Radiofrequency ablation measurement and control system

Abstract

The present application relates to the field of biomedical engineering, and discloses a radio frequency ablation measurement and control system. The system includes a linearized voltage acquisition circuit, a voltage calibration module, and an output module. The linearized voltage acquisition circuit acquires the current radio frequency detection voltage, the voltage calibration module detects the current ablation tissue impedance based on the rated impedance, and corrects the radio frequency output voltage according to the current radio frequency detection voltage and the current ablation tissue impedance, and the output module outputs a radio frequency signal according to the corrected radio frequency output voltage to heat the current ablation tissue. The radio frequency ablation measurement and control system of the present application can quickly and accurately control the output radio frequency ablation energy, protect normal tissue from damage, and improve the cure rate.

Description

Technical Field

[0001] The present application relates to the field of biomedical engineering, and in particular to radiofrequency ablation measurement and control technology. Background Art

[0002] The incidence of malignant tumors, vascular atherosclerosis, arrhythmia, benign prostatic hyperplasia, arteriovenous malformations, etc. is increasing year by year, posing an increasing threat to human health. Although traditional treatments such as surgery, radiotherapy, and chemotherapy are becoming increasingly mature in the treatment process, these methods will inevitably cause varying degrees of damage to the body's normal functions, and the success rate of treatment still needs to be improved.

[0003] With the development of science and technology, especially the progress of medical imaging technology such as magnetic resonance imaging and ultrasound imaging, minimally invasive treatments such as thermal physical therapy have made great progress and become increasingly popular. However, this method still has defects and it is difficult to achieve precise treatment of lesions.

[0004] Radiofrequency ablation utilizes a high-frequency electric current field to heat the diseased tissue. Compared with microwave and laser ablation, it is low-cost and easy to control. It is widely used in the treatment of diseases such as atherosclerosis, tumors, and arrhythmias. However, radiofrequency ablation treatment on the current market is limited to burning the lesions and damaging normal tissues. It has a high recurrence rate and is difficult to achieve long-term effectiveness of a single treatment.

[0005] Multimodal tumor radiofrequency treatment, that is, using pre-freezing and then precise radiofrequency heating treatment, not only overcomes the shortcomings of conventional freezing or heat therapy, but also improves the cure rate. It has become a hot spot for precision thermal physical therapy. Animal experiments have shown that by precisely controlling the temperature of the heat therapy around tumor cells, it is possible to promote antigen release and effectively present antigens. At the same time, studies have shown that the immune system can only be activated under a specific temperature environment to stimulate the expression and presentation of immune factors. As well as the effective treatment of atherosclerosis, it is necessary to fully open blocked blood vessels to ensure smooth blood flow, and to protect endothelial cells as effectively as possible, inhibit smooth muscle cell proliferation, and prevent restenosis. It is necessary to use the unique effect of thermal physics on biological tissues, accurately control the thermal physical energy to form high-temperature ablation in the center of the plaque while protecting endothelial cells, minimize the occurrence of restenosis, and achieve long-term effective treatment. Summary of the invention

[0006] The purpose of this application is to provide a radiofrequency ablation measurement and control system that can quickly and accurately control the output radiofrequency ablation energy, protect normal tissue from damage, and improve the cure rate.

[0007] The present application discloses a radiofrequency ablation measurement and control system, comprising:

[0008] A linearized voltage acquisition circuit is used to acquire the current RF detection voltage;

[0009] A voltage calibration module, used to detect the current ablation tissue impedance based on the rated impedance, and to correct the RF output voltage according to the current RF detection voltage and the current ablation tissue impedance;

[0010] The output module is used to output a radio frequency signal according to the corrected radio frequency output voltage to heat the current ablation tissue.

[0011] In a preferred embodiment, the voltage calibration module is further used to use the formula: The RF output voltage is corrected, where Z represents the current ablation tissue impedance, a, b, c, d represent correction coefficients, and U is a constant. c Indicates the current RF detection voltage.

