Control method, device, system and equipment of electrode needle and storage medium

Abstract

The present application relates to a kind of electrode needle control method, device, system, equipment and storage medium of needle insertion.The electrode needle control method of the present application includes: according to the image data received to establish three-dimensional model, obtain the first needle insertion vector of the first electrode needle inserted in three-dimensional coordinate system;Second electrode needle preset information of second electrode needle to be inserted is received, and second electrode needle preset information includes the initial point coordinate and the depth to be inserted of second electrode needle;Second electrode needle endpoint coordinate is obtained according to second electrode needle preset information, first needle insertion vector and preset parallel needle insertion function model;Second electrode needle initial point coordinate and second electrode needle endpoint coordinate are used to control the insertion of auxiliary needle insertion device, so that second electrode needle and first electrode needle are parallelly inserted into the lesion tissue of human body.Application of the present application can effectively control the parallel insertion of each electrode needle in the lesion tissue of human body and form effective electric field.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical instrument auxiliary equipment, in particular to an electrode needle insertion control method, device, system, equipment and storage medium. BACKGROUND

[0002] Irreversible electroporation technology is a technology of inserting an electrode needle into a diseased part of a patient, forming a plurality of nanoscale irreversible pores on the surface of a cell membrane by releasing a high-voltage electric pulse, destroying cell homeostasis, promoting cell apoptosis, and phagocytizing cell fragments after cell apoptosis by phagocytes in the body, and at the same time, immune response of the body occurs, so as to achieve the effect of controlling tumors. It is a non-heat-generating ablation technology, which has the advantages of clear ablation zone boundary, can preserve important tissue structures such as nerves, large blood vessels, ureters, bronchi, large bile ducts, and gastrointestinal walls in the ablation zone, is not affected by blood flow heat or cold elimination, and has short ablation time. This technology makes up for the technical deficiencies of radiofrequency, microwave, and cryoablation.

[0003] In the process of clinical ablation surgery, a percutaneous puncture ablation electrode needle is often used, an ablation working part at a front part of the electrode needle is punctured into a lesion tissue of a human body, and a rear part is still exposed outside the human body. The electrode needle has the following problems in the clinic: two or more electrode needles need to be kept parallel during the entire discharge process in a treatment occasion, which is beneficial to forming an effective electric field of the two or more electrode needles at a tumor site, but in an actual surgical process, no auxiliary device or method can keep the two or more electrode needles parallel to each other, so that the two or more electrode needles are difficult to keep good parallelism. SUMMARY

[0004] Embodiments of the present application provide an electrode needle insertion control method, device, system, equipment and storage medium, which aims to solve the problem that no auxiliary device or method can ensure that each electrode needle is inserted into a lesion of a patient parallel to each other and keep parallelism in the prior art.

[0005] In a first aspect, an embodiment of the present application provides a control method for electrode needle insertion, comprising: establishing a three-dimensional model according to received image data, the three-dimensional model comprising model information of a to-be-inserted region of a to-be-inserted object in a three-dimensional coordinate system; obtaining a first needle insertion vector of a first electrode needle that has been inserted in the three-dimensional coordinate system; receiving second electrode needle preset information of a second electrode needle to be inserted, the second electrode needle preset information comprising an initial point coordinate and a to-be-inserted depth of the second electrode needle; obtaining a second electrode needle end point coordinate of the second electrode needle according to the second electrode needle preset information, the first needle insertion vector, and a preset parallel needle insertion function model; and controlling an auxiliary needle insertion device to insert the second electrode needle according to the second electrode needle initial point coordinate and the second electrode needle end point coordinate, so that the second electrode needle is inserted in parallel with the first electrode needle.

[0006] According to any one of the foregoing embodiments of the first aspect of the present application, the step of obtaining the first needle insertion vector of the first electrode needle that has been inserted in the three-dimensional coordinate system comprises: obtaining actual spatial information of the first electrode needle that has been inserted; and converting the actual spatial information of the first electrode needle that has been inserted into the first needle insertion vector in the three-dimensional coordinate system.

[0007] According to any one of the foregoing embodiments of the first aspect of the present application, the method further comprises, before the step of obtaining the first needle insertion vector of the first electrode needle that has been inserted in the three-dimensional coordinate system:

[0008] receiving first electrode needle preset information of a first electrode needle to be inserted, the first electrode needle preset information comprising an initial point coordinate and an insertion end point coordinate of the first electrode needle;

[0009] controlling the auxiliary needle insertion device to insert the first electrode needle according to the first electrode needle preset information.

