Puncture robot tumor ablation method and system based on magnetic resonance

Abstract

The invention discloses a puncture robot tumor ablation method and system based on magnetic resonance. The method comprises the following steps: scanning a focus through medical imaging examination to obtain a preoperative magnetic resonance image; reconstructing to obtain a three-dimensional model of the focus and surrounding tissues, and planning to obtain an optimal puncture path; updating the position relation between the needle point of the puncture needle and the focus center in real time, feeding back deviation information of the needle point position, and guiding the puncture needle to a tumor ablation area in real time; two-way ablation is adopted, real-time temperature monitoring and whole blood circulation dynamic monitoring are conducted, and ablation power and time are correspondingly adjusted; the ablation effect is consolidated by adopting a postoperative wound management and closing technology; the ablation effect is evaluated through magnetic resonance imaging examination and postoperative biopsy. According to the puncture robot tumor ablation method based on magnetic resonance, tumor ablation can be achieved, temperature and blood flow monitoring is effectively carried out, and the ablation effect and the residual focus condition are reflected in real time through a comprehensive postoperative evaluation method.

Description

Technical Field

[0001] The present invention relates to the technical field of image processing, and in particular to a magnetic resonance-based puncture robot tumor ablation method and system. Background Art

[0002] With the development of medical imaging technology, tumor ablation therapy has gradually become an effective tumor management method. However, the existing technology still has shortcomings in many aspects, which limits the effectiveness of its clinical application.

[0003] Traditional tumor ablation methods mostly rely on CT (computed tomography) and ultrasound guidance. Although these technologies provide effective real-time images in some cases, they lack contrast and resolution when dealing with soft tissue tumors, especially when facing adjacent important organs or blood vessels, the positioning accuracy is reduced, increasing the risk of accidental injury. For example, when CT identifies lung tumors, it may be difficult for the puncture needle to accurately reach the target tumor due to atelectasis, necrosis, or the influence of surrounding gas. This problem is particularly prominent when dealing with tumors with a diameter of less than 2 cm. Existing literature shows that the sampling accuracy rate is less than 30%.

[0004] Another shortcoming of current technology is the lag in temperature monitoring and tissue response feedback. During the ablation process, real-time monitoring of temperature changes often relies on intermittent sampling and analysis, which lacks immediacy. This makes it impossible for doctors to adjust the ablation power and time in time during ablation, which may lead to excessive or insufficient ablation, ultimately affecting the treatment effect and patient safety. In addition, the lack of real-time monitoring of hemodynamics in the ablation area may lead to misjudgment of tissue response.

[0005] Although percutaneous biopsy (such as TNB, EBUS-TBNA, etc.) provides a relatively effective means for obtaining tumor tissue, it still has certain limitations. In some cases, patients may not be able to tolerate invasive examinations due to poor health or refuse surgery due to fear, which makes it difficult to obtain tissue samples. In addition, the existing biopsy methods may not be able to obtain enough tissue when dealing with tumors in certain special locations or shapes, affecting the accuracy of pathological diagnosis and subsequent treatment decisions.

[0006] Existing technologies often adopt a "one-size-fits-all" treatment plan and lack the ability to make personalized adjustments based on individual differences of patients. For example, there are differences in the biological characteristics, tissue structure, location and surrounding environment of tumors in different patients. Traditional methods cannot adjust the treatment plan in real time based on these differences, resulting in different treatment effects for different patients and even the risk of treatment failure.

[0007] Postoperative wound management and complication monitoring are important links to ensure patient safety and improve treatment outcomes. Existing technologies for postoperative wound management are often insufficient, lacking effective closure and protection measures, which may increase the incidence of complications such as postoperative bleeding and infection, affecting patient recovery. Summary of the invention

[0008] In view of this, an object of an embodiment of the present invention is to provide a magnetic resonance-based puncture robot tumor ablation method and system, which can improve the accuracy, safety and effectiveness of tumor ablation.

[0009] The present invention provides a magnetic resonance-based puncture robot tumor ablation method, which includes:

[0010] Multimodal magnetic resonance imaging fusion technology is used to scan the lesions through medical imaging examinations to obtain preoperative magnetic resonance images.

[0011] Based on the preoperative magnetic resonance images, a three-dimensional model of the lesion and surrounding tissues is reconstructed, and an optimal puncture path is planned.

[0012] Through magnetic resonance plane scanning at any angle, the positional relationship between the needle tip and the center of the lesion is updated in real time, the deviation information of the needle tip position is fed back, and the puncture needle is guided to the tumor ablation area in real time.

[0013] Dual-channel ablation is adopted, one channel performs real-time MR temperature monitoring, and the other channel performs synchronous high-frequency ablation, performs real-time temperature monitoring and whole blood circulation dynamics monitoring, and adjusts the ablation power and time accordingly.

[0014] Postoperative wound management and closure techniques were used to consolidate the ablation effect.

[0015] After ablation, magnetic resonance imaging and postoperative biopsy were performed to evaluate the ablation effect.

[0016] Wherein, the multimodal magnetic resonance imaging fusion technology is used to scan the lesion through medical imaging examination, and the preoperative magnetic resonance imaging obtained includes:

[0017] Determine the gross contours and soft tissue borders of the tumor using T2-weighted imaging sequences; and / or

[0018] Obtaining diffusion characteristics of the tumor region by diffusion weighted imaging sequence scanning; and / or

[0019] Dynamic monitoring of blood flow and perfusion of tumors and surrounding tissues through dynamic contrast-enhanced magnetic resonance imaging sequence scanning; and / or

[0020] Tumor metabolic analysis by magnetic resonance spectroscopy imaging sequences.

[0021] Image registration and fusion are performed on various medical images to obtain preoperative magnetic resonance images containing multi-level information of tumor tissue.

