Prostate transition zone steam ablation planning method and system based on medical imaging

Abstract

The present invention provides a prostate transition zone steam ablation planning method and system based on medical images. The method constructs a three-dimensional space by acquiring medical images, divides the prostate transition zone into slices, constructs a coordinate system with the urethra projection center as the origin on each slice, determines the ablation sphere center and the needle tip position; generates an ablation sphere and intersects it with the transition zone, determines whether to retain it based on the intersection ratio; further determines the planned ablation area, completes the ablation planning, and helps guide the ablation gun. The present invention helps achieve accurate positioning of the prostate transition zone and ablation scheme design through precise segmentation of the prostate transition zone and ablation sphere planning technology, improves surgical accuracy and safety, reduces the risk of complications, and has important clinical application value.

Description

Technical Field

[0001] The present invention relates to the technical field of medical image processing, and in particular to a prostate transition zone steam ablation planning method and system based on medical images. Background Art

[0002] Prostatic hyperplasia, also known as benign prostatic hyperplasia (BPH), is a common age-related disease in men, usually manifested by symptoms such as frequent urination, urgency, increased nocturia, and dysuria. Prostatic hyperplasia mainly affects the quality of life of middle-aged and elderly men, and its incidence rate gradually increases with age.

[0003] Treatments for prostate hyperplasia include medication, minimally invasive surgery, and traditional surgery. Conservative medication is suitable for patients with mild symptoms, but has little effect on severe patients. Traditional surgery is more traumatic, takes longer to recover, and requires longer hospital stays. It is more risky and may cause complications such as bleeding, infection, and urinary incontinence. Minimally invasive surgery is less invasive, has a faster recovery, and takes a shorter time to operate. The urethra retains the catheter for a shorter time after surgery.

[0004] Steam ablation technology has become a better choice for relieving symptoms while minimizing or eliminating hospital stay and postoperative complications. However, the existing process only relies on endoscopic vision for visual planning and guidance during surgery. Therefore, how to plan treatment for the hyperplastic area before surgery and better guide medical staff during surgery under ultrasound guidance has become an urgent problem to be solved.

[0005] Precision ablation of the prostate transition zone faces challenges in positioning and operating accuracy. Traditional methods have difficulty accurately distinguishing the transition zone boundary, which can easily lead to excessive or insufficient ablation. At the same time, the planning and placement of the ablation ball lack precision, making it difficult to completely cover the lesion area while avoiding damage to surrounding healthy tissue.

[0006] How to accurately locate the prostate transition zone in three-dimensional space, formulate personalized ablation plans, and help achieve real-time and precise guidance during the operation are key technical problems that need to be solved urgently. Summary of the invention

[0007] The purpose of the present invention is to address the planning and navigation issues of steam ablation and propose a prostate transition zone steam ablation planning method and system based on medical images. By slicing the prostate transition zone and planning the ablation sphere center, accurate and efficient prostate steam ablation surgery planning can be achieved.

[0008] The technical solution of the present invention is:

[0009] A prostate transition zone steam ablation planning method based on medical images, the method comprising the following steps:

[0010] Acquire human medical images and construct three-dimensional space, segment the prostate transition zone and mark the urethra position;

[0011] The prostate transition zone is divided into a plurality of slices, and a cross-sectional image of the prostate transition zone of each slice is obtained. The center point of the urethra projection in each slice is taken as the origin, and a plurality of directions are constructed on the cross-sectional image of each slice according to a preset direction;

[0012] For each slice, starting from the center point, physical coordinates are obtained along each direction according to a preset distance, and the coordinates of the ablation sphere center position and the needle tip position of the ablation gun in the corresponding direction are determined, and an ablation sphere in the corresponding direction is generated based on the ablation sphere center position and the preset ablation radius;

[0013] Obtaining the intersection area of ​​each ablation ball and the transitional zone of the corresponding slice prostate, calculating the volume ratio of the intersection area to the corresponding ablation ball, and judging whether the corresponding ablation ball is a retained ablation ball according to the volume ratio;

[0014] The ablation balls are divided into two groups, the left and the right. Based on the retention status of each ablation ball in the group, it is further determined whether each ablation ball is planned as an ablation area to complete the planning.