[0012] In a preferred embodiment, the voltage calibration module is further used to: pre-calibrate the current RF detection voltage linearly under rated impedance to obtain a calibration equation; based on the current ablation tissue impedance Z, use the correction formula The coefficient k of the first-order term of the calibration equation is corrected to obtain a corrected calibration equation; and according to the current RF detection voltage U c , calculating the corrected RF output voltage based on the corrected calibration equation.

[0013] In a preferred embodiment, the voltage calibration module is further used to: perform linear calibration on the RF detection voltage under n groups of different load impedances, and solve the first-order coefficient k of the calibration equation under each group of load impedances. 1 ,k 2 ,k 3 ,…,k n ; Based on the solved k 1 ,k 2 ,k 3 ,…,k n , and calculate the correction coefficients a, b, c, and d by using a data fitting method.

[0014] In a preferred example, the voltage calibration module is further used to iteratively perform the following steps until a preset condition is met: calculating the current ablation tissue impedance based on the corrected RF output voltage, and correcting the corrected RF output voltage based on the calculated current ablation tissue impedance.

[0015] In a preferred example, the preset condition is: reaching a preset number of iterations, or the difference between the corrected RF output voltages of two consecutive iterations is less than a preset threshold.

[0016] In a preferred embodiment, the system further comprises a linearized temperature acquisition circuit for acquiring the current detected temperature;

[0017] The system also includes a temperature calibration module for calibrating the current output temperature based on the target temperature and the current detected temperature by using a hot environment temperature and a cold environment temperature correction compensation algorithm and a machine autonomous learning correction algorithm.

[0018] In a preferred embodiment, the system further includes a temperature control module for controlling the actual output temperature and the target output temperature according to the control equation Accurate and fast output of temperature control, where k p is the proportional term, k i is the integral term, k d is the differential term, S(n) is the temperature control quantity, ΔT=T s -T 0 , T 0 is the actual output temperature, T s The target output temperature.

[0019] In a preferred embodiment, the system further includes a power control module for controlling the actual output power and the target output power according to the formula Control the precise and fast output of power, where P s is the target output power, P 0 is the actual output power, ΔP=P s -P 0 is the power error, U 0 ,I 0 are the calibrated RF voltage and current respectively.

[0020] In a preferred embodiment, the system further comprises a low-radiation-interference RF-temperature integrated transmission line for parallel transmission of RF signals and temperature signals, wherein the transmission line uses an insulation design of anti-radiation-interference material in the metal outer layer.

[0021] Compared with the prior art, the present invention has at least the following advantages and effects:

[0022] The RF output voltage is collected during the RF treatment process, and the collected parameters are processed by a linear processing circuit. The processed parameters are used to detect the current ablation tissue impedance based on the rated impedance. The RF output voltage is corrected according to the current RF detection voltage and the current ablation tissue impedance, thereby achieving precise control of the RF output signal, accurately applying the RF signal to the target tissue, achieving precise treatment and precise control of RF ablation, protecting normal tissue from damage, improving the cure rate, and even achieving long-term and effective treatment of tumors and atherosclerosis.

[0023] The RF output voltage is corrected multiple times through iterations to further improve the accuracy of the RF output signal.

[0024] In the transmission of RF signals, an RF-temperature integrated transmission line with resistance to radiation interference is used. The RF output voltage, current and temperature are collected at the same time, and linear processing is used. Based on the circuit linearization processing, a temperature calibration algorithm, RF voltage calibration algorithm, power control algorithm and temperature control algorithm are designed. While improving the accuracy of the RF output signal, the output RF signal is accurately and rapidly responded, further improving the cure rate, protecting normal tissues from damage, and even achieving long-term and effective treatment of tumors and atherosclerosis.