[0022] According to the individual characteristics of the patient and the clarity of the image, the scanning parameter combination of the various medical images is adjusted to optimize the quality of the preoperative magnetic resonance image.

[0023] Its technical effect is: by adopting multimodal magnetic resonance imaging fusion technology and comprehensively utilizing the advantages of different imaging sequences, clearer and more detailed images of tumors and surrounding tissues can be obtained, and the blood flow and perfusion of tumors and surrounding tissues can be monitored in real time. The scanning parameter combination can be flexibly adjusted according to the individual characteristics of the patient, and the most suitable imaging sequence and parameters can be selected according to the specific situation of each patient. It helps to evaluate the physiological characteristics of the tumor and provide immediate feedback for puncture ablation.

[0024] Wherein, reconstructing a three-dimensional model of the lesion and surrounding tissues based on the preoperative magnetic resonance image and planning an optimal puncture path includes:

[0025] The preoperative magnetic resonance image is voxelized, and a threshold segmentation technique is used to distinguish the tumor from the surrounding normal tissue. The portion greater than a preset grayscale threshold is segmented as a tumor area, and the portion less than the preset grayscale threshold is segmented as a background, to obtain a voxel grid image.

[0026] The voxel grid image is traversed using a cube contour extraction algorithm to divide the three-dimensional voxel data into a number of cubes.

[0027] For each vertex of the cube, an 8-bit binary index is generated, marking the vertex as inside or outside depending on whether the value is 1 or 0.

[0028] According to the internal and external marks, a triangle is generated in each of the cubes using a predefined triangle lookup table to obtain a triangle mesh for representing a three-dimensional geometric model.

[0029] A path planning algorithm is used to calculate the optimal puncture path to avoid non-puncture areas.

[0030] The cost function C=w1·d+w2·r+w3·s is calculated, where d is the length of the puncture path, r is the risk score of the sensitive tissue through which the path passes, s is the stability score of the path, w1, w2 and w3 are weight coefficients, and the optimal puncture path is obtained based on the path optimized according to the cost function.

[0031] The technical effect is: through voxel processing and threshold segmentation technology, the tumor and the surrounding normal tissue can be clearly distinguished, which helps to better understand the location and shape of the tumor. Through the path planning algorithm, the optimal puncture path is calculated to avoid passing through the non-puncturable area and reduce the risk of damage to important tissues and organs. The design of the cost function combines the length of the puncture path, the risk score of the sensitive tissue passed through, and the stability score of the path, which improves the safety of the operation and the success rate of ablation.

[0032] Wherein, the real-time updating of the positional relationship between the needle tip and the center of the lesion by plane scanning at any angle of magnetic resonance, the feedback of the deviation information of the needle tip position, and the real-time guidance of the puncture needle to the tumor ablation area include:

[0033] Magnetic resonance imaging was used for real-time scanning to obtain continuous two-dimensional magnetic resonance images including the puncture needle and the lesion.

[0034] The three-dimensional model is reconstructed in real time according to the continuous two-dimensional magnetic resonance images, and the real-time needle tip position of the puncture needle is generated in the three-dimensional model.

[0035] The actual distance is calculated based on the spatial relationship between the needle tip position and the tumor center. Among them, (x needle ,y needle ,z needle ) is the coordinate of the needle tip position, (x tumor ,y tumor ,z tumor ) are the coordinates of the tumor center.

[0036] Set the ideal distance d between the needle tip and the tumor center ideal .

[0037] According to the actual distance d actual The ideal distance d ideal The deviation between the two is detected, and the direction and insertion angle of the puncture needle are adjusted in real time to guide the puncture needle to the tumor ablation area.

[0038] Its technical effects are: real-time scanning through magnetic resonance imaging, continuous acquisition of two-dimensional images of the puncture needle and the tumor, real-time observation of the relationship between the progress of the puncture needle and the location of the lesion, and accurate tracking of the needle tip position by real-time generation of the needle tip position in the three-dimensional model to ensure that the needle tip can respond to changes in the tumor position in a timely manner. By calculating the actual distance between the needle tip position and the center of the tumor, the deviation of the needle tip relative to the target lesion is accurately evaluated, effectively avoiding the puncture needle from accidentally injuring surrounding important tissues or organs, and increasing the possibility of successfully guiding the tumor ablation area.

[0039] Wherein, the dual-channel ablation is adopted, one channel performs real-time MR temperature monitoring, and the other channel performs synchronous high-frequency ablation, performs real-time temperature monitoring and whole blood circulation dynamics monitoring, and the corresponding adjustment of ablation power and time includes:

[0040] Set the target temperature T to achieve effective ablation target .

[0041] A temperature sensor was installed at the tip of the ablation needle to obtain the temperature distribution through MR imaging.

[0042] A hemodynamic monitoring device is installed at the tip of the other ablation needle to obtain blood flow imaging distribution.

[0043] The temperature distribution is combined with the blood flow imaging distribution to form a real-time temperature and blood flow distribution map in the ablation area.

[0044] According to the deviation between the current temperature and the target temperature and the influence of blood flow on temperature control, the ablation power P(t)=P0+K·(T target -T current )-H·(v blood -v critical ), where P0 is the initial power, K is the power adjustment coefficient, T current is the current temperature, H is the blood flow adjustment coefficient, v blood is the current blood flow velocity, v critical is the critical blood flow velocity.

[0045] Adjust ablation duration t according to temperature and blood flow monitoring results adjusted =t0+Δt, where t0 is the initial ablation time, and Δt is the adjustment amount based on the real-time monitoring results.

