Method, apparatus, and computer device for determining temperature of cryoablation space

Abstract

The present application relates to a method, apparatus, computer device, storage medium, and computer program product for determining the temperature of a cryoablation space. The method includes: obtaining a medical image containing an abnormal area and determining a target needle placement method from at least one needle placement method. Based on the medical image, performing simulated needle placement by the target needle placement method to obtain a target needle placement area where ablation needles are deployed. Obtaining a hockey puck surface function corresponding to the ablation needle and determining a boundary temperature corresponding to the hockey puck surface function. Based on the boundary temperature, the temperature of each position point in the target needle placement area can be determined in real time and accurately, and the temperature of each position point is used to evaluate the needle placement effect of the target needle placement method. In this way, the accuracy of cryoablation treatment is greatly improved.

Description

Technical Field

[0001] This application relates to the field of cryoablation technology, and in particular, to a method, device, computer device, storage medium, and computer program product for determining the temperature in a cryoablation space. Background Art

[0002] With the development of cryoablation technology, the repair of abnormal regions is often achieved through cryoablation treatment. Among them, when formulating a cryoablation plan, operators often manually arrange ablation needles according to the location and size of the lesion area.

[0003] However, after the operators arrange the ablation needles, they cannot see in real time the temperature distribution of the tissue in the cryoablation space after the ablation needles are turned on. Therefore, they cannot determine the ablation range of the ablation needles and can only judge the treatment effect of the ablation needles based on experience and guesswork, that is, they cannot ensure the repair effect on the abnormal region, resulting in the problem that the cryoablation treatment is not accurate enough. Summary of the Invention

[0004] Based on this, in view of the above technical problems, it is necessary to provide a method, device, computer device, computer-readable storage medium, and computer program product for determining the temperature in a cryoablation space.

[0005] On the one hand, this application provides a method for determining the temperature in a cryoablation space. The method includes:

[0006] Obtain a medical image containing an abnormal region, and determine a target needle placement method from at least one needle placement method; wherein, the needle placement method is used for cryoablation of the abnormal region;

[0007] Based on the medical image, perform simulated needle placement through the target needle placement method to obtain a target needle placement region where ablation needles are deployed;

[0008] Obtain a hockey puck surface function corresponding to the ablation needle, and determine a boundary temperature corresponding to the hockey puck surface function; wherein, the boundary temperature is the temperature at the boundary of the hockey puck, and the hockey puck is generated by the ablation needle;

[0009] Based on the boundary temperature, determine the temperature of each position point in the target needle placement region, and the temperature of each position point is used to evaluate the needle placement effect of the target needle placement method.

[0010] On the other hand, this application also provides a device for determining the temperature in a cryoablation space. The device includes:

[0011] A first acquisition module, configured to obtain a medical image containing an abnormal region, and determine a target needle placement method from at least one needle placement method; wherein, the needle placement method is used for cryoablation of the abnormal region;

[0012] A simulation module, configured to perform simulated needle placement based on the medical image by the target needle placement method, so as to obtain a target needle placement area where ablation needles are deployed;

[0013] A second acquisition module, configured to acquire a hockey puck surface function corresponding to the ablation needle and determine a boundary temperature corresponding to the hockey puck surface function; wherein, the boundary temperature is the temperature at the boundary of the hockey puck, and the hockey puck is generated by the ablation needle;

[0014] An evaluation module, configured to determine the temperature of each position point in the target needle placement area based on the boundary temperature, and the temperature of each position point is used to evaluate the needle placement effect of the target needle placement method.

[0015] On the other hand, the present application also provides a computer device. The computer device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of the above method for determining the temperature of the cryoablation space are implemented.

[0016] On the other hand, the present application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method for determining the temperature of the cryoablation space are implemented.

[0017] On the other hand, the present application also provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the above method for determining the temperature of the cryoablation space are implemented.

[0018] The above temperature determination method, device, computer device, storage medium, and computer program product for the cryoablation space obtain a medical image containing an abnormal area and determine a target needle placement method from at least one needle placement method; wherein, the needle placement method is used for cryoablation of the abnormal area. Based on the medical image, simulate needle placement through the target needle placement method to obtain a target needle placement area where ablation needles are deployed. In this way, the target needle placement area can accurately reflect in real time the ablation range caused by the target needle placement method. Obtain the ice ball surface function corresponding to the ablation needle and determine the boundary temperature corresponding to the ice ball surface function; wherein, the boundary temperature is the temperature at the boundary of the ice ball, and the ice ball is generated by the ablation needle. In this way, based on the ice ball surface function of the ablation needle used for cryoablation operations, a boundary temperature closer to the actual cryoablation operation can be obtained, ensuring the effectiveness of the boundary temperature. Based on the boundary temperature, the temperature of each position point in the target needle placement area can be determined in real time and accurately, and the temperature of each position point is used to evaluate the needle placement effect of the target needle placement method. In this way, based on the temperatures of each position point with high accuracy, the temperature distribution in the cryoablation space can be truthfully reflected. Thus, the needle placement effect caused by the target needle placement method can be effectively and reliably evaluated, and furthermore, the accuracy of cryoablation treatment is greatly assisted and improved.

[0019] On the other hand, the present application provides a needle placement method. The method includes:

[0020] Based on the medical image of the target site, determine the abnormal centroid of the abnormal area of the target site;

[0021] Based on the medical image, determine a target multi-needle ice ball model from multiple multi-needle ice ball models and determine the ice ball centroid of the target multi-needle ice ball model;

[0022] Locate the ice ball centroid of the target multi-needle ice ball model to the abnormal centroid, and based on the located target multi-needle ice ball model, perform simulated needle placement to obtain a target needle placement area where ablation needles are deployed;

[0023] Based on the target needle placement area, determine the needle placement effect;

[0024] In the case where the needle placement effect determination fails, determine the target number of needles of the target multi-needle ice ball model, and based on the target number of needles, update the target multi-needle ice ball model to obtain an updated ice ball model;

[0025] Enter the next iteration, use the updated ice ball model as the target multi-needle ice ball model corresponding to the next iteration, and return to the step of determining the ice ball centroid of the target multi-needle ice ball model to continue execution until the needle placement effect determination passes.

[0026] On the other hand, the present application also provides a needle placement device. The device includes:

[0027] A first determination module, configured to determine an abnormal centroid of an abnormal area of the target site based on a medical image of the target site;

[0028] A second determination module, configured to determine a target multi-needle ice ball model from a plurality of multi-needle ice ball models based on the medical image, and determine the ice ball centroid of the target multi-needle ice ball model;

[0029] A first positioning module, configured to position the ice ball centroid of the target multi-needle ice ball model to the abnormal centroid, and perform simulated needle placement based on the positioned target multi-needle ice ball model to obtain a target needle placement area where ablation needles are deployed;

[0030] A first determination module, configured to determine the needle placement effect based on the target needle placement area;

[0031] An update module, configured to determine the target number of needles of the target multi-needle ice ball model in the case where the needle placement effect determination fails, and update the target multi-needle ice ball model based on the target number of needles to obtain an updated ice ball model;

[0032] A first iteration module, configured to enter the next iteration, use the updated ice ball model as the target multi-needle ice ball model corresponding to the next iteration, and return to the step of determining the ice ball centroid of the target multi-needle ice ball model to continue execution until the needle placement effect determination passes and then stop.

[0033] On the other hand, the present application also provides a computer device. The computer device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of the above-mentioned needle placement method are implemented.

[0034] On the other hand, the present application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned needle placement method are implemented.

[0035] On the other hand, the present application also provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned needle placement method are implemented.

[0036] The above needle placement method, device, computer device, storage medium, and computer program product determine a target multi-needle ice hockey model that matches the abnormal area based on the abnormal area of the target part. The ice hockey centroid of the target multi-needle ice hockey model is positioned at the abnormal centroid, and needle placement is simulated based on the positioned target multi-needle ice hockey model to obtain a target needle placement area with ablation needles deployed, ensuring that the abnormal area coincides with the effective ablation area and greatly enhancing the cryoablation effect. By comparing the temperature at each position point with the target temperature, the effective area can be accurately and quickly determined. Based on the volumes of the effective area and the abnormal area, the volume covering the abnormal area and the volume covering the normal area can be accurately reflected. At the same time, according to actual requirements, a first weight corresponding to covering the abnormal area and a second weight corresponding to covering the normal area are determined. Thus, based on the first weight and the second weight, the result of the needle placement effect determination can be determined according to actual ablation requirements. In addition, by adjusting the first weight and the second weight, it can be applicable to various requirements, with higher flexibility, and can greatly assist in improving the accuracy of cryoablation treatment. In the case where the needle placement effect determination fails, based on the target number of needles of the target multi-needle ice hockey model, an updated ice hockey model can be determined in a timely and accurate manner until the needle placement effect determination passes. In this way, while ensuring that the needle placement effect determination passes, the time cost of determining the needle placement method is greatly saved, and the efficiency is greatly improved.

[0037] On the other hand, the present application provides a needle placement method. The method includes:

[0038] Obtain a medical image containing an abnormal area, and based on the medical image, determine the abnormal center of the abnormal area;

[0039] Locate an initial ablation needle at the position of the abnormal center to obtain a target needle placement area with one ablation needle deployed;

[0040] Based on the target needle placement area, perform a needle placement effect determination;

[0041] In the case where the needle placement effect determination indicates failure, determine the target ablation needle for the current round, traverse each target ablation needle, and use the currently traversed target ablation needle as the current starting ablation needle, where the target ablation needle for the first round is the initial ablation needle;

[0042] Deploy new ablation needles corresponding to the current starting ablation needle around the current starting ablation needle, and determine the corresponding needle placement effect based on the deployed new ablation needles;

[0043] In the case where the needle placement effect determination fails, traverse the next target ablation needle, and return to the step of using the currently traversed target ablation needle as the current starting ablation needle, and continue to execute until there is a case where the needle placement effect determination passes;

[0044] In the case where the needle placement effect determination for each target ablation needle fails and the preset stop condition is not reached, enter the next round, use the newly added ablation needle as the target ablation needle for the next round, and return to the step of traversing each target ablation needle to continue execution.

[0045] On the other hand, the present application also provides a needle placement device. The device includes:

[0046] A third acquisition module, configured to acquire a medical image including an abnormal region, and based on the medical image, determine the abnormal center of the abnormal region;

[0047] A second positioning module, configured to position an initial ablation needle at the position of the abnormal center to obtain a target needle placement region where one ablation needle is deployed;

[0048] A second determination module, configured to perform a needle placement effect determination based on the target needle placement region;

[0049] A first traversal module, configured to, in the case where the needle placement effect determination indicates failure, determine the target ablation needle for the current round, traverse each target ablation needle, and use the currently traversed target ablation needle as the current starting ablation needle, where the target ablation needle for the first round is the initial ablation needle;

[0050] A deployment module, configured to deploy a newly added ablation needle corresponding to the current starting ablation needle around the current starting ablation needle, and determine the corresponding needle placement effect based on the deployed newly added ablation needle;

[0051] A second traversal module, configured to, in the case where the needle placement effect determination fails, traverse the next target ablation needle, and return to the step of using the currently traversed target ablation needle as the current starting ablation needle, and continue to execute until there is a case where the needle placement effect determination passes;

[0052] A second iteration module, configured to, in the case where the needle placement effect determination for each target ablation needle fails and the preset stop condition is not reached, enter the next round, use the newly added ablation needle as the target ablation needle for the next round, and return to the step of traversing each target ablation needle to continue execution.