[0015] Furthermore, the division of the prostate transitional zone into a plurality of slices is specifically as follows:

[0016] The starting end and the ending end of the urethra are extracted, and the prostate transition zone is divided into a number of slices along the urethra according to a preset length within the range from the starting end to the ending end.

[0017] Furthermore, the prostate transition zone is divided along the direction from the base to the tip of the prostate; the starting end is 0-1.5 cm from the beginning of the urethral path to the end, and the ending end is at the end of the urethral path.

[0018] Furthermore, several directions are constructed on the cross-sectional images of each slice according to the preset directions, specifically:

[0019] Taking the center point of the urethra projection in each slice as the origin, four directions are constructed on the cross-sectional image of the prostate transition zone in each slice according to an X-shape.

[0020] Furthermore, for each slice, starting from the center point, the physical coordinates are obtained along each direction according to the preset distance, specifically:

[0021] For each of the slices, starting from the center point, a first physical coordinate is acquired along each direction according to a first preset distance, and the first physical coordinate is used as the ablation sphere center position in the corresponding direction;

[0022] For each of the slices, starting from the center point, second physical coordinates are acquired along each direction according to a second preset distance, and the second physical coordinates are used as the needle tip position coordinates of the ablation gun in the corresponding direction.

[0023] Furthermore, the first preset distance is the urethral radius + the length from the center point of the ablation gun pinhole injection area to the urethral side wall; the second preset distance is the urethral radius + the length from the center point of the ablation gun pinhole injection area to the urethral side wall + the length from the center point of the ablation gun pinhole injection area to the needle tip.

[0024] Further, judging whether the corresponding ablation ball is a retained ablation ball according to the volume ratio is specifically as follows:

[0025] It is determined whether the volume ratio is greater than a preset threshold value. If so, the corresponding ablation sphere is marked as a retained ablation sphere; otherwise, it is marked as a non-retained ablation sphere.

[0026] Furthermore, further judging whether each ablation ball is planned as an ablation area based on the retention status of each ablation ball in the group specifically includes:

[0027] When both ablation spheres in the group are reserved, the two ablation spheres are reserved as the ablation area;

[0028] When one ablation sphere in the group is reserved, an ablation sphere is generated in the middle direction between the two directions in the group, and the ablation sphere with the largest volume ratio is reserved among the three ablation spheres in the group as the ablation area;

[0029] When both ablation spheres in the group are not retained, an ablation sphere is generated in the middle direction between the two directions in the group and the volume ratio is calculated. If the ratio is greater than the threshold, the ablation sphere in the middle direction is retained as the ablation area, otherwise, the three ablation spheres in the group are deleted.

[0030] Furthermore, it also includes:

[0031] After planning the ablation area, a real-time human ultrasound image is received and mapped onto the three-dimensional space, and an ultrasound plane tangent to the planned ablation area is identified; a projection of the ablation gun on the tangent ultrasound plane is received, and the user is guided based on the planned ablation area and the ablation gun needle tip position coordinates.

[0032] A prostate transition zone steam ablation planning system based on medical imaging, comprising: one or more processors;

[0033] The processor is used to store one or more programs;

[0034] When the one or more programs are executed by the one or more processors, the medical image-based prostate transition zone steam ablation planning method is implemented.

[0035] Beneficial effects of the present invention:

[0036] The present invention realizes accurate positioning and ablation guidance of the prostate transition zone through precise segmentation of the prostate transition zone and ablation ball planning technology, improves surgical accuracy and safety, reduces the risk of complications, and has important clinical application value.

[0037] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 The present invention is a flowchart of the prostate transition zone steam ablation planning method based on medical imaging.