[0046]

[0047] Its technical effect is: by setting the target temperature and using the temperature sensor for real-time monitoring, the temperature during the ablation process is always maintained within the effective ablation range, reducing damage to surrounding healthy tissues. The hemodynamic monitoring device is installed at the tip of the ablation needle to obtain the blood flow distribution in real time, and the real-time map formed by combining the temperature distribution with the blood flow imaging distribution is comprehensively analyzed to optimize the ablation strategy. According to the real-time monitoring results of temperature and blood flow, the ablation power and duration are intelligently adjusted to improve the safety and effectiveness of the treatment.

[0048] The calculation formula of the critical blood flow velocity is v critical =v thresh ·f(T current ), where v thresh is the basic blood flow velocity, f(T current) is the temperature adjustment factor.

[0049] The temperature adjustment factor f(T current ) is a temperature-dependent function Calculated, where L is the maximum value of the function, indicating the limit value of the dynamic adjustment of blood flow under high temperature, and k is the growth rate parameter, indicating the effect of temperature change on the temperature adjustment factor f(T current ) is the influence intensity, T0 is the midpoint temperature, indicating that at this temperature, the temperature adjustment factor f(T current ) Temperature value.

[0050] Its technical effect is: through the calculation based on the basic blood flow velocity and the temperature adjustment factor, the dynamic response of blood flow under different temperature conditions is accurately evaluated, and the blood flow is adjusted in time during the ablation process to avoid negative impact on the ablation effect. The temperature-dependent function makes the dynamic adjustment of blood flow more sensitive to temperature changes, and the response is weaker at low temperatures, reducing unnecessary adjustments. When approaching the midpoint temperature, the output increases rapidly, ensuring the accuracy of the ablation operation and improving the control accuracy of the ablation process.

[0051] Among them, the postoperative wound management and closure technology used to consolidate the ablation effect includes:

[0052] Monitor the physiological parameters of the wound when the ablation needle is removed.

[0053] Analyze physiological parameters during wound healing and identify potential complications using time series analysis and anomaly detection algorithms.

[0054] When the monitored physiological parameters are out of the normal range, or potential complications are identified, physiological saline is injected through the micropump structure to close the needle tract.

[0055] According to the characteristics of the wound, use the corresponding biocompatible sealing material to close the wound, and monitor and provide feedback on the suturing effect in real time.

[0056] The temperature control algorithm is used to perform directional thermal coagulation of the tissue around the wound, set the target temperature and heating time, and adjust the heating power through real-time temperature feedback.

[0057] Its technical effects are: through real-time monitoring and analysis of the physiological parameters of the wound, abnormal conditions in the wound healing process can be identified in time, potential complications can be dealt with quickly, and postoperative risks can be reduced. When abnormal physiological parameters are monitored, physiological saline can be quickly injected through a micropump to close the needle channel, timely intervention can be made to prevent complications such as infection or bleeding, and enhance the safety of wound healing; using biocompatible sealing materials for wound closure can provide a better healing environment, reduce rejection reactions, promote tissue regeneration, and accelerate the healing process; through the temperature control algorithm, the tissue around the wound is subjected to directional thermal coagulation, which can effectively control the range and intensity of thermal coagulation, avoid damage to normal tissue, and accelerate hemostasis and promote healing. Through the temperature control algorithm, the tissue around the wound is subjected to directional thermal coagulation, which can effectively control the range and intensity of thermal coagulation, avoid damage to normal tissue, and accelerate hemostasis and promote healing.

[0058] After the ablation is completed, the ablation effect is evaluated by magnetic resonance imaging and postoperative biopsy, including:

[0059] Multimodal magnetic resonance imaging fusion technology is used to scan the ablation site through medical imaging examination to obtain postoperative magnetic resonance images.

[0060] The postoperative magnetic resonance images were processed using a deep learning segmentation model to identify ablation areas and residual lesions.

[0061] Calculation of postoperative MRI scores Among them, V pre is the preoperative lesion volume, V post is the volume of the lesion after ablation, B clear is the proportion of lesions with clear boundaries, B total is the total lesion area, C1 and C2 are weight constants.

[0062] According to the analysis results of the postoperative magnetic resonance imaging, the area suspected of residual lesions was selected for biopsy.

[0063] Evaluate cell viability and tumor cell survival in biopsy samples and calculate biopsy scores N alive is the number of viable tumor cells in the biopsy, N total is the total number of biopsy cells, P malignant is the proportion of malignant cells, P total is the total number of cells in the biopsy sample, and D1 and D2 are weight coefficients.

[0064] Calculate tumor characteristic parameters based on biomarker measurements Among them, K i is the Ki-67 index, K max The maximum value of Ki-67, M iis the value of other biomarkers, M max is the maximum value of the other biomarker, and E1 and E2 are weight coefficients.

[0065] Establish a comprehensive evaluation index E = α·I for evaluating ablation effect MRI +β·I biopsy +γ·D tumor +δ·R treatment , where α, β, γ and δ are weight coefficients.

[0066] Its technical effect is that by evaluating the survival of tumor cells in biopsy samples, it can reflect the treatment effect in real time, and combined with the measurement results of biomarkers, it can more comprehensively evaluate the characteristics and behavior of tumors and provide patients with personalized treatment plans. Through the clarity and quantification of evaluation indicators, it can fully reflect the ablation effect and achieve accurate evaluation of tumor ablation effect.

[0067] The present invention also provides a magnetic resonance-based puncture robot tumor ablation system, which includes:

[0068] The multimodal magnetic resonance imaging fusion module is used to adopt the multimodal magnetic resonance imaging fusion technology to scan the lesion through medical imaging examination to obtain preoperative magnetic resonance images.

[0069] The three-dimensional model reconstruction module is used to reconstruct a three-dimensional model of the lesion and surrounding tissues based on the preoperative magnetic resonance image, and plan the best puncture path.

[0070] The deviation correction guidance module is used to update the positional relationship between the needle tip and the center of the lesion in real time through magnetic resonance plane scanning at any angle, feedback the deviation information of the needle tip position, and guide the puncture needle to the tumor ablation area in real time.