[0053] On the other hand, the present application also provides a computer device. The computer device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of the above needle placement method are implemented.

[0054] On the other hand, the present application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned needle placement method are implemented.

[0055] On the other hand, the present application also provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned needle placement method are implemented.

[0056] For the above-mentioned needle placement method, device, computer device, storage medium and computer program product, by directly positioning the initial ablation needle to the position of the abnormal center, a target needle placement area with one ablation needle deployed is obtained, thus greatly simplifying the steps of the target needle placement area with one ablation needle deployed. In the case where the determination of the needle placement effect fails to pass, determine the target ablation needle of the current round, traverse each target ablation needle, and use the currently traversed target ablation needle as the current starting ablation needle, where the target ablation needle of the first round is the initial ablation needle. In this way, the ablation needles that need to be traversed in the current round can be determined, and through the traversal method, it is ensured that the ablation range better covers the target needle placement area, that is, the abnormal area after the ablation needle is deployed. Deploy new ablation needles corresponding to the current starting ablation needle around the current starting ablation needle, and determine the corresponding needle placement effect based on the newly deployed ablation needles. In this way, the needle placement effect of the current starting ablation needle can be determined in real time and timely, and the needle placement can be carried out with high efficiency. In the case where the determination of the needle placement effect fails to pass, traverse the next target ablation needle, and return to the step of using the currently traversed target ablation needle as the current starting ablation needle and continue to execute until there is a situation where the determination of the needle placement effect passes and then stop. In the case where the determination of the needle placement effect corresponding to each target ablation needle fails to pass and the preset stop condition is not reached, enter the next round, and use the newly added ablation needle as the target ablation needle of the next round, and return to the step of traversing each target ablation needle and continue to execute. In this way, for each round, the ablation range within the target needle placement area can be correctly determined based on the current starting ablation needle, avoiding the situation where the abnormal area is not ablated, that is, greatly assisting in improving the accuracy of cryoablation treatment. Description of the Drawings

[0057] Figure 1 It is a schematic flowchart of the method for determining the temperature in the cryoablation space in one embodiment;

[0058] Figure 2 It is a schematic diagram of the principle of cryoablation in one embodiment;

[0059] Figure 3 It is a schematic diagram of the ablation effect of multiple ablation needles in one embodiment;

[0060] Figure 4 Schematic diagram of the size information of ablation needles of various models in one embodiment;

[0061] Figure 5 Schematic diagram of the ice ball generated by the ablation needle in one embodiment;

[0062] Figure 6 Schematic diagram of the prostate structure in one embodiment;

[0063] Figure 7 Schematic diagram of the ice ball temperature boundary in one embodiment;

[0064] Figure 8 Schematic diagram of temperature determination in one embodiment;

[0065] Figure 9 Schematic diagram of the needle placement method process in one embodiment;

[0066] Figure 10 Schematic diagram of the multi-needle ice ball model in one embodiment;

[0067] Figure 11 Schematic diagram of the bounding box in one embodiment;

[0068] Figure 12 Schematic diagram of the steps for determining the temperature of each position point in the target needle placement area in one embodiment;

[0069] Figure 13 Schematic diagram of the needle placement method process in another embodiment;

[0070] Figure 14 Schematic diagram of the process of a needle placement method in one embodiment;

[0071] Figure 15 Schematic diagram of the needle placement method in one embodiment;

[0072] Figure 16 Schematic diagram of the needle placement method of circular optimized coverage arrangement in another embodiment;

[0073] Figure 17 Schematic diagram of the steps of adding an ablation needle in one embodiment;

[0074] Figure 18 Schematic diagram of the process of a needle placement method in another embodiment;

[0075] Figure 19 Schematic diagram of the process of the temperature determination method for the cryoablation space in another embodiment;

[0076] Figure 20 Schematic diagram of the process of the temperature determination method for the cryoablation space in another embodiment;

[0077] Figure 21 Schematic diagram of the temperature 3D data matrix in an embodiment;

[0078] Figure 22 Schematic diagram of the display interface in an embodiment;

[0079] Figure 23 Structural block diagram of the temperature determination device for the cryoablation space in an embodiment;

[0080] Figure 24 Structural block diagram of the needle placement device in an embodiment;

[0081] Figure 25 Structural block diagram of the needle placement device in another embodiment;

[0082] Figure 26 Internal structure diagram of a computer device in an embodiment. Detailed implementation manners

[0083] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0084] In one embodiment, as Figure 1 shown, a method for determining the temperature of the cryoablation space is provided. In this embodiment, the method is illustrated by taking the application of the method to a terminal as an example. It can be understood that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0085] Step S102, obtaining a medical image containing an abnormal area, and determining a target needle placement method from at least one needle placement method; wherein, the needle placement method is used to perform cryoablation on the abnormal area.

[0086] Among them, the medical image is an image of the internal tissue obtained in a non-invasive manner for the target object or a certain part of the target object. The medical image can be collected by a medical imaging device. The needle placement method is the arrangement method of the ablation needles in the abnormal area. Among them, the needle placement method in this case can be the needle placement method of the multi-needle ice ball model or the needle placement method of circular optimized coverage arrangement. Among them, the arrangement rules of the ablation needles in the two methods are different. The needle placement method of the multi-needle ice ball model can efficiently complete the cryoablation operation, and the needle placement method of circular optimized coverage arrangement can place needles in combination with the actual abnormal area, that is, it has high applicability. Cryoablation uses the technologies of cryo mapping and cryo adhesion, and usually repairs the abnormal area through ablation needles.

[0087] Specifically, the terminal obtains the medical images sent by the nuclear magnetic resonance device before the cryoablation operation. The terminal determines the target needle placement method from at least one pre-stored needle placement method in combination with the cryoablation requirements preset by the operator. Among them, the medical image contains an abnormal area.

[0088] Among them, as Figure 2 shown, the principle of cryoablation is demonstrated. Taking the prostate as an example of the target site where the ablation needle is deployed, the circular shadow is the ablation range of the ablation needle, and the irregular shadow is the abnormal area. Specifically, the ablation effect of multiple ablation needles is as Figure 3 shown. Figure 3 The gray shaded area in

[0089] Step S104, based on the medical image, perform simulated needle placement through the target needle placement method to obtain a target needle placement area where the ablation needle is deployed.

[0090] Among them, the target needle placement area is the area where the target site is located after needle placement. The target site can be a certain part of the target object, for example, a limb or the prostate, etc. The abnormal area is the lesion area of the target site.

[0091] Specifically, the terminal obtains the ultrasound image sent by the ultrasound device during the cryoablation operation, and based on the medical image and the ultrasound image, determines a target model corresponding to the target site. The target model contains an abnormal area. The terminal performs simulated needle placement through the target needle placement method based on the abnormal area in the target model to obtain a target needle placement area where the ablation needle is deployed.

[0092] For example, when the target site is the prostate, the terminal obtains the ultrasound image sent by the ultrasound device during the cryoablation operation, and based on the medical image and the ultrasound image, obtains a prostate model corresponding to the prostate through scanning and modeling. The terminal performs simulated needle placement through the target needle placement method according to the lesion center of the lesion area in the prostate model to obtain a target needle placement area where the ablation needle is deployed.

[0093] Step S106, obtain the ice ball surface function corresponding to the ablation needle, and determine the boundary temperature corresponding to the ice ball surface function; where the boundary temperature is the temperature at the boundary of the ice ball, and the ice ball is generated by the ablation needle.

[0094] Among them, the ice ball generated by the ablation needle can be regarded as an ellipsoid, and the ice ball surface function is an ellipsoidal surface function. Each ice ball corresponds to multiple boundaries, and each boundary corresponds to an ice ball surface function. The boundary can be regarded as a surface.

[0095] Specifically, the terminal determines the ablation needle of the target model and obtains multiple ice ball surface functions corresponding to the ablation needle. Each ice ball surface function corresponds to a boundary temperature. The ablation needles in this application are ablation needles of multiple models provided by the same manufacturer. The size information of each model of ablation needle is as Figure 4 shown.

[0096] For example, as Figure 5 shown, this figure is a schematic diagram of the ice ball generated by the ablation needle. As shown in (a) in the figure, the ice ball can be regarded as an ellipsoid with three boundaries respectively, as shown in (b) in the figure. The AB segment is the actual effective area of the cooling gas of the cryoablation needle. Specifically, this actual effective area is the effective ellipsoid included by the boundary temperature of -40°C, and this effective ellipsoid includes the AB segment. Among them, the boundary temperature of the innermost boundary is -40°C, the boundary temperature of the middle boundary is -20°C, and the boundary temperature of the outermost boundary is 0°C. Each boundary corresponds to an ice ball surface function, and the ellipsoid surface function is as follows:

[0097]

[0098] where (x, y, z) are the points on the boundary, and a, b, c are constants. Obviously, the constants in the ice ball surface functions corresponding to each boundary are different.

[0099] Step S108: Based on the boundary temperature, determine the temperature of each position point in the target needle placement area, and the temperature of each position point is used to evaluate the needle placement effect of the target needle placement method.

[0100] Specifically, for each position point in the target needle placement area, the terminal determines the position of each position point in the target needle placement area based on the position of the corresponding position point and each boundary temperature through linear interpolation processing or a heat transfer function.

[0101] In the above method for determining the temperature of the cryoablation space, a medical image containing an abnormal region is obtained, and a target needle placement method is determined from at least one needle placement method; wherein, the needle placement method is used for cryoablation of the abnormal region. Based on the medical image, simulated needle placement is performed by the target needle placement method to obtain a target needle placement region where ablation needles are deployed. In this way, the target needle placement region can accurately reflect in real time the ablation range caused by the target needle placement method. An ice ball surface function corresponding to the ablation needle is obtained, and a boundary temperature corresponding to the ice ball surface function is determined; wherein, the boundary temperature is the temperature of the boundary of the ice ball, and the ice ball is generated by the ablation needle. In this way, based on the ice ball surface function of the ablation needle used for cryoablation operation, a boundary temperature closer to the actual cryoablation operation can be obtained, ensuring the effectiveness of the boundary temperature. Based on the boundary temperature, the temperature of each position point in the target needle placement region can be determined in real time and accurately, and the temperature of each position point is used to evaluate the needle placement effect of the target needle placement method. In this way, based on the temperatures of each position point with high accuracy, the temperature distribution in the cryoablation space can be truthfully reflected. Thus, the needle placement effect caused by the target needle placement method can be effectively and reliably evaluated. Furthermore, the accuracy of cryoablation treatment is greatly assisted and improved.

[0102] In one embodiment, determining the temperature of each position point in the target needle placement region based on the boundary temperature includes: determining the temperature of each position point in the target needle placement region through linear interpolation processing based on the ice ball surface function and the boundary temperature.