[0025] A large number of technical features are recorded in the specification of this application, which are distributed in various technical solutions. If all possible combinations of technical features of this application (i.e., technical solutions) are to be listed, the specification will be too long. In order to avoid this problem, the various technical features disclosed in the above-mentioned invention content of this application, the various technical features disclosed in the various embodiments and examples below, and the various technical features disclosed in the accompanying drawings can be freely combined with each other to form various new technical solutions (these technical solutions are all deemed to have been recorded in this specification), unless the combination of such technical features is technically infeasible. For example, in one example, feature A+B+C is disclosed, and in another example, feature A+B+D+E is disclosed, and features C and D are equivalent technical means that play the same role. Technically, only one can be used, and it is impossible to use them at the same time. Feature E can be combined with feature C technically. Then, the solution of A+B+C+D should not be deemed to have been recorded because it is technically infeasible, and the solution of A+B+C+E should be deemed to have been recorded. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural block diagram of the radiofrequency ablation measurement and control system according to the first embodiment of the present application.

[0027] Figure 2 This is a structural block diagram of an example acquisition unit according to the present application.

[0028] Figure 3ais a circuit diagram of a radio frequency output network according to the present application.

[0029] Figure 3b It is an equivalent impedance network circuit diagram of the radio frequency output network according to the present application.

[0030] Figure 4 It is a flow chart of the precise and rapid temperature control process according to the present application.

[0031] Figure 5 It is a flow chart of the precise and fast power control process according to the present application.

[0032] Figure 6 It is a structural block diagram of an example radiofrequency ablation measurement and control system according to the present application.

[0033] Figure 7 is a control curve diagram of an example power control according to the present application.

[0034] Figure 8 is a control curve diagram of an example temperature control according to the present application.

[0035] Fig. 9 This is an example temperature control effect diagram according to the present application.

[0036] in,

[0037] 11-RF temperature integrated transmission line 12-Linearized voltage acquisition circuit

[0038] 13-Linearized temperature acquisition circuit 14-Voltage calibration module

[0039] 15- Temperature calibration module 16- Power control module

[0040] 17- Temperature control module 18- Output module

[0041] 121-RF output isolation circuit 122-Thermocouple temperature acquisition circuit

[0042] 123-Thermocouple temperature compensation and correction circuit 124-Thermocouple signal amplification circuit

[0043] 125-RF current isolation coupling circuit 126-RF voltage compensation correction circuit

[0044] 127-RF voltage acquisition and processing circuit 128-RF current sampling and compensation circuit

[0045] 129-Linear optocoupler isolation circuit 221-Small signal test voltage generation module

[0046] 222-Fast Power Control Algorithm 223-Test RF Output Power

[0047] 224-target power 225-actual power output

[0048] 231-Target temperature 232-Temperature control algorithm

[0049] 233-Algorithm output control parameters 234-Control RF power output

[0050] 235-Target temperature output DETAILED DESCRIPTION

[0051] In the following description, many technical details are provided to help readers better understand the present application. However, those skilled in the art can understand that the technical solution claimed in the present application can be implemented even without these technical details and various changes and modifications based on the following embodiments.

[0052] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0053] The first embodiment of the present application relates to a radiofrequency ablation measurement and control system, the structure of which is as follows: Figure 1 As shown, the system includes a linearized voltage acquisition circuit 12 , a voltage calibration module 14 and an output module 18 .

[0054] The linearized voltage acquisition circuit 12 is used to acquire the current RF detection voltage. Specifically, the linearized voltage acquisition circuit 12 detects the RF detection voltage and performs linearization processing on the detected RF detection voltage to obtain the current RF detection voltage.

[0055] Optionally, the system further comprises a linearized temperature acquisition circuit 13 for acquiring the current detected temperature. The linearized temperature acquisition circuit 13 is used to detect one or more groups of temperature signals.

[0056] Optionally, the system also includes a low-radiation-interference RF temperature integrated transmission line 11, which serves as a transmission line between the RF treatment probe and the acquisition circuit. The transmission line uses an insulation design with anti-radiation-interference material in the metal outer layer. During the RF ablation process, the RF signal is accurately transmitted to the current ablation tissue through the integrated transmission line 11, and the standard temperature signal monitored by the thermocouple set at the RF treatment probe is transmitted to the linearized temperature acquisition circuit 13 through the integrated transmission line 11.