[0071] The dual-channel ablation module is used for dual-channel ablation, one channel performs real-time MR temperature monitoring, and the other channel performs synchronous high-frequency ablation, performs real-time temperature monitoring and whole blood circulation dynamics monitoring, and adjusts the ablation power and time accordingly.

[0072] The postoperative management module is used to consolidate the ablation effect through postoperative wound management and closure technology.

[0073] The ablation effect evaluation module is used to evaluate the ablation effect through magnetic resonance imaging and postoperative biopsy after ablation.

[0074] The present invention also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the magnetic resonance-based puncture robot tumor ablation method as described above is implemented.

[0075] The beneficial effects of the present invention are:

[0076] The technical problems to be solved by the present invention mainly include: the existing tumor ablation technology has deficiencies in precise positioning and real-time monitoring, and it is difficult to effectively guide the puncture needle to accurately reach the tumor area; traditional ablation methods have a high risk of damaging surrounding tissues and lack effective temperature and blood flow monitoring methods; postoperative evaluation methods are not comprehensive enough and it is difficult to reflect the ablation effect and residual lesions in real time.

[0077] The present invention adopts multimodal magnetic resonance imaging fusion technology, integrates the advantages of different imaging sequences, provides clearer tumor images, updates the puncture needle position in real time, and significantly improves positioning accuracy; introduces a dual-channel ablation system, one for real-time temperature monitoring and the other for synchronous high-frequency ablation, which can dynamically adjust the ablation power to ensure the ablation effect; combines postoperative wound management and closure technology, utilizes biocompatible materials and temperature control algorithms to promote healing and reduce the risk of complications; analyzes postoperative images through deep learning technology to achieve accurate evaluation of the ablation effect.

[0078] The present invention improves the accuracy and safety of tumor ablation and reduces damage to surrounding normal tissues. It optimizes ablation strategies and improves the effectiveness of treatment by real-time monitoring of temperature and blood flow dynamics. The establishment of a postoperative evaluation system enables quantitative and personalized evaluation of ablation effects, guides subsequent treatment decisions, and enhances patients' confidence in treatment. The overall solution combines the latest imaging technology and intelligent algorithms, promotes the development of tumor ablation technology, and has broad clinical application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0080] Figure 1 The present invention is a flow chart of the magnetic resonance-based puncture robot tumor ablation method. DETAILED DESCRIPTION

[0081] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0082] Please refer to Figure 1The first embodiment of the present invention provides a tumor ablation method based on magnetic resonance imaging using a puncture robot, which includes: using multimodal magnetic resonance imaging fusion technology to scan the lesion through medical imaging examination to obtain a preoperative magnetic resonance image; based on the preoperative magnetic resonance image, reconstructing a three-dimensional model of the lesion and surrounding tissues, and planning an optimal puncture path; updating the position relationship between the needle tip of the puncture needle and the center of the lesion in real time through magnetic resonance arbitrary angle plane scanning, feeding back the deviation information of the needle tip position, and guiding the puncture needle to the tumor ablation area in real time; using dual-path ablation, one path for real-time MR temperature monitoring, and the other path for synchronous high-frequency ablation, performing real-time temperature monitoring and whole blood circulation dynamics monitoring, and adjusting the ablation power and time accordingly; using postoperative wound management and closure technology to consolidate the ablation effect; after the ablation, evaluating the ablation effect through magnetic resonance imaging examination and postoperative biopsy.

[0083] Among them, when using medical imaging technology to scan lesions, it is necessary to select the corresponding imaging sequence according to factors such as the characteristics of the tumor or lesion, its location, and the surrounding tissue environment; specifically, the T2-weighted imaging sequence can well display lesions such as fluid and inflammation, and is often used to observe tissues with more water, such as cysts or necrotic areas in tumors; the diffusion-weighted imaging sequence is sensitive to the diffusion of water molecules and can be used to observe changes in tumor cell density, which helps to detect the malignancy of the tumor or early tiny lesions; the fast spin echo sequence with good soft tissue contrast can more clearly show the relationship between the tumor and the surrounding soft tissue, and help determine the tumor boundary; the enhanced T1-weighted fast spin echo sequence has high spatial resolution and can enhance the vascular structure of the tumor, and can be selected when a detailed analysis of the tumor's morphology, boundaries, and internal structure is required; for lesion areas that require precise ablation, a suitable proton density-weighted imaging sequence can be selected to monitor local temperature changes.

[0084] In combination with the first aspect, an embodiment of the present invention provides a first possible implementation of the first aspect, wherein the multimodal magnetic resonance imaging fusion technology is used to scan the lesion through medical imaging examination to obtain a preoperative magnetic resonance image, including: determining the general outline and soft tissue boundary of the tumor through T2-weighted imaging sequence scanning; and / or obtaining the diffusion characteristics of the tumor area through diffusion-weighted imaging sequence scanning; and / or dynamically monitoring the blood flow and perfusion of the tumor and surrounding tissues through dynamic enhanced magnetic resonance imaging sequence scanning; and / or performing tumor metabolism analysis through magnetic resonance spectroscopy imaging sequence; performing image registration and fusion on multiple medical images to obtain a preoperative magnetic resonance image containing multi-level information of tumor tissue; and adjusting the scanning parameter combination of multiple medical images according to the individual characteristics of the patient (such as differences in the size, location and tissue density of the patient's lesion) and the clarity of the image to optimize the quality of the preoperative magnetic resonance image.