[0103] Specifically, the terminal determines the ablation temperature corresponding to each boundary of the corresponding position point through linear interpolation processing based on the position of the corresponding position point, each ice ball surface function, and each boundary temperature. For each position point, the terminal determines the temperature of the corresponding position point from the multiple ablation temperatures corresponding to the corresponding position point.

[0104] For example, for point P in the target needle placement region, the ice ball generated by the ablation needle has three boundaries, namely boundary 1 (boundary temperature is -40°C), boundary 2 (boundary temperature is -20°C), and boundary 3 (boundary temperature is 0°C). Among them, each boundary temperature divides the space region where the ice ball is located into multiple temperature regions. For example, temperature region 1 included by boundary 1; temperature region 2 enclosed by boundary 1 and boundary 2; temperature region 3 enclosed by boundary 2 and boundary 3; temperature region 4 outside the ice ball. The terminal determines the region of point P in the ice ball based on the position of point P, and takes the boundary forming the region where point P is located as the target boundary. The terminal determines the distance from point P to the target boundary based on the target boundary and the ice ball surface function corresponding to the target boundary, and obtains the temperature corresponding to point P and the ablation needle through linear interpolation processing based on the distance and the boundary temperature.

[0105] In this embodiment, after determining the boundary temperature under the actual cryoablation operation, based on the ice ball surface function and the boundary temperature, through linear interpolation processing, the temperature of each position point in the target needle placement area can be determined in real time and accurately. Thus, the needle placement effect of the target needle placement method can be effectively evaluated.

[0106] In one embodiment, based on the ice ball surface function and the boundary temperature, through linear interpolation processing, determining the temperature of each position point in the target needle placement area includes: when there are at least two ablation needles in the target needle placement area, for each position point in the target needle placement area, based on the position of the corresponding position point, determine whether the corresponding position point is in a constant temperature area. For each position point, when the corresponding position point is not in a constant temperature area, based on the ice ball surface function, the boundary temperature corresponding to the ice ball surface function, and the position of the corresponding position point, through linear interpolation processing, determine multiple ablation temperatures of the corresponding position point. For each position point, based on the multiple ablation temperatures corresponding to the corresponding position point, use the lowest ablation temperature as the temperature corresponding to the corresponding position point.

[0107] Among them, the target needle placement area is the target part area where ablation needles are deployed, and the target part area can be the prostate. There is a constant temperature area in the prostate, such as the urethra. Specifically, Figure 6 as shown: there is a constant temperature area in the prostate, that is, at 37°C.

[0108] Specifically, when there is only one ablation needle in the target needle placement area, for each position point in the target needle placement area, based on the position of the corresponding position point, determine whether the corresponding position point is in a constant temperature area. For each position point, when the corresponding position point is in a constant temperature area, directly determine that the ablation temperature of the corresponding position point is a constant temperature. When the corresponding position point is not in a constant temperature area, based on the position of the corresponding position point, determine that the corresponding position point is in the temperature area of the ablation needle, and based on the temperature area corresponding to the corresponding position point, determine the target boundary. Based on the ice ball generated by the ablation needle, determine the target ice ball surface function corresponding to each target boundary. For each position point, based on the coordinates of the corresponding position point and each target ice ball surface function, determine the distances from the corresponding position point to each boundary. The terminal determines the ablation temperature of the corresponding position point through linear interpolation based on each distance and each boundary temperature, which is the temperature corresponding to the corresponding position point.

[0109] When there are at least two ablation needles in the target needle placement area, for each position point in the target needle placement area, based on the position of the corresponding position point, it is determined whether the corresponding position point is in the constant temperature area. For each position point, when the corresponding position point is in the constant temperature area, the ablation temperature of the corresponding position point is directly determined to be the constant temperature. When the corresponding position point is not in the constant temperature area, for each position point, the current ablation needle is determined from multiple ablation needles. Based on the position of the corresponding position point, it is determined that the corresponding position point is in the temperature area of the current ablation needle, and based on the current temperature area corresponding to the corresponding position point, the current target boundary is determined. And based on the current ice ball generated by the current ablation needle, the current target ice ball surface function corresponding to each current target boundary is determined. Based on the coordinates of the corresponding position point and each current target ice ball surface function, the current target distance from the corresponding position point to each current boundary is determined. The terminal determines the current ablation temperature of the corresponding position point by linear interpolation based on each current target distance and each current boundary temperature. The terminal enters the next calculation, takes the next ablation needle in the next calculation as the current ablation needle, and returns to the step of determining that the corresponding position point is in the temperature area of the current ablation needle based on the position of the corresponding position point and continues to execute until the number of calculations reaches the number of ablation needles and then stops. For each position point, the terminal obtains each current ablation temperature corresponding to the corresponding position point, and takes the lowest ablation temperature as the temperature corresponding to the corresponding position point.

[0110] Among them, the ice ball generated by each ablation needle has three boundaries, that is, the ice ball has three temperature areas. That is, the first temperature area is the area between the initial temperature boundary and the first boundary (that is, the boundary corresponding to -40°C); the second temperature area is the area between the first temperature boundary and the second boundary (that is, the boundary corresponding to -20°C); the third temperature area is the area between the second temperature boundary and the third boundary (that is, the boundary corresponding to -0°C); the fourth temperature area is the area outside the third temperature boundary and less than the preset distance (that is, it is defaulted that the temperature of this area is normal temperature;

[0111] For example, as Figure 7 shown, in the case of (f), for the point P at -40°C and -20°C, based on the ice ball surface function of -40°C, the distance l1 from P to the -40°C boundary is determined, and based on the ice ball surface function of -20°C, the distance l2 from P to the -20°C boundary is determined. Then the temperature of point P:

[0112]

[0113] In the case of (g), when the point P is inside the innermost -40°C boundary, the temperature of the AB section is set to T min , based on the ice ball surface function of -40°C, the distance l3 from P to the -40°C boundary is determined, based on T minThe hockey puck surface function to determine the distance l4 from P to T min Boundary, then the temperature at point P:

[0114]

[0115] In the case of (h), when the distance from the 0°C boundary exceeds 10 mm, the temperature in the space is the normal temperature of the target object tissue, 37°C. Based on the hockey puck surface function of -0°C, determine the distance l5 from P to the -0°C boundary, and the distance from point P to 37°C is l6, then the temperature at point P:

[0116]

[0117] Wherein, when P is outside the 0°C boundary and the distance from the 0°C boundary is greater than the preset distance, the temperature at point P is 37°C.

[0118] In this embodiment, when there are at least two ablation needles in the target needle placement area, for each position point in the target needle placement area, based on the position of the corresponding position point, directly determine the position point in the constant temperature area as the constant temperature point. In the case where the corresponding position point is not in the constant temperature area, based on this hockey puck surface function, the boundary temperature corresponding to this hockey puck surface function, and the position of the corresponding position point, through linear interpolation processing, determine multiple ablation temperatures of the corresponding position point. In this way, the ablation temperatures corresponding to the corresponding position point and each ablation needle can be accurately determined. For each position point, based on the multiple ablation temperatures corresponding to the corresponding position point, take the lowest ablation temperature as the temperature corresponding to the corresponding position point, which greatly increases the ablation effect and is conducive to realizing the precise processing of cryoablation.

[0119] In one of the embodiments, such as Figure 8As shown, in the case of multiple ablation needles, after selecting the current position point, the current ablation needle is selected. It is determined whether the current ablation needle is located within the urethral constant temperature region. If the current position point is within the urethral constant temperature region, the position point is directly determined to be 37°C. If the current position point is outside the urethral constant temperature region, the current temperature corresponding to the current ablation needle is determined based on the positional relationship between the current position point and the current ablation needle. If the current temperature is less than the previous temperature corresponding to the previous ablation needle (the temperature before this point in the figure), the current temperature is updated to the previous temperature. If the current temperature is greater than the previous temperature corresponding to the previous ablation needle, the current temperature is not updated and is retained. The next ablation needle is selected to enter the next first temperature iteration. The next ablation needle is used as the current ablation needle corresponding to the next first temperature iteration, and it returns to determine whether the current ablation needle is located within the urethral constant temperature region and continues to execute until the calculations for all ablation needles are completed. The next position point is selected to enter the next second temperature iteration. The next position point is used as the current position point corresponding to the next second temperature iteration, and it returns to the step of selecting the current ablation needle and continues to execute until the temperatures of all position points are determined.

[0120] In this embodiment, in the case where there are at least two ablation needles in the target needle placement region, for each position point in the target needle placement region, based on the position of the corresponding position point, the corresponding position point in the constant temperature region is directly determined as the constant temperature point. In the case where the corresponding position point is not in the constant temperature region, based on the ice ball surface function, the boundary temperature corresponding to the ice ball surface function, and the position of the corresponding position point, through linear interpolation processing, multiple ablation temperatures of the corresponding position point are determined. In this way, the ablation temperatures corresponding to the corresponding position point and each ablation needle can be accurately determined. For each position point, based on the multiple ablation temperatures corresponding to the corresponding position point, the lowest ablation temperature is used as the temperature corresponding to the corresponding position point, effectively ensuring the ablation effect and facilitating the precise processing of cryoablation.

[0121] In one embodiment, determining the temperatures of each position point in the target needle placement region based on the boundary temperature includes: determining the temperatures of each position point in the target needle placement region through a heat transfer function based on the boundary temperature, where the heat transfer function is a function that characterizes the change in the temperature of each position point over time.

[0122] Among them, the heat transfer function is a function that characterizes the change in the temperature of each point in the part over time.

[0123] Specifically, the terminal determines the position temperatures of each ablation needle contacting each point in the target needle placement region, and based on each position temperature and the boundary temperature, determines the temperatures of each position point in the target needle placement region through the heat transfer function. Among them, the heat transfer function is specifically as follows:

[0124]

[0125] Among them, ρ is the tissue density, C p is the tissue heat capacity, T is the temperature, t is the time, k is the thermal conductivity, is the divergence of the vector field, where Q1 is the metabolic heat caused by blood, and Q2 is the heat generated by metabolism.

[0126] In this embodiment, through the boundary temperature and the heat transfer function, the temperature of each position point in the target needle-insertion area can be determined in real time and accurately. Therefore, the needle-insertion effect of the target needle-insertion method can be effectively evaluated.

[0127] In one embodiment, as Figure 9 shown, a needle-insertion method is provided. In this embodiment, taking the application of this method to a terminal as an example, it can be understood that this method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0128] Step S902: Based on the medical image of the target part, determine the abnormal centroid of the abnormal area of the target part.

[0129] Among them, the abnormal centroid is the centroid of the abnormal area, and the centroid is a hypothetical point on the material system where the mass is considered to be concentrated.

[0130] Specifically, the terminal determines the abnormal area based on the medical image of the target part, and determines the abnormal centroid corresponding to the abnormal area.

[0131] Step S904: Based on the medical image, determine the target multi-needle ice ball model from multiple multi-needle ice ball models, and determine the ice ball centroid of the target multi-needle ice ball model.