[0039] Figure 2 Schematic diagram of the correspondence between the cross section and the coronal plane of the prostate transitional zone in an embodiment of the present invention.

[0040] Figure 3 Schematic diagram of the coordinates of the ablation sphere center position and the needle tip position of the ablation gun in an embodiment of the present invention.

[0041] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention. DETAILED DESCRIPTION

[0042] The preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0043] Embodiment 1

[0044] like Figure 1 As shown, the present invention provides a prostate transitional zone steam ablation planning method based on medical images, the method comprising the following steps:

[0045] Obtain human medical images and construct three-dimensional space, segment the prostate transition zone and mark the urethra position; divide the prostate transition zone into several slices, obtain the cross-sectional image of the prostate transition zone of each slice, take the center point of the urethra projection in each slice as the origin, and construct several directions on the cross-sectional image of each slice according to the preset direction;

[0046] For each slice, starting from the center point, physical coordinates are obtained along each direction according to a preset distance, and the coordinates of the ablation sphere center position and the needle tip position of the ablation gun in the corresponding direction are determined, and an ablation sphere in the corresponding direction is generated based on the ablation sphere center position and the preset ablation radius;

[0047] Obtaining the intersection area of ​​each ablation ball and the transitional zone of the corresponding slice prostate, calculating the volume ratio of the intersection area to the corresponding ablation ball, and judging whether the corresponding ablation ball is a retained ablation ball according to the volume ratio;

[0048] The ablation balls are divided into two groups, the left and the right. Based on the retention status of each ablation ball in the group, it is further determined whether each ablation ball is planned as an ablation area to complete the planning.

[0049] In this embodiment, through precise segmentation of the prostate transition zone and ablation ball planning technology, the transition zone boundary can be accurately distinguished, and the ablation ball is precisely planned and placed to cover the lesion area while avoiding damage to surrounding healthy tissues. By formulating a personalized ablation plan, real-time and precise guidance can be achieved during the operation.

[0050] In one embodiment, it further comprises:

[0051] After planning the ablation area, a real-time human ultrasound image is received and mapped onto the three-dimensional space, and an ultrasound plane tangent to the planned ablation area is identified; a projection of the ablation gun on the tangent ultrasound plane is received, and the user is guided based on the planned ablation area and the ablation gun needle tip position coordinates.

[0052] When the three-dimensional space is constructed based on ultrasound data, the real-time acquired human ultrasound image is directly mapped onto the three-dimensional space;

[0053] Otherwise, obtaining a human ultrasound image and constructing an ultrasound three-dimensional space, registering the human ultrasound image and the human medical image to obtain a registration matrix, wherein the registration matrix converts the coordinate system of the ultrasound three-dimensional space into the three-dimensional space coordinate system of the human medical image;

[0054] The human medical images include but are not limited to MRI and CT images.

[0055] In this embodiment, the planned ablation area is mapped back to the corresponding three-dimensional space through the fusion of MRI or CT images and ultrasound images, and the user is guided in real time to perform steam ablation surgery based on the planned ablation area and the position coordinates of the ablation gun needle tip, thereby realizing the application of precise positioning of the prostate transition zone, helping ablation guidance, improving surgical accuracy and safety, and reducing the risk of complications, which has important clinical application value.

[0056] Figure 2 Schematic diagram of the cross section and coronal plane of the prostate transition zone in an embodiment of the present invention.

[0057] In one embodiment, the division of the prostate transitional zone into a plurality of slices is specifically as follows: Figure 2As shown, on the coronal plane of the prostate transition zone, the starting end and the ending end of the urethra are extracted, and the prostate transition zone is divided into several slices along the urethra according to a preset length within the range from the starting end to the ending end;

[0058] The prostate transition zone is divided along the direction from the base to the tip of the prostate; the preset length is 0.1-5 cm; the starting end is 0-1.5 cm from the beginning of the urethral path to the end, and the ending end is at the end of the urethral path.