[0010] According to any one of the foregoing embodiments of the first aspect of the present application, the step of obtaining the first needle insertion vector of the first electrode needle that has been inserted in the three-dimensional coordinate system comprises: obtaining the first needle insertion vector according to the first electrode needle preset information.

[0011] According to any one of the foregoing embodiments of the first aspect of the present application, the auxiliary needle insertion device comprises a mechanical arm and a fixed needle insertion structure, the fixed needle insertion structure being rotatably installed on the mechanical arm and being used for mounting an electrode needle; and the step of controlling the auxiliary needle insertion device to insert the second electrode needle according to the second electrode needle initial point coordinate and the second electrode needle end point coordinate comprises: controlling the mechanical arm to drive the fixed needle insertion structure to move to the second electrode needle initial point coordinate, and controlling the fixed needle insertion structure to adjust an angle of the electrode needle based on the second electrode needle end point coordinate, so that the electrode needle is inserted into the to-be-inserted region in a preset needle insertion direction.

[0012] According to any one of the preceding embodiments of the first aspect of the present application, before the step of controlling the auxiliary needle insertion device to insert the second electrode needle according to the initial point coordinates of the second electrode needle and the end point coordinates of the second electrode needle, the method further comprises: calibrating the auxiliary needle insertion device with the three-dimensional coordinate system by a preset calibration method, the preset calibration method comprising: registering a coordinate system of an optical positioner with a coordinate system of the mechanical arm to obtain a first transformation matrix between the coordinate system of the optical positioner and the coordinate system of the mechanical arm; registering a coordinate system of image data with the coordinate system of the mechanical arm to obtain a second transformation matrix between the coordinate system of the image data and the coordinate system of the mechanical arm; registering a vector coordinate of the electrode needle to be inserted with a coordinate system of the fixed needle insertion structure to obtain a third transformation matrix of the fixed needle insertion structure; and completing calibration of the auxiliary needle insertion device with the three-dimensional coordinate system based on the first transformation matrix, the second transformation matrix, and the third transformation matrix.

[0013] According to any one of the preceding embodiments of the first aspect of the present application, before the step of controlling the auxiliary needle insertion device to insert the second electrode needle according to the initial point coordinates of the second electrode needle and the end point coordinates of the second electrode needle, the method further comprises: coating a developing agent coating on a surface of the second electrode needle.

[0014] In a second aspect, an embodiment of the present application provides an electrode needle insertion control device, the electrode needle insertion control device comprising:

[0015] an image data acquisition module configured to acquire image data;

[0016] a modeling module configured to establish a three-dimensional model based on the image data;

[0017] a calculation module configured to obtain a first needle insertion vector of a first electrode needle to be inserted in a three-dimensional coordinate system, the three-dimensional model comprising model information of a region to be inserted of an object to be inserted in the three-dimensional coordinate system, and receive second electrode needle preset information of a second electrode needle to be inserted, and obtain second electrode needle end point coordinates of the second electrode needle according to the second electrode needle preset information, the first needle insertion vector, and a preset parallel needle insertion function model; the second electrode needle preset information comprising initial point coordinates of the second electrode needle and a depth to be inserted;

[0018] an execution driving module configured to control an auxiliary needle insertion device to insert the second electrode needle according to the initial point coordinates of the second electrode needle and the end point coordinates of the second electrode needle, so that the second electrode needle is inserted in parallel with the first electrode needle.

[0019] In a third aspect, an embodiment of the present application provides an electrode needle insertion system, which comprises the electrode needle insertion control device of the embodiment of the second aspect of the present application, and an auxiliary needle insertion device, the electrode needle insertion control device being electrically connected to the auxiliary needle insertion device, and the auxiliary needle insertion device comprising: a mechanical arm comprising a fixed end and a movable end, the movable end having six degrees of freedom in space relative to the fixed end; and a fixed needle insertion structure rotatably arranged on the movable end, the fixed needle insertion structure being used for mounting an electrode needle.

[0020] According to any one of the foregoing embodiments of the third aspect of the present application, the fixed needle insertion structure is in close contact with the electrode needle in the first state to clamp the electrode needle, and the fixed needle insertion structure is separated from the electrode needle in the second state to release the electrode needle.