[0132] Specifically, the terminal determines the physical information of the abnormal area based on the medical image. The physical information may be the volume, size, and shape of the abnormal area. The terminal determines the target multi-needle ice ball model that matches the physical information of the abnormal area from multiple multi-needle ice ball models. The terminal determines the ice ball centroid of the target multi-needle ice ball model.

[0133] Among them, the needle-insertion method of the multi-needle ice ball model is a fixed multi-needle combination, as Figure 10 shown, Figure 10 in which (d) is a multi-needle ice ball model with 2 needles arranged, (c) is a multi-needle ice ball model with 3 needles arranged, and (d) is a multi-needle ice ball model with 4 needles arranged.

[0134] Step S906: Locate the centroid of the ice hockey puck of the target multi-needle ice hockey model at the abnormal centroid, and perform simulated needle placement based on the located target multi-needle ice hockey model to obtain a target needle placement area with ablation needles deployed.

[0135] Specifically, the terminal determines the coordinates of the abnormal centroid, and locates the centroid of the ice hockey puck of the target multi-needle ice hockey model at the abnormal centroid by assigning the coordinates of the centroid of the ice hockey puck of the target multi-needle ice hockey model to the coordinates of the abnormal centroid. The terminal performs simulated needle placement based on the arrangement of the ablation needles and the number of ablation needles corresponding to the located target multi-needle ice hockey model to obtain a target needle placement area with ablation needles deployed.

[0136] Step S908: Determine the needle placement effect based on the target needle placement area.

[0137] Specifically, the terminal takes the position points with temperatures less than or equal to the target temperature as target position points based on the temperatures at various position points in the target needle placement area. Based on the positions of the target position points, the volume covering the abnormal area is determined, and based on the volume of the covered area, the volume covering the normal area is determined. The first weight corresponding to the covered abnormal area, the second weight corresponding to the covered normal area are obtained, and a weight calculation is performed based on the first weight, the second weight, the volume of the covered abnormal area, and the volume of the covered normal area to determine the coverage score. The coverage score is compared with the threshold score. If the coverage score is greater than or equal to the threshold score, it is determined that the needle placement effect is judged to pass. If the coverage score is less than the threshold score, it is determined that the needle placement effect is judged to fail.

[0138] Step S910: When the needle placement effect is judged to fail, determine the target number of needles of the target multi-needle ice hockey model, and update the target multi-needle ice hockey model based on the target number of needles to obtain an updated ice hockey model.

[0139] Specifically, when the needle placement effect is judged to fail, determine the target number of needles of the target multi-needle ice hockey model. The terminal adds one to the target number of needles to obtain an updated target number of needles. The terminal takes the multi-needle ice hockey model corresponding to the updated target number of needles from multiple pre-stored multi-needle ice hockey models as the updated ice hockey model.

[0140] Step S912: Enter the next iteration, use the updated ice hockey model as the target multi-needle ice hockey model corresponding to the next iteration, and return to the step of determining the centroid of the ice hockey puck of the target multi-needle ice hockey model to continue execution until the needle placement effect is judged to pass and then stop.

[0141] Specifically, the terminal enters the next iteration, uses the updated ice hockey model as the target multi-needle ice hockey model corresponding to the next iteration, and returns to continue executing the step of determining the centroid of the ice hockey of the target multi-needle ice hockey until it stops when the needle placement effect determination passes. Then, use the updated ice hockey model corresponding to the passing of the needle placement effect determination as the target ice hockey model, and perform needle placement based on this target ice hockey model to complete the cryoablation operation.

[0142] In this embodiment, based on the abnormal area of the target site, a target multi-needle ice hockey model matching the abnormal area is determined. The centroid of the ice hockey of the target multi-needle ice hockey model is positioned at the abnormal centroid, and simulated needle placement is performed based on the positioned target multi-needle ice hockey model to obtain a target needle placement area with ablation needles deployed, ensuring the coincidence of the abnormal area and the effective ablation area, and greatly enhancing the cryoablation effect. By comparing the temperatures at each position point with the target temperature, the effective area can be accurately and quickly determined. According to the volumes of the effective area and the abnormal area, the volume covering the abnormal area and the volume covering the normal area can be accurately reflected. At the same time, according to actual needs, a first weight corresponding to covering the abnormal area and a second weight corresponding to covering the normal area are determined. Thus, based on the first weight and the second weight, the result of the needle placement effect determination can be determined according to actual ablation needs. In addition, by adjusting the first weight and the second weight, it can be applied to various needs, with higher flexibility, and can greatly assist in improving the accuracy of cryoablation treatment. In the case where the needle placement effect determination fails, based on the target number of needles of the target multi-needle ice hockey model, an updated ice hockey model can be determined in a timely and accurate manner until it stops when the needle placement effect determination passes. In this way, while ensuring that the needle placement effect determination passes, the time cost of determining the needle placement method is greatly saved, and the efficiency is greatly improved.

[0143] In one embodiment, determining the abnormal centroid of the abnormal area of the target site based on the medical image of the target site includes: determining the abnormal area corresponding to the medical image of the target site, determining the bounding box corresponding to the abnormal area, and based on the bounding box, determining the abnormal centroid of the abnormal area of the target site.

[0144] Specifically, the terminal determines the abnormal area corresponding to the medical image of the target site, performs bounding box processing on the abnormal area to obtain a bounding box area, and takes the center of the bounding box area as the abnormal centroid. For example, as Figure 11 shown, for the case where the target site is the prostate, the terminal determines the length and width of the bounding box based on the size of the lesion area. Based on the bounding box, the lesion center of the lesion area is determined, and the bounding box is directly used as the range of the lesion area.

[0145] Among them, the bounding box processing is based on the size of the abnormal area, and converts the abnormal area with any shape into a regular-shaped area. For example, the longest lengths of the abnormal area in the horizontal and vertical axes are determined respectively, and based on the longest horizontal and vertical distances, a rectangular bounding box area is determined, that is, the abnormal area is converted into a rectangle. In this way, the bounding box area can fully cover the abnormal area.

[0146] In this embodiment, by determining the bounding box corresponding to the abnormal area, an abnormal area with any shape can be converted into a regular-shaped bounding box area, and the bounding box area can completely cover the abnormal area, which can ensure the subsequent effective ablation of the abnormal area. And based on the bounding box, the abnormal centroid of the abnormal area can be quickly and accurately located.

[0147] In one embodiment, as Figure 12 shown, the determination of the needle placement effect based on the target needle placement area includes:

[0148] Step S1202, determine the temperature of each position point in the target needle placement area, and based on the temperature of each position point in the target needle placement area, use the position points with a temperature less than or equal to the target temperature as the target position points.

[0149] Among them, the target temperature is the effective temperature for cryoablation, that is, abnormal cells at this temperature and below will be killed by low temperature, so as to achieve the treatment effect. For example, for Figure 5 the ablation needle shown, the effective temperature is -40°C.

[0150] Specifically, the terminal obtains the temperature of each position point in the target needle placement area, and uses the position points with a temperature less than or equal to the target temperature among multiple position points as the target position points.

[0151] Step S1204, determine the volume covering the abnormal area based on the positions of the target position points, and determine the volume covering the normal area based on the volume of the covering area.

[0152] Specifically, the terminal determines the effective area according to the positions of each target position point. The terminal takes the intersection area between the abnormal area and the effective area as the area covering the abnormal area, and determines the volume covering the abnormal area based on the volume of the intersection area, and subtracts the volume of the covering abnormal area from the volume of the effective area to obtain the volume covering the normal area.

[0153] Step S1206, obtain the first weight corresponding to the area covering the abnormal area, the second weight corresponding to the area covering the normal area, and perform weight calculation based on the first weight, the second weight, the volume of the area covering the abnormal area, and the volume of the area covering the normal area to determine the coverage score.

[0154] Among them, it should be noted that in order to effectively cryoablate the abnormal region, it is often necessary to maximize the volume of the abnormal region covered and minimize the volume of the normal region covered. In this way, the optimal cryoablation can be achieved. For example, to achieve optimized cryoablation, taking the coverage fraction F as the dependent variable, the volume ∑Tumor of the abnormal region covered and the volume ∑Healthy of the normal region covered as independent variables respectively, a target function is set, and its representation form is as follows:

[0155] F = |-∑Tumor + ∑Healthy|

[0156] Specifically, the terminal obtains the first weight corresponding to the coverage of the abnormal region and the second weight corresponding to the coverage of the normal region according to the preset optimization requirements, multiplies the first weight by the volume of the abnormal region covered, subtracts the product of the second weight and the volume of the normal region covered to obtain a difference, and divides the difference by the volume of the abnormal region covered to obtain the coverage fraction. For example, the coverage fraction F is as follows:

[0157]

[0158] Among them, V ROI : the volume of the abnormal region covered; V healthy : the volume of the normal region covered.

[0159] It should be noted that during the actual cryoablation process, in order to cover a larger volume of the abnormal region, it may lead to a corresponding increase in the volume of the normal region covered. Therefore, the first weight and the second weight can be set according to actual needs. For example, the first weight and the second weight can be determined according to the need to ensure a large volume of the abnormal region covered and minimize the volume of the normal region covered as much as possible.

[0160] Step S1208, determine the needle placement effect through the coverage fraction.

[0161] Specifically, compare the coverage fraction with the threshold fraction. If the coverage fraction is greater than or equal to the threshold fraction, it is determined that the needle placement effect passes. If the coverage fraction is less than the threshold fraction, it is determined that the needle placement effect fails.

[0162] In this embodiment, by comparing the temperatures at each position point with the target temperature, the effective region can be accurately and quickly determined. Based on the volume of the effective region and the volume of the abnormal region, the volume of the abnormal region covered and the volume of the normal region covered can be reflected in real time. At the same time, according to the actual processing requirements, the first weight corresponding to the covered abnormal region and the second weight corresponding to the covered normal region are determined. Thus, based on the first weight and the second weight, the result of the needle placement effect determination corresponding to the actual processing requirements can be determined. In addition, by adjusting the first weight and the second weight, it can be applied to various requirements with higher flexibility.

[0163] In one embodiment, as Figure 13 shown, based on the abnormal region of the target site, a target multi-needle ice ball model matching the abnormal region is determined (the target multi-needle ice ball model includes N ablation needles). The terminal determines the abnormal region based on the medical image of the target site. And perform a bounding box process on the abnormal region, and determine the centroid of the lesion area (i.e., the corresponding abnormal centroid) based on the bounding box. Locate the ice ball centroid of the target multi-needle ice ball model formed by N ablation needles to the centroid of the lesion area (i.e., the corresponding ice ball centroid coincides with the centroid of the lesion area), and perform simulated needle placement based on the located target multi-needle ice ball model to determine the target needle placement region. The terminal calculates the volume of the covered abnormal region and the volume of the covered normal region based on the target needle placement region, and calculates the coverage fraction F based on the volume of the covered abnormal region and the volume of the covered normal region. If F > F threshold, the needle placement is completed based on this model; if F < F threshold, the model corresponding to N + 1 needles is loaded until F > F threshold.