[0059] In one embodiment, Figure 2 As shown, several directions are constructed on the cross-sectional image of each slice according to the preset direction. Specifically, four directions are constructed on the cross-sectional image of the prostate transition zone of each slice according to an X-shape, taking the center point of the urethra projection in each slice as the origin.

[0060] Figure 3 Schematic diagram of the coordinates of the ablation sphere center position and the needle tip position of the ablation gun in an embodiment of the present invention.

[0061] In one embodiment, for each slice, starting from the center point and along each direction according to a preset distance, the physical coordinates are obtained as follows:

[0062] For each of the slices, starting from the center point, a first physical coordinate is obtained along each direction according to a first preset distance, and the first physical coordinate is used as the ablation sphere center position in the corresponding direction; Figure 3 As shown, the first preset distance is urethral radius 2.5mm + length from the center point of the ablation gun needle hole injection area to the urethral side wall 6.5mm.

[0063] For each of the slices, starting from the center point, a second physical coordinate is obtained along each direction according to a second preset distance, and the second physical coordinate is used as the needle tip position coordinate of the ablation gun in the corresponding direction; Figure 3 As shown, the second preset distance is urethral radius 2.5mm + length from the center point of the ablation gun needle hole injection area to the urethral side wall 6.5mm + length from the center point of the ablation gun needle hole injection area to the needle tip 4.2mm.

[0064] In one embodiment, an ablation sphere in a corresponding direction is generated based on the ablation sphere center position and a preset ablation radius, and an intersection area between each ablation sphere and a corresponding slice prostate transition zone is obtained through three-dimensional spatial geometric calculation;

[0065] A volume calculation algorithm is used to calculate the volume of the intersection area and the volume of the corresponding ablation ball to obtain a volume ratio of the two; according to a preset threshold, it is determined whether the volume ratio is greater than the preset threshold, if it is greater than the preset threshold, the corresponding ablation ball is marked as a retained ablation ball, otherwise, it is marked as a non-retained ablation ball;

[0066] The ablation balls are divided into two groups, the left and right groups, and the retention status of each ablation ball in the group is counted. When two ablation balls in the group are retained, the two ablation balls are retained as the ablation area; if one ablation ball in the group is retained, an ablation ball is generated in the middle direction between the two directions in the group, the volume ratio of the three ablation balls in the group is calculated, and the ablation ball with the largest volume ratio is retained as the ablation area; if both ablation balls in the group are not retained, an ablation ball is generated in the middle direction between the two directions in the group and the volume ratio of its intersection with the prostate transition zone is calculated. If the ratio is greater than the preset threshold, the ablation ball in the middle direction is retained as the ablation area, otherwise, the three ablation balls in the group are deleted; the ablation areas of all slices are three-dimensionally reconstructed to obtain a complete steam ablation planning area for the prostate transition zone.

[0067] Embodiment 2

[0068] A prostate transition zone steam ablation planning system based on medical imaging, comprising: one or more processors;

[0069] The processor is used to store one or more programs;

[0070] When the one or more programs are executed by the one or more processors, the medical image-based prostate transition zone steam ablation planning method is implemented.

[0071] The system of the present invention can plan the optimal ablation area and ablation needle position according to the morphology of the prostate transition zone, avoiding the subjectivity and inaccuracy of manual planning; at the same time, by setting a reasonable threshold, the effectiveness and safety of ablation are ensured.

[0072] The present invention can significantly improve the accuracy and individualization level of treatment for prostate hyperplasia, reduce the risk of complications, and provide strong technical support for clinical practice.