[0085] Its technical effect is: by adopting multimodal magnetic resonance imaging fusion technology and comprehensively utilizing the advantages of different imaging sequences, clearer and more detailed images of tumors and surrounding tissues can be obtained, and the blood flow and perfusion of tumors and surrounding tissues can be monitored in real time. The scanning parameter combination can be flexibly adjusted according to the individual characteristics of the patient, and the most suitable imaging sequence and parameters can be selected according to the specific situation of each patient. It helps to evaluate the physiological characteristics of the tumor and provide immediate feedback for puncture ablation.

[0086] In combination with the first aspect, an embodiment of the present invention provides a second possible implementation of the first aspect, wherein the three-dimensional model of the lesion and surrounding tissues is reconstructed based on the preoperative magnetic resonance image, and the optimal puncture path is planned, including: voxelizing the preoperative magnetic resonance image, using a threshold segmentation technique to distinguish the tumor from the surrounding normal tissue, segmenting the part greater than a preset grayscale threshold as a tumor area, and segmenting the part less than the preset grayscale threshold as a background, to obtain a voxel grid image; using a cube contour extraction algorithm to traverse the voxel grid image and divide the three-dimensional voxel data into a plurality of cubes; for each vertex of the cube, generating an 8 A binary index of a bit is used, and the vertex is marked as internal or external according to its value of 1 or 0; according to the internal and external markings, a predefined triangle lookup table is used to generate triangles in each of the cubes to obtain a triangular mesh for representing a three-dimensional geometric model; a path planning algorithm is used to calculate the optimal puncture path to avoid non-puncturable areas; a cost function C=w1·d+w2·r+w3·s is calculated, wherein d is the length of the puncture path, r is the risk score of the sensitive tissue passed by the path, s is the stability score of the path, w1, w2 and w3 are weight coefficients, and the optimal puncture path is obtained according to the path optimized according to the cost function.

[0087] The technical effect is: through voxel processing and threshold segmentation technology, the tumor and the surrounding normal tissue can be clearly distinguished, which helps to better understand the location and shape of the tumor. Through the path planning algorithm, the optimal puncture path is calculated to avoid passing through the non-puncturable area and reduce the risk of damage to important tissues and organs. The design of the cost function combines the length of the puncture path, the risk score of the sensitive tissue passed through, and the stability score of the path, which improves the safety of the operation and the success rate of ablation.

[0088] In combination with the first aspect, an embodiment of the present invention provides a third possible implementation of the first aspect, wherein the real-time updating of the positional relationship between the needle tip point of the puncture needle and the center of the lesion through magnetic resonance arbitrary-angle plane scanning, the feedback of the deviation information of the needle tip point position, and the real-time guidance of the puncture needle to the tumor ablation area include: using magnetic resonance imaging for real-time scanning to obtain continuous two-dimensional magnetic resonance images containing the puncture needle and the lesion; performing real-time reconstruction in the three-dimensional model according to the continuous two-dimensional magnetic resonance images, and generating the real-time needle tip position of the puncture needle in the three-dimensional model; calculating the actual distance according to the spatial relationship between the needle tip position and the center of the tumor. Among them, (x needle ,y needle ,z needle ) is the coordinate of the needle tip position, (x tumor ,y tumor ,z tumor ) is the coordinate of the tumor center; setting the ideal distance d between the needle tip position and the tumor center ideal According to the actual distance d actual The ideal distance d ideal The deviation between the two is detected, and the direction and insertion angle of the puncture needle are adjusted in real time to guide the puncture needle to the tumor ablation area.

[0089] Its technical effects are: real-time scanning through magnetic resonance imaging, continuous acquisition of two-dimensional images of the puncture needle and the tumor, real-time observation of the relationship between the progress of the puncture needle and the location of the lesion, and accurate tracking of the needle tip position by real-time generation of the needle tip position in the three-dimensional model to ensure that the needle tip can respond to changes in the tumor position in a timely manner. By calculating the actual distance between the needle tip position and the center of the tumor, the deviation of the needle tip relative to the target lesion is accurately evaluated, effectively avoiding the puncture needle from accidentally injuring surrounding important tissues or organs, and increasing the possibility of successfully guiding the tumor ablation area.

[0090] In combination with the first aspect, the embodiment of the present invention provides a fourth possible implementation of the first aspect, wherein the dual-channel ablation is adopted, one channel performs real-time MR temperature monitoring, and the other channel performs synchronous high-frequency ablation, performs real-time temperature monitoring and whole blood circulation dynamics monitoring, and correspondingly adjusts the ablation power and time including: setting a target temperature T to achieve effective ablation target ; A temperature sensor is installed at the tip of one ablation needle to obtain temperature distribution through MR imaging; a hemodynamic monitoring device is installed at the tip of another ablation needle to obtain blood flow imaging distribution; the temperature distribution is combined with the blood flow imaging distribution to form a real-time temperature and blood flow distribution map in the ablation area; according to the deviation between the current temperature and the target temperature and the influence of blood flow on temperature control, the ablation power P(t)=P0+K·(T target -T current)-H·(v blood -v critical ), where P0 is the initial power, K is the power adjustment coefficient, T current is the current temperature, H is the blood flow adjustment coefficient, v blood is the current blood flow velocity, v critical is the critical blood flow velocity; adjust the ablation duration t adjusted = t0 + Δt, where t0 is the initially set ablation time, and Δt is the adjustment amount based on the real-time monitoring results,

[0091] Its technical effect is as follows: By setting the target temperature and using a temperature sensor for real-time monitoring, it ensures that the temperature during the ablation process is always maintained within the effective ablation range, reducing damage to surrounding healthy tissues. Installing a hemodynamic monitoring device at the tip of the ablation needle can obtain the blood flow distribution in real time, and form a real-time map by combining the temperature distribution and the blood flow imaging distribution, and comprehensively analyze and optimize the ablation strategy. According to the real-time monitoring results of temperature and blood flow, the ablation power and duration are intelligently adjusted, improving the safety and effectiveness of the treatment.