[0164] In this embodiment, based on the abnormal region of the target site, a target multi-needle ice ball model matching the abnormal region is determined. Locate the ice ball centroid of the target multi-needle ice ball model to the abnormal centroid, and perform simulated needle placement based on the located target multi-needle ice ball model to obtain the target needle placement region with ablation needles deployed, ensuring that the abnormal region coincides with the effective ablation region, greatly increasing the effect of cryoablation. By comparing the temperatures at each position point with the target temperature, the effective region can be accurately and quickly determined. Based on the volumes of the effective region and the abnormal region, the volume of the abnormal region covered and the volume of the normal region covered can be reflected in real time. In the case where the coverage fraction determined based on the volume of the covered abnormal region and the volume of the covered normal region is less than the threshold fraction, it is determined that the needle placement effect determination fails. In the case where the needle placement effect determination fails, based on the target number of needles of the target multi-needle ice ball model, the updated ice ball model can be determined timely and accurately to ensure that the final ice ball model that meets the needle placement effect determination is obtained. Thus, the accuracy of cryoablation treatment can be greatly improved.

[0165] In one embodiment, as Figure 14As shown, a needle placement method is provided. In this embodiment, the method is exemplified by being applied to a terminal. It can be understood that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0166] Step S1402: Obtain a medical image containing an abnormal region, and based on the medical image, determine the abnormal center of the abnormal region.

[0167] Specifically, the terminal obtains a medical image containing an abnormal region, and based on the medical image, determines the abnormal region of the target part, and based on the abnormal region, determines the abnormal center.

[0168] Step S1404: Locate the initial ablation needle at the position of the abnormal center to obtain a target needle placement region with one ablation needle deployed.

[0169] Specifically, the terminal determines the coordinates of the abnormal center and uses the coordinates of the abnormal center as the coordinates of the initial ablation needle to obtain a target needle placement region with one ablation needle deployed.

[0170] It should be noted that the needle placement method in this embodiment can be regarded as a needle placement method of circular optimized coverage arrangement. As Figure 15 shown, starting from an ablation needle N0, taking N0 as the starting needle, when the needle placement effect corresponding to one ablation needle N0 is determined to be unqualified, a preset number of new ablation needles are sequentially added around the ablation needle, such as N1 to N5 in the figure, and the needle placement effect is determined again. If it is still unqualified, the new ablation needles are sequentially used as the starting needles to continue the needle placement effect determination. Among them, the distance between the centers of each ablation needle is √3 times the radius, so as to ensure that there is no unablated area between each ablation needle. Each circle in the figure represents the effective area of the ablation needle, that is, the temperature inside the circle is less than or equal to the target temperature. This needle placement method can ensure that there is no unablated area between each ablation needle, greatly enhancing the treatment effect of cryoablation.

[0171] Step S1406: Based on the target needle placement region, perform a needle placement effect determination.

[0172] Specifically, the terminal obtains the temperatures of each position point in the target needle placement region and determines the target temperature. Based on the temperatures of each position point and the target temperature, determine the volume of the effective region that can effectively ablate and the volume of the region covering the abnormal region. The terminal performs a needle placement effect determination through the volume of the effective region and the volume of the region covering the abnormal region.

[0173] Step S1408: In the case where the needle placement effect determination representation fails, determine the target ablation needles for the current round, traverse each target ablation needle, and use the currently traversed target ablation needle as the current starting ablation needle, where the target ablation needles for the first round are the initial ablation needles.

[0174] Specifically, in the case where the needle placement effect determination representation fails, the terminal obtains the newly added ablation needles of the previous round and uses the newly added ablation needles of the previous round as the target ablation needles for the current round. The terminal traverses each target ablation needle in sequence and uses the currently traversed target ablation needle as the current starting ablation needle.

[0175] For example, as Figure 16 shown, the current starting ablation needle for the first round is N0. When the needle placement effect determination with N0 as the current starting ablation needle fails, based on the target needle placement area, deploy multiple newly added ablation needles around N0, such as N1 to N6. In the second round, use N1 to N6 as the target ablation needles and determine the current starting ablation needle according to the arrangement order of the target ablation needles in the second round.

[0176] Step S1410: Deploy the newly added ablation needles corresponding to the current starting ablation needle around the current starting ablation needle, and determine the corresponding needle placement effect based on the deployed newly added ablation needles.

[0177] Specifically, the terminal deploys the newly added ablation needles corresponding to the current starting ablation needle around the current starting ablation needle based on the target needle placement area, and updates the updated temperature of each position point in the target needle placement area based on the deployed newly added ablation needles. Update the target position point based on the updated temperature of each position point and the target temperature to obtain the updated position point. Determine the volume of the updated effective area and the volume of the updated covered abnormal area corresponding to the target position point based on the position of the updated position point, and determine the needle placement effect again by comparing the size of the volume of the updated effective area and the volume of the updated covered abnormal area.

[0178] Step S1412: In the case where the needle placement effect determination fails, traverse the next target ablation needle, and return to the step of using the currently traversed target ablation needle as the current starting ablation needle and continue to execute until there is a case where the needle placement effect determination passes and then stop.

[0179] Specifically, in the case where the needle placement effect determination fails, that is, the needle placement effect does not pass, the terminal traverses the next target ablation needle based on the order of each target ablation needle, and returns to the step of using the currently traversed target ablation needle as the current starting ablation needle and continues to execute until there is a case where the needle placement effect determination passes and then stop.

[0180] For example, asFigure 16 As shown, in the second round, N1 to N6 are used as target ablation needles. In the case where the needle placement effect determination corresponding to N1 as the current starting ablation needle fails in the second round, according to the arrangement of the target ablation needles, N2 is determined counterclockwise as the next target ablation needle, and it returns to the step of using the currently traversed target ablation needle as the current starting ablation needle and continues to execute until there is a case where the needle placement effect determination passes and then stops.

[0181] Step S1414: In the case where the needle placement effect determinations corresponding to all target ablation needles fail and the preset stop condition is not reached, enter the next round, use the newly added ablation needle as the target ablation needle for the next round, and return to the step of traversing each target ablation needle and continue to execute.

[0182] Specifically, in the case where the needle placement effect determinations corresponding to all target ablation needles fail and the preset stop condition is not reached, determine the newly added ablation needle for the current round, enter the next round, use the newly added ablation needle as the target ablation needle for the next round, and return to the step of traversing each target ablation needle and continue to execute.

[0183] In the above needle placement method, by directly positioning the initial ablation needle to the position of the abnormal center, a target needle placement area with one ablation needle deployed is obtained, thus greatly simplifying the steps of the target needle placement area with one ablation needle deployed. In the case where the needle placement effect determination shows failure, determine the target ablation needle for the current round, traverse each target ablation needle, and use the currently traversed target ablation needle as the current starting ablation needle. Among them, the target ablation needle for the first round is the initial ablation needle. In this way, the ablation needles that need to be traversed in the current round can be determined, and by the traversing method, it is ensured that the ablation range better covers the target needle placement area, that is, the abnormal area after the ablation needle is deployed. Deploy the newly added ablation needle corresponding to the current starting ablation needle around the current starting ablation needle, and determine the corresponding needle placement effect based on the newly added ablation needle after deployment. In this way, the needle placement effect of the current starting ablation needle can be determined in real time and in a timely manner to achieve high-efficiency needle placement. In the case where the needle placement effect determination fails, traverse the next target ablation needle, and return to the step of using the currently traversed target ablation needle as the current starting ablation needle and continue to execute until there is a case where the needle placement effect determination passes and then stops. In the case where the needle placement effect determinations corresponding to all target ablation needles fail and the preset stop condition is not reached, enter the next round, use the newly added ablation needle as the target ablation needle for the next round, and return to the step of traversing each target ablation needle and continue to execute. In this way, for each round, the ablation range within the target needle placement area can be accurately determined based on the current starting ablation needle, avoiding the situation where there is an unablated area in the abnormal area, that is, greatly assisting in improving the accuracy of cryoablation treatment.

[0184] In one embodiment, determining the needle placement effect based on the target needle placement area includes: determining the temperature of each position point in the target needle placement area, comparing the temperature of each position point in the target needle placement area with the target temperature, and taking the position points with a temperature less than or equal to the target temperature as target position points. Based on the positions of the target position points, determining the volume of the effective area corresponding to the target position points and the volume of the area covering the abnormal area, and determining the needle placement effect by comparing the sizes of the volume of the effective area and the volume of the area covering the abnormal area.

[0185] Specifically, the terminal obtains the temperature of each position point in the target needle placement area, and takes the position points with a temperature less than or equal to the target temperature from among the multiple position points as target position points. The terminal determines the effective area based on the positions of the target position points. The terminal takes the volume of the intersection area between the abnormal area and the effective area as the volume of the area covering the abnormal area. If the volume of the effective area is greater than or equal to the volume of the area covering the abnormal area, it is directly determined that the needle placement effect determination passes. If the volume of the effective area is less than the volume of the area covering the abnormal area, it is directly determined that the needle placement effect determination fails.

[0186] It should be noted that the needle placement method of the circular optimized coverage arrangement in this embodiment determines whether the needle placement effect determination is satisfied according to the ablation needles currently deployed. If not, a preset number of newly added ablation needles are orderly deployed around the currently deployed ablation needles. Obviously, the ablation needles in the needle placement method of the circular optimized coverage arrangement are not directly deployed in a fixed combination, but can flexibly deploy the ablation needles corresponding to the current abnormal area, which can better ensure the removal of abnormal cells in the abnormal area.

[0187] In this embodiment, by comparing the temperature of each position point with the target temperature, the effective area can be accurately and quickly determined. By comparing the sizes of the volume of the effective area and the volume of the area covering the abnormal area, the result of the needle placement effect determination can be directly determined, realizing the preliminary verification of the abnormal area in the needle placement method of the circular optimized coverage arrangement.

[0188] In one embodiment, as Figure 17 shown, the process of adding ablation needles in each round includes the following steps:

[0189] Step S1702, taking the newly added ablation needles in the previous round as the target ablation needles in the current round and traversing them, and taking the currently traversed target ablation needle as the current starting ablation needle, where the current starting ablation needle in the first round is the initial ablation needle.

[0190] Specifically, the terminal obtains the newly added ablation needles in the previous round and uses the newly added ablation needles in the previous round as the target ablation needles in the current round. The terminal traverses each target ablation needle in sequence and uses the currently traversed target ablation needle as the current starting ablation needle.

[0191] For example, as Figure 16 shown, the current starting ablation needle in the first round is N0. When the needle placement effect of N0 as the current starting ablation needle is determined to be unqualified, based on the target needle placement area, a preset number of newly added ablation needles, such as N1 to N6, are deployed around N0. In the second round, N1 to N6 are used as the target ablation needles, and the current starting ablation needle is determined according to the arrangement order of the target ablation needles in the second round.

[0192] Step S1704: Deploy the newly added ablation needles corresponding to the current starting ablation needle around the current starting ablation needle, and determine the corresponding needle placement effect based on the deployed newly added ablation needles.