[0057] like Figure 2 The structure diagram of an example acquisition unit is shown as follows: Figure 2As shown, the example acquisition unit mainly includes a linearized voltage, current acquisition circuit and a linearized temperature acquisition circuit. The example acquisition unit mainly outputs the collected RF voltage, current and temperature data to the control unit 2 for processing after linear processing, compensation correction processing and optical coupling isolation; specifically, during operation, the RF output isolation circuit 121 isolates the acquisition signal from the RF output signal to avoid mutual interference between the acquisition circuit and the RF output. During the RF voltage acquisition process, the RF voltage acquisition and processing circuit 127 linearly processes the effective value of the RF voltage and converts it into a DC signal (for example, a 0-5V DC voltage signal) and inputs it to the AD terminal of the control system through the linear optical coupling isolation circuit 129. In addition, during the RF voltage acquisition and processing process, the RF voltage compensation correction circuit 126 is used to correct the real-time voltage to ensure the linearization of its output signal; during the current signal acquisition process, firstly, the optical coupling isolation circuit 126 is used to obtain the real-time voltage. The frequency current coupling isolation circuit 125 linearly converts the RF current into an RF voltage value, and then converts it into an output linear voltage (for example, 0-5V) through the RF current acquisition and processing circuit 128, and then outputs it to the AD end of the control system through the linear isolation circuit. Similarly, in the process of RF current acquisition, a compensation correction circuit 126 is added to correct and compensate the circuit; in the process of temperature signal acquisition, a high-speed thermocouple temperature acquisition circuit 122 is used to collect and process the thermocouple signal, and in the process of acquisition, a thermocouple temperature compensation and correction circuit 123 is used to correct and compensate the circuit to ensure the accuracy of the acquisition circuit, and then a high-precision thermocouple signal amplifier circuit 124 is used to amplify the collected thermocouple signal, and then it is transmitted to the AD port of the control system 2 through the linear isolation circuit for acquisition and processing. Among them, the control unit 2 can, for example, include the aforementioned voltage calibration module 14 and the subsequent temperature calibration module 15, power control module 16 and temperature control module 17 to be described.

[0058] Furthermore, the voltage calibration module 14 is used to detect the current ablation tissue impedance based on the rated impedance, and to correct the RF output voltage according to the current RF detection voltage and the current ablation tissue impedance; and the output module 18 is used to output an RF signal according to the corrected RF output voltage to heat the current ablation tissue.

[0059] Optionally, the voltage calibration module 14 is further configured to use the formula: The RF output voltage is corrected, where Z represents the current ablation tissue impedance, a, b, c, d represent the correction coefficients, and U c Indicates the current RF detection voltage.

[0060] Optionally, the voltage calibration module 14 is further used to: pre-calibrate the current RF detection voltage linearly under rated impedance to obtain a calibration equation U E =kU c +x, where U c It represents the current RF detection voltage under rated impedance, k represents the first-order coefficient, x is a constant, U E Represents the RF output voltage under rated impedance; based on the current ablation tissue impedance Z detected based on the rated impedance, the correction formula is used Correct the linear coefficient k and get the corrected calibration equation U E =(k+Δk)U c +x; and according to the current RF detection voltage U c , the corrected RF output voltage is calculated based on the corrected calibration equation.

[0061] The correction coefficients a, b, c, and d are calculated in advance. For example, by linearly calibrating the RF detection voltage under n groups of different load impedances, the first-order coefficient k of the calibration equation under each group of load impedance is solved. 1 ,k 2 ,k 3 ,…,k n ; Based on the solved k 1 ,k 2 ,k 3 ,…,k n , the correction coefficients a, b, c, d are calculated by using a data fitting method, such as but not limited to a least squares method data fitting method.