[0092] Combined with the first aspect, the embodiment of the present invention provides a fifth possible implementation manner of the first aspect, wherein the calculation formula of the critical blood flow velocity is v critical = v thresh ·f(T current ), where v thresh is the basic blood flow velocity, and f(T current ) is the temperature adjustment factor; the temperature adjustment factor f(T current ) is calculated by the temperature-dependent function , where L is the maximum value of the function, representing the limit value of blood flow dynamic adjustment in the high-temperature state, k is the growth rate parameter, representing the influence intensity of temperature change on the temperature adjustment factor f(T current ), and T0 is the midpoint temperature, indicating that at this temperature, the temperature adjustment factor f(T current ) reaches the temperature value.

[0093] Among them, when T current < T0, the output of the logistic function tends to a smaller value, indicating that at a lower temperature, the response of blood flow dynamic adjustment is weaker; when T current is close to T0, the output increases rapidly, reflecting that the subtle change in temperature has a significant impact on the temperature adjustment factor f(T current ); when T current > T0, the function value tends to L, indicating that under high-temperature conditions, the response of blood flow dynamic adjustment approaches the maximum value, indicating that the ablation effect is obvious.

[0094] Its technical effect is: through the calculation based on the basic blood flow velocity and the temperature adjustment factor, the dynamic response of blood flow under different temperature conditions is accurately evaluated, and the blood flow is adjusted in time during the ablation process to avoid negative impact on the ablation effect. The temperature-dependent function makes the dynamic adjustment of blood flow more sensitive to temperature changes, and the response is weaker at low temperatures, reducing unnecessary adjustments. When approaching the midpoint temperature, the output increases rapidly, ensuring the accuracy of the ablation operation and improving the control accuracy of the ablation process.

[0095] In combination with the first aspect, an embodiment of the present invention provides a sixth possible implementation of the first aspect, wherein the use of postoperative wound management and closure technology to consolidate the ablation effect includes: monitoring the physiological parameters of the wound when the ablation needle is removed; analyzing the physiological parameters during the wound healing process, and using time series analysis and anomaly detection algorithms to identify potential complications; when the monitored physiological parameters exceed the normal range, or potential complications are identified, injecting physiological saline through a micropump structure to close the needle tract; according to the characteristics of the wound, using corresponding biocompatible sealing materials (such as biological glue or absorbable sutures) to close the wound, and monitoring and feedback the suturing effect in real time; performing directional thermal coagulation of the tissue around the wound through a temperature control algorithm, setting the target temperature and heating time, and adjusting the heating power through real-time temperature feedback.

[0096] Its technical effects are: through real-time monitoring and analysis of the physiological parameters of the wound, abnormal conditions in the wound healing process can be identified in time, potential complications can be dealt with quickly, and postoperative risks can be reduced. When abnormal physiological parameters are monitored, physiological saline can be quickly injected through a micropump to close the needle channel, timely intervention can be made to prevent complications such as infection or bleeding, and enhance the safety of wound healing; using biocompatible sealing materials for wound closure can provide a better healing environment, reduce rejection reactions, promote tissue regeneration, and accelerate the healing process; through the temperature control algorithm, the tissue around the wound is subjected to directional thermal coagulation, which can effectively control the range and intensity of thermal coagulation, avoid damage to normal tissue, and accelerate hemostasis and promote healing. Through the temperature control algorithm, the tissue around the wound is subjected to directional thermal coagulation, which can effectively control the range and intensity of thermal coagulation, avoid damage to normal tissue, and accelerate hemostasis and promote healing.

[0097] In combination with the first aspect, an embodiment of the present invention provides a seventh possible implementation of the first aspect, wherein after the ablation is completed, the ablation effect is evaluated through magnetic resonance imaging and postoperative biopsy, including: using multimodal magnetic resonance imaging fusion technology to scan the ablation site through medical imaging to obtain a postoperative magnetic resonance image; using a deep learning segmentation model to process the postoperative magnetic resonance image to identify the ablation area and residual lesions; calculating the postoperative magnetic resonance image score Among them, Vpre is the preoperative lesion volume, V post is the volume of the lesion after ablation, B clear is the proportion of lesions with clear boundaries, B total is the total lesion area, C1 and C2 are weight constants; according to the analysis results of the postoperative magnetic resonance imaging, the area suspected of residual lesions is selected for biopsy; the cell activity and survival of tumor cells in the biopsy sample are evaluated to calculate the biopsy score N alive is the number of viable tumor cells in the biopsy, N total is the total number of biopsy cells, P malignant is the proportion of malignant cells, P total is the total number of cells in the biopsy sample, D1 and D2 are weight coefficients; tumor characteristic parameters are calculated based on the measurement results of biomarkers Among them, K i is the Ki-67 index, K max The maximum value of Ki-67, M i is the value of other biomarkers, M max is the maximum value of the other biomarker, E1 and E2 are weight coefficients; a comprehensive evaluation index E = α·I is established for evaluating the ablation effect MRI +β·I biopsy +γ·D tumor +δ·R treatment , where α, β, γ and δ are weight coefficients.

[0098] Its technical effect is that by evaluating the survival of tumor cells in biopsy samples, it can reflect the treatment effect in real time, and combined with the measurement results of biomarkers, it can more comprehensively evaluate the characteristics and behavior of tumors and provide patients with personalized treatment plans. Through the clarity and quantification of evaluation indicators, it can fully reflect the ablation effect and achieve accurate evaluation of tumor ablation effect.