[0193] Specifically, the terminal deploys the newly added ablation needles corresponding to the current starting ablation needle around the current starting ablation needle based on the target needle placement area, and updates the updated temperature of each position point in the target needle placement area based on the deployed newly added ablation needles. The terminal updates the target position point based on the updated temperature of each position point and the target temperature to obtain the updated position point. The terminal determines the volume of the updated effective area and the volume of the updated coverage abnormal area corresponding to the target position point based on the position of the updated position point, and determines the needle placement effect again by comparing the size of the volume of the updated effective area and the volume of the updated coverage abnormal area.

[0194] Step S1706: In the case where the needle placement effect is determined to be unqualified, traverse the next target ablation needle, and return to the step of using the currently traversed target ablation needle as the current starting ablation needle to continue execution until there is a situation where the needle placement effect is determined to be qualified.

[0195] Specifically, in the case where the needle placement effect is determined to be unqualified, traverse the next target ablation needle based on the order of each target ablation needle, and return to the step of using the currently traversed target ablation needle as the current starting ablation needle to continue execution until there is a situation where the needle placement effect is determined to be qualified.

[0196] For example, as Figure 16As shown, in the second round, N1 to N6 are used as target ablation needles. In the case that the needle placement effect determination corresponding to N1 as the current starting ablation needle fails in the second round, according to the arrangement of the target ablation needles, N2 is determined counterclockwise as the next target ablation needle, and the process returns to the step of using the currently traversed target ablation needle as the current starting ablation needle and continues to execute until there is a situation where the needle placement effect determination passes, then it stops.

[0197] Step S1708, in the case that the needle placement effect determination corresponding to each target ablation needle fails, enter the next round.

[0198] Specifically, the terminal obtains the needle placement effect determination results corresponding to each target ablation needle. In the case that the needle placement effect determination corresponding to each target ablation needle fails, enter the next round.

[0199] In this embodiment, in the case that the needle placement effect determination fails, there is at least one round of ablation needle addition process. For each round of ablation needle addition process, it is as follows: use the added ablation needles in the previous round as the target ablation needles in the current round and traverse them. Use the currently traversed target ablation needle as the current starting ablation needle. Among them, the current starting ablation needle in the first round is the initial ablation needle. In this way, the ablation needles that need to be traversed in the current round can be determined, and through the traversal method, it can be ensured that the ablation range better covers the target needle placement area, that is, the abnormal area after deploying the ablation needles. Deploy the added ablation needles corresponding to the current starting ablation needle around the current starting ablation needle, and determine the corresponding needle placement effect based on the deployed added ablation needles. In this way, the needle placement effect of the current starting ablation needle can be determined in real time and timely, so as to achieve high-efficiency needle placement. In the case that the needle placement effect determination fails, traverse the next target ablation needle, and return to the step of using the currently traversed target ablation needle as the current starting ablation needle and continue to execute until there is a situation where the needle placement effect determination passes, then it stops. In the case that the needle placement effect determination corresponding to each target ablation needle fails, enter the next round. In this way, for each round, based on the current starting ablation needle, the ablation range within the target needle placement area can be accurately determined, avoiding the situation that the abnormal area is not ablated, that is, greatly improving the treatment effect of cryoablation.

[0200] In one of the embodiments, as Figure 18 shown, for easy understanding, as Figure 18 the ablation needle arrangement schematic in, the specific steps are as follows:

[0201] S1: Add an ablation needle at the center of the abnormal area to obtain the target needle placement area, and this ablation needle serves as the starting needle N0. Based on this starting needle, determine the needle placement effect judgment corresponding to the starting needle. If the needle placement effect judgment is passed, the automatic needle placement is completed. If the needle placement effect judgment is not passed, proceed to S2.

[0202] S2: On the right side of the starting needle, at a distance from the center of the starting needle, starting from 0°, at 60° intervals, add ablation needles around the starting needle until the area around the starting needle is fully deployed, obtaining a certain number of first ablation needles, namely N1 to N6, and save the added first ablation needles. Based on the first ablation needles from N0 to N6, determine the needle placement effect judgments respectively corresponding to each first ablation needle. If the needle placement effect judgment is passed, the automatic needle placement is completed. If the needle placement effect judgment is not passed, proceed to S3.

[0203] S3: Position N1 as the new starting needle and repeat S1. If the needle placement effect judgment after repeating S1 is still not passed, repeat S2. On this basis, if the needle placement effect judgment after repeating S2 is passed, the needle placement is completed; if the needle placement effect judgment after repeating S2 is not passed, proceed to S4.

[0204] S4: Sequentially position N1 to N6 as the new starting needles and repeat S1. If the needle placement effect judgment after repeating S1 is still not passed, repeat S2. On this basis, if the needle placement effect judgment after repeating S2 is passed, the needle placement is completed; if the needle placement effect judgment after repeating S2 is not passed, proceed to S5.

[0205] S5: Obtain the ablation needles generated in S3 and S4, and perform cyclic iteration on the ablation needles generated in S3 and S4 according to the judgment process from N1 to N6 until the abnormal area is completely covered.

[0206] For example, when proceeding to S3, multiple ablation needles are deployed around N1, such as N11, N12, and N13. The needle deployment effect is determined. If the determination of the needle deployment effect fails, then S4 is performed, that is, multiple ablation needles are deployed around N2, such as N21 and N22, and the needle deployment effect is determined. If the determination of the needle deployment effect fails, then S4 is performed, that is, multiple ablation needles are deployed around N3, such as N31 and N32, and the needle deployment effect is determined. If the determination of the needle deployment effect fails, then S4 is performed, that is, multiple ablation needles are deployed around N4, such as N41 and N42, and the needle deployment effect is determined. If the determination of the needle deployment effect fails, then S4 is performed, that is, multiple ablation needles are deployed around N5, such as N51 and N52, and the needle deployment effect is determined. If the determination of the needle deployment effect fails, then S4 is performed, that is, multiple ablation needles are deployed around N6, such as N61, and the needle deployment effect is determined. If the determination of the needle deployment effect fails, then S5 is performed, that is, the above-mentioned N11, N12, N13, …, N61 are obtained as new starting needles in sequence, and a cyclic iteration is performed according to the judgment process from N1 to N6 until the abnormal area is completely covered.

[0207] In this embodiment, by directly positioning the initial ablation needle at the position of the abnormal center, a target needle deployment area with one ablation needle deployed is obtained, thus greatly simplifying the steps of the target needle deployment area with one ablation needle deployed. In the case where the determination of the needle deployment effect indicates failure, the target ablation needle for the current round is determined, and each target ablation needle is traversed, and the currently traversed target ablation needle is used as the current starting ablation needle, where the target ablation needle for the first round is the initial ablation needle. In this way, the ablation needles that need to be traversed in the current round can be determined, and by means of traversal, it is ensured that the ablation range covers the target needle deployment area more widely, that is, the abnormal area after the ablation needle is deployed. New ablation needles corresponding to the current starting ablation needle are deployed around the current starting ablation needle, and the corresponding needle deployment effect is determined based on the newly deployed ablation needles. In this way, the needle deployment effect of the current starting ablation needle can be determined in real time and timely, achieving high-efficiency needle deployment. In the case where the determination of the needle deployment effect fails, the next target ablation needle is traversed, and the step of using the currently traversed target ablation needle as the current starting ablation needle is returned to continue execution until the situation where the determination of the needle deployment effect passes occurs and then stops. In the case where the determination of the needle deployment effect for each target ablation needle fails and the preset stop condition is not reached, the next round is entered, and the newly added ablation needle is used as the target ablation needle for the next round, and the step of traversing each target ablation needle is returned to continue execution. In this way, for each round, the ablation range within the target needle deployment area can be correctly determined based on the current starting ablation needle, avoiding the situation where the abnormal area is not ablated, that is, greatly improving the treatment effect of cryoablation.

[0208] To facilitate a clearer understanding of the technical solution of this application, a more detailed embodiment is provided for description. The general process of this embodiment is as follows Figure 19 As shown, first, the terminal selects the model of the ablation needle, obtains the medical images sent by the nuclear magnetic resonance device before the cryoablation operation, and obtains the ultrasound images sent by the ultrasound device during the cryoablation operation. Based on the medical images and ultrasound images, the terminal performs prostate scan modeling and urethra delineation modeling to obtain a prostate model and a urethra model respectively, and performs image fusion based on the prostate model and the urethra model (i.e., the nuclear magnetic resonance-ultrasound image fusion in the corresponding figure) to obtain a target model corresponding to the target site. The terminal combines the cryoablation requirements preset by the operator, determines the target needle placement method from at least one pre-stored needle placement method, and based on the abnormal area in the target model, performs simulated needle placement through the target needle placement method and determines the needle placement effect. The final needle placement method is determined based on the result of the needle placement effect determination. The terminal instructs the robotic arm to perform automatic needle placement according to the final needle placement plan and inserts the cryoablation needle to start the cryo-treatment.

[0209] Among them, in the following process, the prostate is taken as an example of the target site to detail how to determine the final needle placement method. Specifically, as follows Figure 20 As shown, the terminal establishes ice ball surfaces at 0°C, -20°C, and -40°C according to the ablation needle manufacturer's model and determines the model of the ablation needle for needle placement. The terminal constructs ice ball surface functions (i.e., corresponding to multi-needle surfaces) respectively corresponding to each ablation needle according to the sizes of the ice ball surfaces at 0°C, -20°C, and -40°C and the model of the ablation needle. The terminal establishes a constant temperature area according to the urethral surface in the prostate (corresponding to the surrounding temperature range in the figure). The terminal determines the target needle placement method according to the number and size of the abnormal areas, and performs simulated needle placement based on the needle placement process of the target needle placement method to obtain the target needle placement area. Among them, the target needle placement method can adopt the needle placement method of the above steps S902 to S912, or adopt the needle placement method of the above steps S1402 to S1414, and the specific is not limited. In the target needle placement area, the terminal determines the ablation temperatures of each position point according to the position of each position point, the positions of each ablation needle, and the urethral position. For each position point, the terminal updates the ablation temperature of the corresponding position point based on the multiple ablation temperatures of the corresponding position point to determine the temperature of the corresponding position. Specifically as follows

[0210] (1) When there is only one ablation needle in the target needle placement area, for each position point in the target needle placement area, based on the position of the corresponding position point, the terminal determines whether the corresponding position point is in the constant temperature area. For each position point, when the corresponding position point is in the constant temperature area, the terminal directly determines that the ablation temperature of the corresponding position point is the constant temperature. When the corresponding position point is not in the constant temperature area, based on the position of the corresponding position point, the terminal determines that the corresponding position point is in the temperature area of the ablation needle, and based on the temperature area corresponding to the corresponding position point, determines the target boundary. Based on the ice ball generated by the ablation needle, the terminal determines the target ice ball surface function corresponding to each target boundary. For each position point, based on the coordinates of the corresponding position point and each target ice ball surface function, determines the distances from the corresponding position point to each boundary respectively. The terminal determines the ablation temperature of the corresponding position point by linear interpolation based on each distance and each boundary temperature.