[0021] According to any one of the foregoing embodiments of the third aspect of the present application, the mechanical arm comprises a base comprising the fixed end and a mounting surface, a fixed support rotatably arranged on the mounting surface, a first mechanical arm mounted on the fixed support and capable of rotating relative to the fixed support, a second mechanical arm hingedly connected to one end of the first mechanical arm away from the fixed support and capable of rotating about the hinge connection with the first mechanical arm, a third mechanical arm arranged on one end of the second mechanical arm away from the first mechanical arm and capable of rotating about an axis in the length direction of the second mechanical arm, and a fourth mechanical arm rotatably mounted on the third mechanical arm, one end of the fourth mechanical arm away from the third mechanical arm being the movable end.

[0022] According to any one of the foregoing embodiments of the third aspect of the present application, the fixed needle insertion structure comprises a first clamping portion and a second clamping portion arranged opposite to each other, the first clamping portion and the second clamping portion being connected to the movable end of the mechanical arm at the same end, the first clamping portion and the second clamping portion being respectively provided with a first groove and a second groove at the end close to each other, the first groove and the second groove matching to form a clamping cavity for fixing the electrode needle in the first state of the fixed needle insertion structure, and the first groove and the second groove being separated to release the electrode needle in the second state of the fixed needle insertion structure.

[0023] In a fourth aspect, an embodiment of the present application provides an electrode needle insertion control device, which comprises: a memory and at least one processor, the memory storing instructions; and the at least one processor invoking the instructions in the memory to cause the electrode needle insertion control device to perform the electrode needle insertion control method according to the embodiment of the first aspect of the present application.

[0024] In a fifth aspect, an embodiment of the present application provides a computer readable storage medium, which stores instructions, and the instructions, when executed by a processor, implement the electrode needle insertion control method according to the first aspect of the present application.

[0025] The electrode needle insertion control method provided by the technical scheme of the present application can calculate the insertion direction of the second electrode needle by obtaining the insertion vector of the first electrode needle, and drive the second electrode needle to move to the initial point coordinates of the second electrode needle by using the auxiliary insertion device, and then insert the second electrode needle to the set depth according to the calculated insertion direction of the second electrode needle, so as to ensure that the second electrode needle is accurately inserted into the lesion and parallel to the first electrode needle to form an effective electric field. The method of the present application can improve the accuracy and parallelism of the electrode needle insertion, make the surgical operation process more convenient and fast, reduce the number of real-time scans during the operation, reduce the radiation hazards borne by the patient and the operator, prolong the service life of the scanner, and has a positive significance for accurately implementing percutaneous tumor ablation surgery. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the drawings shown.

[0027] Figure 1 The flowchart of the electrode needle insertion control method of an embodiment of the present application;

[0028] Figure 2 The structural diagram of the auxiliary insertion device in an embodiment of the present application;

[0029] Figure 3 The exploded structural diagram of the auxiliary insertion device in an embodiment of the present application;

[0030] Figure 4 The second state diagram of the fixed insertion structure in an embodiment of the present application;

[0031] Figure 5 The first state diagram of the fixed insertion structure in an embodiment of the present application;

[0032] Figure 6 The three-dimensional model diagram of the electrode needle in an embodiment of the present application;

[0033] Figure 7 The frame diagram of the electrode needle insertion control device in an embodiment of the present application;

[0034] Figure 8 A frame schematic diagram of an electrode needle insertion system according to an embodiment of the present application;

[0035] Figure 9 A structure schematic diagram of an electrode needle insertion control device according to an embodiment of the present application.

[0036] BRIEF DESCRIPTION OF DRAWINGS

[0037] 100 - auxiliary needle insertion device, 110 - mechanical arm, 110a - fixed end, 110b - movable end, 111 - base, 112 - fixed support, 113 - first mechanical arm, 114 - second mechanical arm, 115 - third mechanical arm, 116 - fourth mechanical arm, 1171 - first pitch shaft, 1172 - second pitch shaft, 1173 - third pitch shaft, 1181 - first rotating part, 1182 - second rotating part, 1183 - third rotating part; 120 - fixed needle insertion structure, 121 - first clamping part, 122 - second clamping part, 123 - clamping cavity; 130 - traction mechanism; 200 - electrode needle insertion control device, 210 - image data acquisition module, 220 - modeling module, 230 - calculation module, 240 - execution driving module; 300 - three-dimensional model, 310 - epidermis of the object to be inserted, 320 - part of the object to be inserted, 330 - region to be inserted; 400 - electrode needle, 410 - initial point, 420 - end point; 500 - electrode needle insertion control device, 510 - processor, 520 - memory, 530 - storage medium, 531 - operating system, 532 - data, 533 - application program, 540 - power supply, 550 - wired or wireless network interface, 560 - input and output interface.