[0073] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A prostate transition zone steam ablation planning method based on medical imaging, characterized in that: The method comprises the following steps: Acquire human medical images and construct three-dimensional space, segment the prostate transition zone and mark the urethra position; The prostate transition zone is divided into a plurality of slices, and a cross-sectional image of the prostate transition zone of each slice is obtained. The center point of the urethra projection in each slice is taken as the origin, and a plurality of directions are constructed on the cross-sectional image of each slice according to a preset direction; For each slice, starting from the center point, physical coordinates are obtained along each direction according to a preset distance, and the coordinates of the ablation sphere center position and the needle tip position of the ablation gun in the corresponding direction are determined, and an ablation sphere in the corresponding direction is generated based on the ablation sphere center position and the preset ablation radius; Obtaining the intersection area of ​​each ablation ball and the transitional zone of the corresponding slice prostate, calculating the volume ratio of the intersection area to the corresponding ablation ball, and judging whether the corresponding ablation ball is a retained ablation ball according to the volume ratio; The ablation balls are divided into two groups, the left and the right. Based on the retention status of each ablation ball in the group, it is further determined whether each ablation ball is planned as an ablation area to complete the planning; For each slice, the physical coordinates are obtained from the center point along each direction according to the preset distance: For each of the slices, starting from the center point, a first physical coordinate is acquired along each direction according to a first preset distance, and the first physical coordinate is used as the ablation sphere center position in the corresponding direction; For each of the slices, starting from the center point, a second physical coordinate is acquired along each direction according to a second preset distance, and the second physical coordinate is used as the needle tip position coordinate of the ablation gun in the corresponding direction; The first preset distance is the urethra radius + the length from the center point of the ablation gun needle hole injection area to the urethra side wall; The second preset distance is the urethra radius + the length from the center point of the ablation gun needle hole injection area to the urethra side wall + the length from the center point of the ablation gun needle hole injection area to the needle tip.

2. The medical imaging-based prostate transition zone steam ablation planning method according to claim 1, characterized in that: The method of dividing the prostate transition zone into a plurality of slices is specifically as follows: The starting end and the ending end of the urethra are extracted, and the prostate transition zone is divided into a number of slices along the urethra according to a preset length within the range from the starting end to the ending end.

3. The medical imaging-based prostate transition zone steam ablation planning method according to claim 2, characterized in that: The prostate transition zone is divided along the direction from the base to the tip of the prostate; the starting end is 0-1.5 cm from the beginning of the urethral path to the end, and the end end is at the end of the urethral path.

4. The medical imaging-based prostate transition zone steam ablation planning method according to claim 1, characterized in that: According to the preset direction, several directions are constructed on the cross-sectional image of each slice, specifically: Taking the center point of the urethra projection in each slice as the origin, four directions are constructed on the cross-sectional image of the prostate transition zone in each slice according to an X-shape.

5. The medical imaging-based prostate transition zone steam ablation planning method according to claim 1, characterized in that: The specific method for judging whether the corresponding ablation sphere is a retained ablation sphere according to the volume ratio is as follows: It is determined whether the volume ratio is greater than a preset threshold value. If so, the corresponding ablation sphere is marked as a retained ablation sphere; otherwise, it is marked as a non-retained ablation sphere.

6. The medical imaging-based prostate transition zone steam ablation planning method according to claim 5, characterized in that: Based on the retention status of each ablation ball in the group, further judging whether each ablation ball is planned as an ablation area includes: When both ablation spheres in the group are reserved, the two ablation spheres are reserved as the ablation area; When one ablation sphere in the group is reserved, an ablation sphere is generated in the middle direction between the two directions in the group, and the ablation sphere with the largest volume ratio is reserved among the three ablation spheres in the group as the ablation area; When both ablation spheres in the group are not retained, an ablation sphere is generated in the middle direction between the two directions in the group and the volume ratio is calculated. If the ratio is greater than the threshold, the ablation sphere in the middle direction is retained as the ablation area, otherwise, the three ablation spheres in the group are deleted.

7. A prostate transition zone steam ablation planning system based on medical imaging, characterized in that: include: one or more processors; The processor is used to store one or more programs; When the one or more programs are executed by the one or more processors, the medical image-based prostate transition zone steam ablation planning method as described in any one of claims 1 to 6 is implemented.

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