[0211] (2) When there are at least two ablation needles in the target needle placement area, for each position point in the target needle placement area, based on the position of the corresponding position point, determines whether the corresponding position point is in the constant temperature area. For each position point, when the corresponding position point is in the constant temperature area, directly determines that the ablation temperature of the corresponding position point is the constant temperature. When the corresponding position point is not in the constant temperature area, for each position point, determines the current ablation needle from multiple ablation needles, based on the position of the corresponding position point, determines that the corresponding position point is in the temperature area of the current ablation needle, and based on the current temperature area corresponding to the corresponding position point, determines the current target boundary. The terminal determines the current target ice ball surface function corresponding to each current target boundary based on the current ice ball generated by the current ablation needle. Based on the coordinates of the corresponding position point and each current target ice ball surface function, determines the current target distances from the corresponding position point to each current boundary respectively. The terminal determines the current ablation temperature of the corresponding position point by linear interpolation based on each current target distance and each current boundary temperature. Enter the next calculation, take the next ablation needle in the next calculation as the current ablation needle, and return to the step of determining that the corresponding position point is in the temperature area of the current ablation needle based on the position of the corresponding position point and continue to execute until the number of calculations reaches the number of ablation needles and then stop. The terminal obtains each current ablation temperature and takes the lowest ablation temperature as the temperature corresponding to the corresponding position point. In addition, the terminal establishes a 3D temperature data matrix through the MarchingCube filter according to the temperatures of each position point. For example, as Figure 21 shown, the corresponding vtk function library is vtkMarchingCube. Among them, the 3D temperature data matrix is used for the operator to adjust the ablation needle in real time.

[0212] The terminal extracts the surface corresponding to the user-selected temperature (such as -40°C) using vtkMarchingCube and displays it in the software. The specific display screen is as follows Figure 22 As shown, the operator determines the needle placement effect based on the temperature at each position point. If the determination of the needle placement effect fails, it can be automatically adjusted based on the adjustment scheme corresponding to the target needle placement method to obtain the target needle placement method after automatic adjustment. The operator can manually adjust the target needle placement method based on the temperature 3D data matrix until the needle placement effect determination passes. At this time, it is determined that the automatic needle placement is completed.

[0213] In this embodiment, by obtaining a medical image containing an abnormal region and determining a target needle placement method from at least one needle placement method; wherein, the needle placement method is used for cryoablation of the abnormal region. Based on the medical image, simulated needle placement is performed through the target needle placement method to obtain a target needle placement region where ablation needles are deployed. In this way, based on the target needle placement region, the ablation range caused by the target needle placement method can be accurately reflected in real time. Obtain the ice ball surface function corresponding to the ablation needle and determine the boundary temperature corresponding to the ice ball surface function; wherein, the boundary temperature is the temperature at the boundary of the ice ball, and the ice ball is generated by the ablation needle. In this way, based on the ice ball surface function of the ablation needle used for cryoablation operation, a boundary temperature more suitable for the actual cryoablation operation can be obtained, ensuring the effectiveness of the boundary temperature. Based on the ice ball surface function and the boundary temperature, through linear interpolation processing, the temperature at each position point in the target needle placement region can be determined in real time and accurately, and the temperature at each position point is used to evaluate the needle placement effect of the target needle placement method. In this way, based on the temperatures at each position point with high accuracy, the temperature distribution in the cryoablation space can be truthfully reflected. Thus, the needle placement effect caused by the target needle placement method can be effectively and reliably evaluated. Furthermore, the accuracy of cryoablation treatment is greatly assisted and improved.

[0214] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are sequentially shown according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order limitation, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or steps in other steps.

[0215] Based on the same inventive concept, an embodiment of the present application further provides a temperature determination device for a cryoablation space for implementing the temperature determination method for the cryoablation space involved above. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the temperature determination device for the cryoablation space provided below can refer to the limitations on the temperature determination method for the cryoablation space in the above text, and will not be elaborated here.

[0216] In one embodiment, as Figure 23 shown, a temperature determination device for a cryoablation space is provided, including: a first acquisition module 2302, a simulation module 2304, a second acquisition module 2306, and a processing module 2308, where:

[0217] The first acquisition module 2302 is configured to acquire a medical image including an abnormal area, and determine a target needle placement method from at least one needle placement method; wherein, the needle placement method is used for cryoablation of the abnormal area.

[0218] The simulation module 2304 is configured to perform simulated needle placement through the target needle placement method based on the medical image to obtain a target needle placement area where ablation needles are deployed.

[0219] The second acquisition module 2306 is configured to acquire a hockey puck surface function corresponding to the ablation needle, and determine a boundary temperature corresponding to the hockey puck surface function; wherein, the boundary temperature is the temperature at the boundary of the hockey puck, and the hockey puck is generated by the ablation needle.

[0220] The evaluation module 2308 is configured to determine the temperature of each position point in the target needle placement area based on the boundary temperature, and the temperature of each position point is used to evaluate the needle placement effect of the target needle placement method.

[0221] In one embodiment, the evaluation module 2308 is configured to determine the temperature of each position point in the target needle placement area through linear interpolation processing based on the hockey puck surface function and the boundary temperature.

[0222] In one embodiment, when there are at least two ablation needles in the target needle placement area, for each position point in the target needle placement area, based on the position of the corresponding position point, it is determined whether the corresponding position point is in a constant temperature area. For each position point, when the corresponding position point is not in a constant temperature area, based on the hockey puck surface function, the boundary temperature corresponding to the hockey puck surface function, and the position of the corresponding position point, multiple ablation temperatures of the corresponding position point are determined through linear interpolation processing. For each position point, based on the multiple ablation temperatures corresponding to the corresponding position point, the lowest ablation temperature is used as the temperature corresponding to the corresponding position point.

[0223] In one embodiment, the evaluation module 2308 is configured to determine the temperatures of respective position points in the target needle placement region based on the boundary temperature through a heat transfer function, where the heat transfer function is a function characterizing the change of the temperature of each position point with time.

[0224] Based on the same inventive concept, an embodiment of the present application further provides a needle placement determination device for implementing the needle placement method involved above. The solution for solving the problem provided by this device is similar to the solution described in the above method. Therefore, the specific limitations in one or more of the following needle placement device embodiments can refer to the limitations on the needle placement method above and will not be elaborated here.

[0225] In one embodiment, as Figure 24 shown, a needle placement device is provided, including: a first determination module 2402, a second determination module 2404, a first positioning module 2406, a first determination module 2408, an update module 2410, and a first iteration module 2412, where:

[0226] The first determination module 2402 is configured to determine the abnormal centroid of the abnormal region of the target part based on the medical image of the target part.

[0227] The second determination module 2404 is configured to determine a target multi-needle ice ball model from multiple multi-needle ice ball models based on the medical image and determine the ice ball centroid of the target multi-needle ice ball model.

[0228] The first positioning module 2406 is configured to position the ice ball centroid of the target multi-needle ice ball model to the abnormal centroid and perform simulated needle placement based on the positioned target multi-needle ice ball model to obtain a target needle placement region where ablation needles are deployed.

[0229] The first determination module 2408 is configured to determine the needle placement effect based on the target needle placement region.

[0230] The update module 2410 is configured to, when the needle placement effect determination fails, determine the target number of needles of the target multi-needle ice ball model and update the target multi-needle ice ball model based on the target number of needles to obtain an updated ice ball model.

[0231] The first iteration module 2412 is configured to enter the next iteration, use the updated ice ball model as the target multi-needle ice ball model corresponding to the next iteration, and return to the step of determining the ice ball centroid of the target multi-needle ice ball model to continue execution until the needle placement effect determination passes.

[0232] In one embodiment, the first determination module 2402 is configured to determine an abnormal region corresponding to a medical image of a target site, determine a bounding box corresponding to the abnormal region, and based on the bounding box, determine the abnormal centroid of the abnormal region of the target site.

[0233] In one embodiment, the first determination module 2408 is configured to determine the temperature of each position point in the target needle placement region, and based on the temperature of each position point in the target region, use the position points with a temperature less than or equal to the target temperature as target position points. Based on the positions of the target position points, determine the volume covering the abnormal region, and based on the volume covering the abnormal region, determine the volume covering the normal region. Obtain a first weight corresponding to the volume covering the abnormal region, a second weight corresponding to the volume covering the normal region, and based on the first weight, the second weight, the volume covering the abnormal region, and the volume covering the normal region, perform a weight calculation to determine a coverage score. Determine the needle placement effect through the coverage score.

[0234] Based on the same inventive concept, an embodiment of the present application further provides a needle placement device for implementing the above-mentioned needle placement method. The solution provided by the device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more of the following needle placement device embodiments can refer to the limitations on the needle placement method in the foregoing, and will not be repeated here.

[0235] In one embodiment, as Figure 25 shown, a needle placement device is provided, including: a third acquisition module 2502, a second positioning module 2504, a second determination module 2506, a first traversal module 2508, a deployment module 2510, a second traversal module 2512, and a second iteration module 2514, where:

[0236] The third acquisition module 2502 is configured to acquire a medical image including an abnormal region, and based on the medical image, determine the abnormal center of the abnormal region.

[0237] The second positioning module 2504 is configured to position an initial ablation needle to the position of the abnormal center to obtain a target needle placement region where one ablation needle is deployed.

[0238] The second determination module 2506 is configured to determine the needle placement effect based on the target needle placement region.

[0239] The first traversal module 2508 is configured to, when the needle placement effect determination indicates failure, determine the target ablation needle for the current round, traverse each target ablation needle, and use the currently traversed target ablation needle as the current starting ablation needle, where the target ablation needle for the first round is the initial ablation needle.

[0240] A deployment module 2510, configured to deploy new ablation needles corresponding to the current starting ablation needle around the current starting ablation needle, and determine the corresponding needle placement effect based on the deployed new ablation needles.

[0241] A second traversal module 2512, configured to, when the needle placement effect determination fails, traverse the next target ablation needle, and return to execute the step of using the currently traversed target ablation needle as the current starting ablation needle until there is a situation where the needle placement effect determination passes.

[0242] A second iteration module 2514, configured to, when the needle placement effect determination for each target ablation needle fails and the preset stop condition is not reached, enter the next round, use the new ablation needle as the target ablation needle for the next round, and return to execute the step of traversing each target ablation needle.

[0243] In one embodiment, the second determination module 2506 is configured to determine the temperature of each position point in the target needle placement area, compare the temperature of each position point in the target needle placement area with the target temperature, and use the position points with a temperature less than or equal to the target temperature as the target position points. Based on the positions of the target position points, determine the volume of the effective area corresponding to the target position points and the volume of the area covering the abnormal area, and determine the needle placement effect by comparing the sizes of the volume of the effective area and the volume of the area covering the abnormal area.

[0244] In one embodiment, the second iteration module 2514 is configured to use the new ablation needles of the previous round as the target ablation needles for the current round and traverse them, use the currently traversed target ablation needle as the current starting ablation needle, where the current starting ablation needle of the first round is the initial ablation needle. Deploy new ablation needles corresponding to the current starting ablation needle around the current starting ablation needle, and determine the corresponding needle placement effect based on the deployed new ablation needles. When the needle placement effect determination fails, traverse the next target ablation needle, and return to execute the step of using the currently traversed target ablation needle as the current starting ablation needle until there is a situation where the needle placement effect determination passes. When the needle placement effect determination for each target ablation needle fails, enter the next round.