[0062] Optionally, modify the formula It is calculated in the following way: By analyzing the RF output circuit, an equivalent impedance network is obtained, and the impedance correction relationship is obtained by analyzing its network transfer function, and the correction formula is obtained. Specifically, the RF output network is as follows: Figure 3a As shown, its equivalent impedance network is as follows Figure 3b As shown, U 1 is the RF detection voltage of the measurement and control circuit, U 2 is the RF output voltage, Z 1 is the load equivalent impedance, Z 2 is the transformer input impedance, Z 3 is the sampling line impedance. According to the equivalent Figure 3b The equivalent circuit of the signal transmission network function relationship is:

[0063]

[0064] Since the detection impedance is Z 1=Z+ΔZ, where Z is the actual impedance and ΔZ is the line deviation impedance. Substituting it into the transfer function (1), we can get the relationship:

[0065]

[0066] The deviation impedance ΔZ in the same circuit is a constant value, and Z 2 , Z 3 is a constant, so we can define a=Z 2 , b = ΔZ × Z 2 , c=Z 2 +Z 3 , d = ΔZ(Z 2 +Z 3 )+Z 2 ×Z 3

[0067] Substituting it into equation (2), we get

[0068]

[0069] The RF detection voltage of the rated impedance is normalized based on the rated value. The error relationship between the RF output voltage and the RF detection voltage satisfies equation (3), which can be obtained:

[0070] Optionally, the voltage calibration module 14 is further used to iteratively perform the following steps until a preset condition is met: calculating the current ablation tissue impedance according to the corrected RF output voltage, and correcting the corrected RF output voltage according to the calculated current ablation tissue impedance. The preset condition is, for example but not limited to, the following group: ① reaching a preset number of iterations; ② the difference between the corrected RF output voltages of two previous and subsequent iterations is less than a preset threshold.

[0071] The system also includes a temperature calibration module 15, which is used to calibrate the current output temperature based on the target temperature and the current detected temperature, using a hot environment temperature and a cold environment temperature correction compensation algorithm and a machine autonomous learning correction algorithm. Specifically, N tiny standard thermocouples are pre-integrated at one point of the radio frequency probe, one of which is connected to a standard temperature detector, and the remaining N-1 are connected to the system for real-time acquisition of standard temperature data, and the standard temperature detector communicates with the system; a polynomial fitting algorithm and a machine automatic calibration correction algorithm are pre-written; during the calibration process, the standard thermocouples are simultaneously placed in a water bath with changing temperature, the system autonomously acquires N-1 channels of real-time temperature data, uses one channel of temperature data detected by the standard temperature detector to calibrate the N-1 channels of temperature data, uses a machine automatic correction algorithm to learn the temperature data, and uses a least squares algorithm to solve the polynomial coefficients based on the machine correction data; and calibrates the real-time temperature based on the pre-written polynomial fitting algorithm.

[0072] Optionally, the system further includes a temperature control module 17, which is used to control the actual output temperature and the target output temperature according to the control equation Accurate and fast output of temperature control, where k p is the proportional term, k i is the integral term, k d is the differential term, S(n) is the temperature control quantity, ΔT=T s -T 0 , T 0 is the actual output temperature, T s is the target output temperature. Specifically, Figure 4 This is a flow chart of precise and fast temperature control. When performing temperature control, the temperature control module 17 uses the target temperature 231 and the real-time collected temperature 235 as the input of the fast temperature control algorithm 232. After being processed by the fast temperature control algorithm 232, the real-time RF power control signal 233 is output to control the RF energy output 234, thereby controlling the RF to quickly heat the tissue. Finally, the error between the real-time temperature 235 and the target temperature 231 is less than 0.15°C. The system can complete 20-100°C rapid heating and stabilize the temperature within 10 seconds. The fast temperature control algorithm mainly adopts the typical PID control method. After precise timing control and real-time time normalization are adopted in the algorithm, the above control equation is obtained. According to the set temperature response rate and the set temperature value, k is separated. p The action time and adjustment k p value, and adaptively adjust k i and k d value, so that it can obtain a reasonable temperature control amount S(n), thereby controlling the real-time accurate output and rapid response of the temperature.