[0099] The second embodiment of the present invention provides a puncture robot tumor ablation system based on magnetic resonance, which includes: a multi-modal magnetic resonance image fusion module, which is used to use multi-modal magnetic resonance image fusion technology to scan the lesion through medical imaging examination to obtain a preoperative magnetic resonance image; a three-dimensional model reconstruction module, which is used to reconstruct a three-dimensional model of the lesion and surrounding tissues according to the preoperative magnetic resonance image, and plan the best puncture path; a deviation correction guidance module, which is used to update the position relationship between the needle tip of the puncture needle and the center of the lesion in real time through magnetic resonance arbitrary angle plane scanning, feedback the deviation information of the needle tip position, and guide the puncture needle to the tumor ablation area in real time; a dual-path ablation module, which is used to use dual-path ablation, one path performs real-time MR temperature monitoring, and the other path performs synchronous high-frequency ablation, performs real-time temperature monitoring and whole blood circulation dynamics monitoring, and adjusts the ablation power and time accordingly; a postoperative management module, which is used to consolidate the ablation effect by using postoperative wound management and closure technology; an ablation effect evaluation module, which is used to evaluate the ablation effect through magnetic resonance imaging and postoperative biopsy after the ablation is completed.

[0100] A third embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the magnetic resonance-based puncture robotic tumor ablation method as described above is implemented.

[0101] The computer program product of the magnetic resonance-based puncture robot tumor ablation method and device provided in the embodiments of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the method in the previous method embodiment. The specific implementation can be found in the method embodiment, which will not be repeated here.

[0102] Specifically, the storage medium can be a general storage medium, such as a mobile disk, a hard disk, etc. When the computer program on the storage medium is run, it can execute the above-mentioned magnetic resonance-based puncture robot tumor ablation method, thereby realizing the magnetic resonance-based puncture robot tumor ablation method for tumor ablation, effectively performing temperature and blood flow monitoring, and reflecting the ablation effect and residual lesions in real time through a comprehensive postoperative evaluation method.

[0103] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0104] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A magnetic resonance-based puncture robot tumor ablation method, characterized in that: include: Multimodal magnetic resonance imaging fusion technology is used to scan the lesion through medical imaging examination to obtain preoperative magnetic resonance images; Based on the preoperative magnetic resonance images, a three-dimensional model of the lesion and surrounding tissues is reconstructed to plan the optimal puncture path; Through magnetic resonance plane scanning at any angle, the position relationship between the needle tip and the center of the lesion is updated in real time, and the deviation information of the needle tip position is fed back to guide the puncture needle to the tumor ablation area in real time; Dual-channel ablation is used, one channel performs real-time MR temperature monitoring, and the other channel performs synchronous high-frequency ablation, performs real-time temperature monitoring and whole blood circulation dynamics monitoring, and adjusts the ablation power and time accordingly; Postoperative wound management and closure techniques were used to consolidate the ablation effect; After ablation, magnetic resonance imaging and postoperative biopsy were performed to evaluate the ablation effect.

2. The magnetic resonance-based puncture robot tumor ablation method according to claim 1, characterized in that: The multimodal magnetic resonance imaging fusion technology is used to scan the lesion through medical imaging examination, and the preoperative magnetic resonance imaging includes: Determine the gross contours and soft tissue borders of the tumor using T2-weighted imaging sequences; and / or Obtaining diffusion characteristics of the tumor region by diffusion weighted imaging sequence scanning; and / or Dynamic monitoring of blood flow and perfusion of tumors and surrounding tissues through dynamic contrast-enhanced magnetic resonance imaging sequence scanning; and / or Tumor metabolism analysis by magnetic resonance spectroscopy imaging sequences; Perform image registration and fusion on multiple medical images to obtain preoperative magnetic resonance images containing multi-level information of tumor tissue; According to the individual characteristics of the patient and the clarity of the image, the scanning parameter combination of the various medical images is adjusted to optimize the quality of the preoperative magnetic resonance image.

3. The magnetic resonance-based puncture robot tumor ablation method according to claim 1, characterized in that: The three-dimensional model of the lesion and surrounding tissues is reconstructed based on the preoperative magnetic resonance image, and the optimal puncture path is planned, including: voxelize the preoperative magnetic resonance image, use threshold segmentation technology to distinguish the tumor from surrounding normal tissue, segment the part with a grayscale greater than a preset threshold as the tumor area, and segment the part with a grayscale less than the preset threshold as the background, to obtain a voxel grid image; Using a cube contour extraction algorithm, traverse the voxel grid image to divide the three-dimensional voxel data into a number of cubes; For each vertex of the cube, generate an 8-bit binary index, marking the vertex as inside or outside according to whether the value of the vertex is 1 or 0; According to the internal and external marks, a triangle is generated in each of the cubes using a predefined triangle lookup table to obtain a triangle mesh for representing a three-dimensional geometric model; Use the path planning algorithm to calculate the best puncture path and avoid non-puncture areas; The cost function C=w1·d+w2·r+w3·s is calculated, where d is the length of the puncture path, r is the risk score of the sensitive tissue through which the path passes, s is the stability score of the path, w1, w2 and w3 are weight coefficients, and the optimal puncture path is obtained based on the path optimized according to the cost function.

4. The magnetic resonance-based puncture robot tumor ablation method according to claim 1, characterized in that: The method of updating the positional relationship between the needle tip and the center of the lesion in real time by plane scanning at any angle of magnetic resonance, feeding back the deviation information of the needle tip position, and guiding the puncture needle to the tumor ablation area in real time includes: Use magnetic resonance imaging to perform real-time scanning to obtain continuous two-dimensional magnetic resonance images including the puncture needle and the lesion; Reconstructing the three-dimensional model in real time according to the continuous two-dimensional magnetic resonance images, and generating the real-time needle tip position of the puncture needle in the three-dimensional model; The actual distance is calculated based on the spatial relationship between the needle tip position and the tumor center. Among them, (x needle ,y needle ,z needle ) is the coordinate of the needle tip position, (x tumor ,y tumor ,z tumor ) are the coordinates of the tumor center; Set the ideal distance d between the needle tip and the tumor center ideal ; According to the actual distance d actual The ideal distance d ideal The deviation between the two is detected, and the direction and insertion angle of the puncture needle are adjusted in real time to guide the puncture needle to the tumor ablation area.