[0245] Each module in the above temperature determination device for the cryoablation space and the two needle placement devices can be implemented in whole or in part by software, hardware, and their combination. Each of the above modules can be embedded in the processor of the computer device in hardware form or be independent of it, or can be stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each of the above modules.

[0246] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structural diagram may be as shown in Figure 26 . The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the temperature determination of the cryoablation space and the needle placement data. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals through a network connection. When the computer program is executed by the processor, it implements a method for determining the temperature of the cryoablation space and two needle placement methods.

[0247] Those skilled in the art can understand that Figure 26 the structure shown in is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0248] In one embodiment, a computer device is further provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, it implements the steps in the above method embodiments.

[0249] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by the processor, it implements the steps in the above method embodiments.

[0250] In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by the processor, it implements the steps in the above method embodiments.

[0251] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0252] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0253] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A method for determining the temperature of a cryoablation space, characterized in that, The method includes: Obtaining a medical image containing an abnormal region, and determining a target needle placement method from at least one needle placement method; wherein, the needle placement method is used for cryoablation of the abnormal region; Based on the medical image, performing simulated needle placement through the target needle placement method to obtain a target needle placement region where ablation needles are deployed; Obtaining a hockey puck surface function corresponding to the ablation needle, and determining a boundary temperature corresponding to the hockey puck surface function; wherein, the boundary temperature is the temperature of the boundary of the hockey puck, and the hockey puck is generated by the ablation needle, and a plurality of hockey puck surface functions are determined based on the target model of the ablation needle, and each hockey puck surface function corresponds to a boundary temperature; Based on the boundary temperature, determining the temperature of each position point in the target needle placement region, and the temperature of each position point is used to evaluate the needle placement effect of the target needle placement method.

2. The method according to claim 1, wherein The determining the temperature of each position point in the target needle placement region based on the boundary temperature includes: Based on the hockey puck surface function and the boundary temperature, determining the temperature of each position point in the target needle placement region through linear interpolation processing.

3. The method according to claim 2, characterized in that, The determining the temperature of each position point in the target needle placement region based on the hockey puck surface function and the boundary temperature through linear interpolation processing includes: When there are at least two ablation needles in the target needle placement region, for each position point in the target needle placement region, based on the position of the corresponding position point, determining whether the corresponding position point is in a constant temperature region; For each position point, when the corresponding position point is not in a constant temperature region, based on the hockey puck surface function, the boundary temperature corresponding to the hockey puck surface function, and the position of the corresponding position point, determining a plurality of ablation temperatures of the corresponding position point through linear interpolation processing; For each position point, based on the plurality of ablation temperatures corresponding to the corresponding position point, taking the lowest ablation temperature as the temperature corresponding to the corresponding position point.

4. The method according to claim 1, wherein The determining the temperature of each position point in the target needle placement region based on the boundary temperature includes: Based on the boundary temperature, determining the temperature of each position point in the target needle placement region through a heat transfer function, and the heat transfer function is a function that characterizes the change of the temperature of each position point with time.

5. The method according to claim 1, characterized in that, The method further includes: Based on the medical image of the target part, determining the abnormal centroid of the abnormal region of the target part; Based on the medical image, determining a target multi-needle hockey puck model from a plurality of multi-needle hockey puck models, and determining the hockey puck centroid of the target multi-needle hockey puck model; Positioning the hockey puck centroid of the target multi-needle hockey puck model to the abnormal centroid, and performing simulated needle placement based on the positioned target multi-needle hockey puck model to obtain a target needle placement region where ablation needles are deployed; Based on the target needle placement region, determining the needle placement effect; When the determination of the needle placement effect fails, determining the target number of needles of the target multi-needle hockey puck model, and based on the target number of needles, updating the target multi-needle hockey puck model to obtain an updated hockey puck model; Proceed to the next iteration, use the updated puck model as the target multi-needle puck model corresponding to the next iteration, and return to the step of determining the centroid of the puck of the target multi-needle puck model to continue execution until the needle placement effect determination passes, at which point it stops.

6. The method according to claim 5, wherein Determining the abnormal centroid of the abnormal area of the target part based on the medical image of the target part includes: Determine the abnormal area corresponding to the medical image of the target part, determine the bounding box corresponding to the abnormal area, and based on the bounding box, determine the abnormal centroid of the abnormal area of the target part.

7. The method according to claim 5, wherein Performing a needle placement effect determination based on the target needle placement area includes: Determine the temperature of each position point in the target needle placement area, and based on the temperature of each position point in the target needle placement area, use the position points with a temperature less than or equal to the target temperature as target position points; Based on the positions of the target position points, determine the volume covering the abnormal area, and based on the volume covering the abnormal area, determine the volume covering the normal area; Obtain a first weight corresponding to the volume covering the abnormal area and a second weight corresponding to the volume covering the normal area, and perform a weight calculation based on the first weight, the second weight, the volume covering the abnormal area, and the volume covering the normal area to determine the coverage fraction; Perform a needle placement effect determination based on the coverage fraction.

8. The method according to claim 1, wherein The method further includes: Obtain a medical image containing the abnormal area, and based on the medical image, determine the abnormal center of the abnormal area; Position the initial ablation needle at the position of the abnormal center to obtain a target needle placement area with one ablation needle deployed; Perform a needle placement effect determination based on the target needle placement area; In the case where the needle placement effect determination indicates failure, determine the target ablation needle for the current round, traverse each target ablation needle, and use the currently traversed target ablation needle as the current starting ablation needle, where the target ablation needle for the first round is the initial ablation needle; Deploy new ablation needles corresponding to the current starting ablation needle around the current starting ablation needle, and determine the corresponding needle placement effect based on the deployed new ablation needles; In the case where the needle placement effect determination fails, traverse the next target ablation needle, and return to the step of using the currently traversed target ablation needle as the current starting ablation needle to continue execution until there is a case where the needle placement effect determination passes, at which point it stops; In the case where the needle placement effect determination for each target ablation needle fails and the preset stop condition is not reached, proceed to the next round, use the new ablation needles as the target ablation needles for the next round, and return to the step of traversing each target ablation needle to continue execution.

9. The method according to claim 8, wherein Performing a needle placement effect determination based on the target needle placement area includes: Determine the temperature of each position point in the target needle placement area, compare the temperature of each position point in the target needle placement area with the target temperature, and use the position points with a temperature less than or equal to the target temperature as target position points; Based on the position of the target position point, determine the volume of the effective area corresponding to the target position point and the volume of the area covering the abnormality, and determine the needle placement effect by comparing the size of the volume of the effective area and the volume of the area covering the abnormality.

10. The method according to claim 8, wherein The ablation needle addition process for each round includes the following steps: Take the ablation needles added in the previous round as the target ablation needles for the current round and traverse them. Take the currently traversed target ablation needle as the current starting ablation needle. Among them, the current starting ablation needle in the first round is the initial ablation needle; Deploy the new ablation needles corresponding to the current starting ablation needle around the current starting ablation needle, and determine the corresponding needle placement effect based on the deployed new ablation needles; In the case where the needle placement effect determination fails, traverse the next target ablation needle, and return to the step of taking the currently traversed target ablation needle as the current starting ablation needle and continue to execute until there is a case where the needle placement effect determination passes and then stop; In the case where the needle placement effect determination for each target ablation needle fails, enter the next round.

11. A temperature determination device for a cryoablation space, characterized in that, The device includes: A first acquisition module, configured to acquire a medical image including an abnormal area and determine a target needle placement method from at least one needle placement method; wherein, the needle placement method is used for cryoablation of the abnormal area; A simulation module, configured to perform simulated needle placement through the target needle placement method based on the medical image to obtain a target needle placement area with ablation needles deployed; A second acquisition module, configured to acquire a hockey ball surface function corresponding to the ablation needle and determine a boundary temperature corresponding to the hockey ball surface function; wherein, the boundary temperature is the temperature at the boundary of the hockey ball, and the hockey ball is generated by the ablation needle. Multiple hockey ball surface functions are determined based on the target model of the ablation needle, and each hockey ball surface function corresponds to a boundary temperature; An evaluation module, configured to determine the temperature of each position point in the target needle placement area based on the boundary temperature, and the temperature of each position point is used to evaluate the needle placement effect of the target needle placement method.

12. The device according to claim 11, wherein The device further includes a first determination module, a second determination module, a first positioning module, a first determination module, an update module, and a first iteration module. The first determination module is configured to determine the abnormal centroid of the abnormal area of the target part based on the medical image of the target part; The second determination module is configured to determine a target multi-needle hockey ball model from multiple multi-needle hockey ball models based on the medical image and determine the hockey ball centroid of the target multi-needle hockey ball model; The first positioning module is configured to position the hockey ball centroid of the target multi-needle hockey ball model to the abnormal centroid and perform simulated needle placement based on the positioned target multi-needle hockey ball model to obtain a target needle placement area with ablation needles deployed; The first determination module is configured to determine the needle placement effect based on the target needle placement area; The update module is configured to, in the case where the needle placement effect determination fails, determine the target number of needles of the target multi-needle hockey ball model and update the target multi-needle hockey ball model based on the target number of needles to obtain an updated hockey ball model. The first iteration module is used to enter the next iteration, take the updated puck model as the target multi-needle puck model corresponding to the next iteration, and return to the step of determining the centroid of the puck of the target multi-needle puck model to continue execution until the needle placement effect determination passes and then stop.

13. The device according to claim 11, characterized in that, The device further includes a third acquisition module, a second positioning module, a second determination module, a first traversal module, a deployment module, a second traversal module, and a second iteration module. The third acquisition module is used to acquire a medical image containing an abnormal region and determine the abnormal center of the abnormal region based on the medical image. The second positioning module is used to position the initial ablation needle at the position of the abnormal center to obtain a target needle placement region with one ablation needle deployed. The second determination module is used to perform a needle placement effect determination based on the target needle placement region. The first traversal module is used to, when the needle placement effect determination indicates non-passing, determine the target ablation needle for the current round, traverse each target ablation needle, and use the currently traversed target ablation needle as the current starting ablation needle, where the target ablation needle for the first round is the initial ablation needle. The deployment module is used to deploy new ablation needles corresponding to the current starting ablation needle around the current starting ablation needle and determine the corresponding needle placement effect based on the deployed new ablation needles. The second traversal module is used to, when the needle placement effect determination is not passed, traverse the next target ablation needle and return to the step of using the currently traversed target ablation needle as the current starting ablation needle to continue execution until there is a situation where the needle placement effect determination passes and then stop. The second iteration module is used to, when the needle placement effect determination for each target ablation needle is not passed and the preset stop condition is not reached, enter the next round, take the new ablation needles as the target ablation needles for the next round, and return to the step of traversing each target ablation needle to continue execution.

14. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 10.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method according to any one of claims 1 to 10.

16. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the method according to any one of claims 1 to 10.

Images