[0038] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0039] The embodiments of the present application provide an electrode needle insertion control method, device, system, equipment and storage medium.

[0040] The terms "first", "second", "third", "fourth" and the like in the description and in the claims of the present application, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the use of these terms herein is to be construed to cover the embodiments of the application in any order. Furthermore, the terms "comprising", "having", "including" and "containing" or any variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises, has, includes or contains a list of elements is not necessarily limited to those elements, but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0041] For the purpose of facilitating understanding, the specific flow of the embodiments of the present application is described below. Please refer to Figure 1 One embodiment of the control method of the electrode needle insertion in the embodiments of the present application includes: S100, establishing a three-dimensional model according to the received image data, the three-dimensional model including model information of a to-be-inserted region of a to-be-inserted object in a three-dimensional coordinate system; S200, obtaining a first insertion vector of a first electrode needle that has been inserted in the three-dimensional coordinate system; S300, receiving second electrode needle preset information of a second electrode needle to be inserted, the second electrode needle preset information including initial point coordinates and a to-be-inserted depth of the second electrode needle; S400, obtaining second electrode needle end point coordinates of the second electrode needle according to the second electrode needle preset information, the first insertion vector, and a preset parallel insertion function model; and S500, controlling an auxiliary insertion device 100 to insert the second electrode needle according to the initial point coordinates of the second electrode needle and the second electrode needle end point coordinates, so that the second electrode needle is inserted in parallel with the first electrode needle. Specifically, please refer to Figure 6 A three-dimensional model 300 is established according to the received image data, the three-dimensional model 300 including model information of a to-be-inserted region of a to-be-inserted object in a three-dimensional coordinate system. In some embodiments, the three-dimensional model 300 can display a skin 310 of the to-be-inserted object, a component 320 of the to-be-inserted object, and the to-be-inserted region 330. When the to-be-inserted object is a human, the image data is medical image data of the patient, the skin 310 of the to-be-inserted object is the skin, the component 320 of the to-be-inserted object is an organ, and the to-be-inserted region 330 is a tumor lesion. An intersection of an electrode needle 400 and the skin 310 of the to-be-inserted object is an initial point 410, and a deepest point of the electrode needle 400 inserted into the to-be-inserted region 330 is an end point 420.

[0042] Further, when the object to be inserted is a human, the image data is mainly a Digital Imaging and Communications in Medicine (DICOM) image, which is a medical image stored according to a DICOM standard. The DICOM standard is a standard for data storage and communication transmission between medical imaging devices, and defines a medical image format that can be used for data exchange and meets the clinical needs. After a medical imaging device scans a patient, DICOM images of different thicknesses are usually obtained. Each DICOM image of a thickness is divided into a cross-sectional image, a sagittal image, and a coronal image according to a section. Each DICOM image of a section is divided into a venous phase image, an arterial phase image, and a balance phase image according to a stage. DICOM images of the same patient, the same thickness, the same section, and the same stage have the same series number. The series number of DICOM images of the same patient is used to indicate a scanning order, and the instance number of DICOM images with the same series number is used to indicate an image generation order.

[0043] Further, the DICOM images can be directly copied from a CT machine, a nuclear magnetic resonance machine, or a hospital image workstation by using a U disk, and then copied to a corresponding software directory by selecting a corresponding directory in the adapter. The corresponding DICOM images can be obtained by reading the files in the software directory.

[0044] Further, before the medical image data, that is, the DICOM image, is three-dimensionally reconstructed, all DICOM images can be screened, and the DICOM images of interest can be selected. The DICOM images of interest can be a diseased organ and a lesion identified by a keyword in a patient's medical record, such as a liver and a hilar tumor, or can be a target organ and a lesion directly input by a user. The present application is not limited in this regard.

[0045] Further, the method for three-dimensionally reconstructing the DICOM image is not limited in the present application, and in the present embodiment, the Marching Cubes algorithm is mainly used to draw a three-dimensionally reconstructed DICOM image corresponding to a three-dimensional model.