[0073] Optionally, the system further comprises a power control module 16 for controlling the actual output power and the target output power according to the formula Control the precise and fast output of power, where P s is the target output power, P 0 is the actual output power, ΔP=P s -P 0 is the power error, U 0 ,I 0 are the calibrated RF voltage and current respectively. Specifically, Figure 5 The present invention is a flowchart of a precise and fast power control process. When performing power control, a small signal test voltage 221 is first used. The test power 223 is obtained by preliminary calculation through a fast power control algorithm 222. In the first step of control, the error between the test power and the target power is fed back to the fast control algorithm 222 for control output to obtain the actual output power 225. The actual output power is then fed back to the input end of the fast control algorithm for cyclic negative feedback power control. The control time of the first step of the test power control process is less than 3ms, and the entire stable target power control output time is less than 40ms. The RF voltage and RF current after precise calibration are obtained, the real-time RF power is calculated, the change in real-time power and power error is analyzed, an error mathematical model is established, the error mathematical model is Taylor expanded, at least two terms of the Taylor series are retained for calculation, and a precise timing control algorithm is used to accurately control the time output power and control the fast and precise output of power. The mathematical relationship of the fast power control algorithm is established as follows: According to the power calculation formula The voltage-power relationship is Since the actual power P 1 =P s -ΔP, where P s is the target power, ΔP is the power error, therefore, the actual output voltage is because Very small, The Taylor expansion is: The control signal DA is linearly related to the actual output voltage, and thus the actual output control signal DA=kU is obtained.

[0074] like Figure 6 The figure shows a block diagram of an example radiofrequency ablation measurement and control system structure, which includes a collection unit, a calibration unit, a control unit, an output unit, and a radiofrequency treatment probe. The collection unit may include Figure 1 The linearized voltage acquisition circuit 12 and the linearized temperature acquisition circuit 13 in the calibration unit may include, for example, Figure 1The voltage calibration module 14 and the temperature calibration module 15 in the control unit may include, for example, Figure 1 The power control module 16 and the temperature control module 17 in the output unit may include Figure 1 The output module 18 in.

[0075] In order to better understand the technical solution of the present application, a specific test example is used for illustration below. The details listed in this example are mainly for ease of understanding and are not intended to limit the scope of protection of the present application.

[0076] In this test example, the above-mentioned fast and accurate radiofrequency ablation measurement and control system was tested in combination with a radiofrequency generating system. The radiofrequency generating system described here adopts the radiofrequency generating system described in a Chinese patent application entitled "A small digital hot and cold alternating therapy device" with publication number CN106137378A and a Chinese utility model patent entitled "A frequency-selective radiofrequency ablation signal generating and control circuit" with publication number CN208989123U.

[0077] During the test, the treatment electrode was inserted into a 15*15*10cm biomimetic colloid, and a neutral electrode plate for radiofrequency ablation was placed at the bottom of the biomimetic colloid. The radiofrequency ablation signal was applied to the multimodal tumor radiofrequency treatment probe, and the actual output power when heated at 5W, 10W, 20W, 30W, 40W, 50W, and 60W was tested. Figure 7 as shown in .

[0078] In the above-mentioned colloid, the rapid temperature rise control at 50℃, 60℃, 70℃, 80℃, 90℃, and 95℃ was tested under the same conditions. The control curve is as follows Figure 8 shown.

[0079] The above system was used to conduct temperature control experiments on isolated pig liver. When the temperature was controlled to a constant 95°C, the temperature control error was less than 0.5°C. The control curve is shown in the figure below. Fig. 9 shown.

[0080] It can be seen from the experimental data of this test example that the radiofrequency ablation measurement and control system of the present invention realizes precise control and rapid response of radiofrequency power and temperature in radiofrequency treatment, provides a prerequisite for realizing precise radiofrequency treatment control algorithm, and can accurately target the radiofrequency treatment energy to tissues to achieve the purpose of precise radiofrequency treatment.

