puncture trocar is covered by the outer protective jacket when entering the colorectum, fingers and the rectums of operation patients are prevented from being punctured, when the puncture trocar contacts with the tumor, the puncture trocar is driven to be inserted into the tumor tissue to reach the preset depth, then seeds are pushed into the tumor tissue through the guide rod, the seeds can be implanted to the preset depth accurately, and accordingly seed implantation depth can be controlled. The operation method is simple and safe to use.

A device for loading brachytherapy seeds and spacers into a sleeve. The device holds two or more seed or spacer cartridges of different radioactive species and dosage. The user rotates a selector for selecting a desired cartridge and, with each depression of a spring-biased plunger, pushes a seed or spacer into a channel in an inspection area. The process is repeated for the desired number and order of seeds and spacers in sequence to form a strand. The strand can be seen in the channel with the unaided eye through a transparent window. Once the strand is arranged as desired, it is pushed into a sleeve that is held in a removable sleeve holder. If desired, the end portions of the filled sleeve may be cut off using a sleeve cutter to shorten the filled sleeve. The filled sleeve is implanted into patient using a needle.

The invention relates to an angle adjustable puncture template which comprises a template main body and one or more guide wheel. Each guide wheel is rotatably arranged in the template main body; eachguide wheel is provided with a first guide hole for a puncture needle to pass through; and the axis direction of the first guide hole is changed along with rotation of the corresponding guide wheel. By arranging each guide wheel, the angle adjustable puncture template disclosed by the embodiment of the invention can be adapted to different angles of puncture demands and improves efficiency and puncture accuracy of minimally invasive therapies such as puncture ablation, seed implantation and the like.