[0046] Further, a first needle insertion vector of the inserted first electrode needle in the three-dimensional coordinate system is obtained, i.e., the coordinates of the intersection of the first electrode needle and the skin of the object to be inserted, and the coordinates of the deepest point of the insertion into the region to be inserted are obtained, and then the first needle insertion vector is obtained; second electrode needle preset information of a second electrode needle to be inserted is received, the second electrode needle preset information including an initial point coordinate of the second electrode needle and an insertion depth to be inserted; a second electrode needle terminal point coordinate of the second electrode needle is obtained according to the second electrode needle preset information, the first needle insertion vector, and a preset parallel needle insertion function model; and the auxiliary needle insertion device 100 is controlled to insert the second electrode needle according to the second electrode needle initial point coordinate and the second electrode needle terminal point coordinate, so that the second electrode needle is inserted in parallel with the first electrode needle. It can be understood that, under the premise that the second electrode needle initial point coordinate is determined, the vector of the second electrode needle calculated according to the method is unique, and the terminal point coordinate of the second electrode needle calculated according to different insertion depths to be inserted is different. In order to ensure that the needle insertion method of the embodiment of the application obtains the best ablation effect, the insertion depth of the second electrode needle of the application is a preset value. The insertion depth of the second electrode needle can be flexibly adjusted by a person skilled in the art according to the actual situation.

[0047] The method of obtaining the second electrode needle terminal point coordinate of the second electrode needle according to the second electrode needle preset information, the first needle insertion vector, and the preset parallel needle insertion function model is as follows:

[0048] The second electrode needle preset information includes an initial point coordinate (x2, y2, z2) of the second electrode needle and an insertion depth to be inserted L. It should be noted that L is the best insertion depth of the second electrode needle for obtaining the best ablation effect, and the first needle insertion vector is Let the terminal point coordinate of the second electrode needle be (x, y, z), and the vector coordinate of the second electrode needle be The relationship between the first electrode needle and the second electrode needle is calculated according to the parallel needle insertion function model The vector coordinate of the second electrode needle is calculated as According to the insertion depth to be inserted L, it is The vector coordinate of the second electrode needle is calculated as The terminal point coordinate of the second electrode needle is

[0049] In some embodiments, the step of obtaining the first needle insertion vector of the inserted first electrode needle in the three-dimensional coordinate system further includes: obtaining actual space information of the inserted first electrode needle in real time; and converting the actual space information of the first electrode needle into the first needle insertion vector in the three-dimensional coordinate system. That is, in this embodiment, the first electrode needle is an inserted electrode needle, the first electrode needle is an electrode needle inserted by a non-auxiliary needle insertion device 100, and the initial point coordinate and the terminal point coordinate of the first electrode needle have been displayed in the three-dimensional coordinate system, so that the first needle insertion vector of the first electrode needle can be directly obtained.

[0050] In some other embodiments, before acquiring the first needle insertion vector of the inserted first electrode needle in the three-dimensional coordinate system, the method further comprises: receiving first electrode needle preset information of the first electrode needle to be inserted, the first electrode needle preset information comprising initial point coordinates and insertion end point coordinates of the first electrode needle; and controlling the auxiliary needle insertion device 100 to insert the first electrode needle according to the first electrode needle preset information. That is, in this embodiment, the first electrode needle is an electrode needle to be inserted, and the auxiliary needle insertion device 100 receives preset information of the first electrode needle to insert the electrode needle. In one implementation, the preset information of the first electrode needle comprises initial point coordinates and insertion end point coordinates of the first electrode needle, and the auxiliary needle insertion device 100 inserts the first electrode needle based on the initial point coordinates and the insertion end point coordinates of the first electrode needle. In another implementation, the preset information of the first electrode needle comprises a first needle insertion vector and initial point coordinates, and the auxiliary needle insertion device 100 inserts the first electrode needle based on the first needle insertion vector.

[0051] In the embodiments of the present application, the initial point of the first electrode needle is preferably a point corresponding to the skin surface of the patient's lesion site with the least respiratory fluctuation, or the initial point coordinates of the first electrode needle are the projection point of the center point of the patient's lesion site on the skin, the insertion depth does not exceed the tumor depth of the patient's lesion site, and the insertion direction is not limited. The initial point of the second electrode needle is preferably the center point of the initial point of the first electrode needle and the lesion edge. Those skilled in the art can understand that the initial points of the first electrode needle and the second electrode needle can be flexibly selected according to the actual situation of the patient's lesion, and will not be enumerated one by one here, and the selection principle of the first electrode needle and the second electrode needle does not deviate from the protection scope of the present application.

[0052] In some other preferred embodiments, referring to Figure 2 , the auxiliary needle insertion device 100 comprises a mechanical arm 110 and a fixed needle insertion structure 120, the fixed needle insertion structure 120 being rotatably installed on the mechanical arm 110, and the fixed needle insertion structure 120 being used for mounting the electrode needle.