[0081] It should be noted that in the application documents of this patent, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one" do not exclude the existence of other identical elements in the process, method, article or device including the elements. In the application documents of this patent, if it is mentioned that an action is performed according to an element, it means that the action is performed at least according to the element, which includes two situations: performing the action only according to the element, and performing the action according to the element and other elements. Expressions such as multiple, multiple, and multiple include 2, 2 times, 2 kinds, and more than 2, more than 2 times, and more than 2 kinds.

[0082] All documents mentioned in this application are considered to be included in the disclosure of this application as a whole, so that they can be used as a basis for modification when necessary. In addition, it should be understood that the above is only a preferred embodiment of this specification and is not intended to limit the scope of protection of this specification. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of this specification should be included in the scope of protection of one or more embodiments of this specification.

Claims

1. A radiofrequency ablation measurement and control system, characterized in that: include: A linearized voltage acquisition circuit is used to acquire the current RF detection voltage; A voltage calibration module, used to detect the current ablation tissue impedance based on the rated impedance, and to correct the RF output voltage according to the current RF detection voltage and the current ablation tissue impedance; An output module, used for outputting a radio frequency signal according to the corrected radio frequency output voltage, so as to heat the current ablation tissue; Furthermore, the voltage calibration module is further configured to use the formula: The RF output voltage is corrected, where Z represents the current ablation tissue impedance, a, b, c, d represent correction coefficients, and U is a constant. c Indicates the current RF detection voltage; The voltage calibration module is also used to: pre-calibrate the current RF detection voltage linearly under the rated impedance to obtain a calibration equation; based on the current ablation tissue impedance Z, use the correction formula The coefficient k of the first-order term of the calibration equation is corrected to obtain a corrected calibration equation; and according to the current RF detection voltage U c , calculate the corrected RF output voltage based on the corrected calibration equation; the voltage calibration module is also used to: perform linear calibration on the RF detection voltage under n groups of different load impedances, and solve the first-order coefficients k1, k2, k3, ..., k of the calibration equation under each group of load impedance n ; Based on the solved k1, k2, k3, …, k n , and calculate the correction coefficients a, b, c, and d by using a data fitting method.

2. The radiofrequency ablation measurement and control system according to claim 1, characterized in that: The voltage calibration module is further used to iteratively perform the following steps until a preset condition is met: calculating the current ablation tissue impedance according to the corrected RF output voltage, and correcting the corrected RF output voltage according to the calculated current ablation tissue impedance.

3. The radiofrequency ablation measurement and control system according to claim 1, characterized in that: The preset condition is: reaching a preset number of iterations, or the difference between the corrected RF output voltages of two consecutive iterations is less than a preset threshold.

4. The radiofrequency ablation measurement and control system according to claim 1, characterized in that: It also includes a linearized temperature acquisition circuit for acquiring the current detection temperature; The system also includes a temperature calibration module for calibrating the current output temperature based on the target temperature and the current detected temperature by using a hot environment temperature and a cold environment temperature correction compensation algorithm and a machine autonomous learning correction algorithm.

5. The radiofrequency ablation measurement and control system according to claim 4, characterized in that: A temperature control module is also included for controlling the actual output temperature and the target output temperature according to the control equation Accurate and fast output of temperature control, where k p is the proportional term, k i is the integral term, k d is the differential term, S(n) is the temperature control quantity, ΔT=T s -T0, T0 is the actual output temperature, T s The target output temperature.

6. The radiofrequency ablation measurement and control system according to claim 5, characterized in that: A power control module is also included for controlling the actual output power and the target output power according to the formula Control the precise and fast output of power, where P s is the target output power, P0 is the actual output power, ΔP=P s -P0 is the power error, U0 and I0 are the calibrated RF voltage and current respectively.

7. The radiofrequency ablation measurement and control system according to any one of claims 1 to 6, characterized in that: It also includes a radio frequency and temperature integrated transmission line with low radiation interference, which is used for the parallel transmission of radio frequency signals and temperature signals. The transmission line uses an insulation design of anti-radiation interference material in the metal outer layer.

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