5. The magnetic resonance-based puncture robot tumor ablation method according to claim 1, characterized in that: The dual-channel ablation is adopted, one channel performs real-time MR temperature monitoring, and the other channel performs synchronous high-frequency ablation, performs real-time temperature monitoring and whole blood circulation dynamics monitoring, and the corresponding adjustment of ablation power and time includes: Set the target temperature T to achieve effective ablation target ; A temperature sensor is installed at the tip of the ablation needle to obtain the temperature distribution through MR imaging; A hemodynamic monitoring device is installed at the tip of another ablation needle to obtain blood flow imaging distribution; Combining the temperature distribution with the blood flow imaging distribution to form a real-time temperature and blood flow distribution map within the ablation area; According to the deviation between the current temperature and the target temperature and the influence of blood flow on temperature control, the ablation power P(t)=P0+K·(T target -T current )-H·(v blood -v critical ), where P0 is the initial power, K is the power adjustment coefficient, T current is the current temperature, H is the blood flow adjustment coefficient, v blood is the current blood flow velocity, v critical is the critical blood flow velocity; Adjust ablation duration t according to temperature and blood flow monitoring results adjusted =t0+Δt, where t0 is the initial set ablation time, and Δt is the adjustment amount based on the real-time monitoring results.

6. The magnetic resonance-based puncture robot tumor ablation method according to claim 5, characterized in that: The calculation formula of the critical blood flow velocity is v critical =v thresh ·f(T current ), where v thresh is the basic blood flow velocity, f(T current ) is the temperature adjustment factor; The temperature adjustment factor f(T current ) is a temperature-dependent function Calculated, where L is the maximum value of the function, indicating the limit value of the dynamic adjustment of blood flow under high temperature, and k is the growth rate parameter, indicating the effect of temperature change on the temperature adjustment factor f(T current ) is the intensity of influence, T0 is the midpoint temperature, indicating that at this temperature, the temperature adjustment factor f(T current ) Temperature value.

7. The magnetic resonance-based puncture robot tumor ablation method according to claim 1, characterized in that: The postoperative wound management and closure techniques used to consolidate the ablation effect include: Monitor the physiological parameters of the wound when the ablation needle is removed; Analyze physiological parameters during wound healing using time series analysis and anomaly detection algorithms to identify potential complications; When the monitored physiological parameters are beyond the normal range or potential complications are identified, injecting physiological saline through the micropump structure to close the needle tract; According to the characteristics of the wound, use the corresponding biocompatible sealing material to close the wound, and monitor and provide feedback on the suturing effect in real time; The temperature control algorithm is used to perform directional thermal coagulation of the tissue around the wound, set the target temperature and heating time, and adjust the heating power through real-time temperature feedback.

8. The magnetic resonance-based puncture robot tumor ablation method according to claim 1, characterized in that: After the ablation is completed, magnetic resonance imaging and postoperative biopsy are performed to evaluate the ablation effect, including: Multimodal magnetic resonance imaging fusion technology is used to scan the ablation site through medical imaging examination to obtain postoperative magnetic resonance images; Processing the postoperative magnetic resonance images using a deep learning segmentation model to identify ablation areas and residual lesions; Calculation of postoperative MRI scores Among them, V pre is the preoperative lesion volume, V post is the volume of the lesion after ablation, B clear is the proportion of lesions with clear boundaries, B total is the total lesion area, C1 and C2 are weight constants; According to the analysis results of the postoperative magnetic resonance imaging, an area suspected of residual lesions is selected for biopsy; Evaluate cell viability and tumor cell survival in biopsy samples and calculate biopsy scores N alive is the number of viable tumor cells in the biopsy, N total is the total number of biopsy cells, P malignant is the proportion of malignant cells, P total is the total number of cells in the biopsy sample, D1 and D2 are weight coefficients; Calculate tumor characteristic parameters based on biomarker measurements Among them, K i is the Ki-67 index, K max The maximum value of Ki-67, M i is the value of other biomarkers, M max is the maximum value of the other biomarker, E1 and E2 are weight coefficients; Establish a comprehensive evaluation index E = α·I for evaluating ablation effect MRI +β·I biopsy +γ·D tumor +δ·R treatment , where α, β, γ and δ are weight coefficients.

9. A magnetic resonance-based puncture robot tumor ablation system, characterized in that: include: A multimodal magnetic resonance imaging fusion module is used to scan the lesion through medical imaging examination using multimodal magnetic resonance imaging fusion technology to obtain a preoperative magnetic resonance image; A three-dimensional model reconstruction module is used to reconstruct a three-dimensional model of the lesion and surrounding tissues based on the preoperative magnetic resonance image, and plan an optimal puncture path; Deviation correction guidance module, used to update the position relationship between the needle tip and the center of the lesion in real time through magnetic resonance arbitrary angle plane scanning, feedback the deviation information of the needle tip position, and guide the puncture needle to the tumor ablation area in real time; Dual-channel ablation module, used for dual-channel ablation, one channel for real-time MR temperature monitoring, the other channel for synchronous high-frequency ablation, real-time temperature monitoring and whole blood circulation dynamics monitoring, and corresponding adjustment of ablation power and time; Postoperative management module, used to consolidate the ablation effect through postoperative wound management and closure technology; The ablation effect evaluation module is used to evaluate the ablation effect through magnetic resonance imaging and postoperative biopsy after ablation.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the magnetic resonance-based puncture robotic tumor ablation method according to any one of claims 1 to 8 is implemented.

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