[0053] The control method of the electrode needle insertion of the embodiment includes the following steps: controlling the auxiliary needle insertion device 100 to insert the second electrode needle according to the initial point coordinates of the second electrode needle and the end point coordinates of the second electrode needle, specifically including the following steps: controlling the mechanical arm 110 to drive the fixed needle insertion structure 120 to move to the initial point coordinates of the second electrode needle, and controlling the fixed needle insertion structure 120 to adjust the angle of the electrode needle based on the end point coordinates of the second electrode needle, so that the electrode needle is inserted into the area to be inserted according to the preset needle insertion direction. It can be understood that the auxiliary needle insertion device 100 is also applicable to the insertion of other electrode needles. The mechanical arm 110 is used to drive the electrode needle to move to the initial point coordinates, and then the fixed needle insertion structure 120 adjusts the needle insertion direction based on the needle insertion vector or the end point coordinates, and is inserted into the needle insertion area. When the insertion depth is a preset value or the end point coordinates are a preset value, the auxiliary needle insertion device 100 can insert the electrode needle to a set depth.

[0054] Optionally, before the step of controlling the auxiliary needle insertion device 100 to insert the second electrode needle according to the initial point coordinates of the second electrode needle and the end point coordinates of the second electrode needle, the auxiliary needle insertion device 100 is calibrated with the three-dimensional coordinate system by a preset calibration method. The preset calibration method includes: registering the coordinate system of the optical positioner with the coordinate system of the mechanical arm 110 to obtain a first transformation matrix between the coordinate system of the optical positioner and the coordinate system of the mechanical arm 110; registering the coordinate system of the image data with the coordinate system of the mechanical arm 110 to obtain a second transformation matrix between the coordinate system of the image data and the coordinate system of the mechanical arm 110; registering the vector coordinates of the electrode needle to be inserted with the coordinate system of the fixed needle insertion structure 120 to obtain a third transformation matrix of the fixed needle insertion structure 120; and calibrating the auxiliary needle insertion device 100 with the three-dimensional coordinate system based on the first transformation matrix, the second transformation matrix, and the third transformation matrix. This scheme calibrates the auxiliary needle insertion device 100 with the three-dimensional coordinate system, thereby enabling accurate insertion of the electrode needle into the area to be inserted.

[0055] In some embodiments, before the step of controlling the auxiliary needle insertion device 100 to insert the second electrode needle according to the initial point coordinates of the second electrode needle and the end point coordinates of the second electrode needle, a developing agent coating is applied to the surface of the second electrode needle. The developing agent coating on the surface of the electrode needle is used to observe the three-dimensional image of the insertion of the electrode needle into the object to be inserted.

[0056] It can be understood that the execution subject of the present application can be the auxiliary needle insertion device 100, and can also be a terminal or a server, which is not limited here.

[0057] When the object to be inserted is a human, one embodiment of the control method of the electrode needle insertion of the present application is as follows:

[0058] The imported image data is acquired, the first electrode needle is inserted by the doctor, the initial point of the first electrode needle is selected as the point with the smallest respiratory fluctuation on the skin surface corresponding to the lesion site, the terminal point coordinates of the first electrode needle are input into the control device 200 according to the calculation principle that the insertion depth does not exceed the tumor depth of the lesion site of the patient, the terminal point coordinates are calculated by the electrode needle insertion control device 200 according to the optimal ablation effect of the tumor, and the vector coordinates of the first electrode needle are obtained. The initial point coordinates of the second electrode needle are selected as the center point of the lesion edge and the initial point of the first electrode needle, the initial point coordinates of the second electrode needle are input into the electrode needle insertion control device 200, and the insertion depth of the second electrode needle is also calculated according to the calculation principle that the insertion depth does not exceed the tumor depth of the lesion site of the patient, the optimal insertion depth of the second electrode needle when the optimal ablation effect is obtained is calculated by the control device 200, the electrode needle insertion control device 200 calculates the terminal point coordinates of the second electrode needle when the optimal ablation effect is obtained based on the initial point coordinates and the insertion depth of the second electrode needle, the vector coordinates of the first electrode needle and the preset parallel needle insertion function model; the electrode needle insertion control device 200 performs needle insertion planning based on the three-dimensional model and the obtained coordinates to obtain a needle insertion strategy; according to the needle insertion strategy, the electrode needle insertion control device 200 calculates the needle insertion path of the mechanical arm 110 and the fixed needle insertion structure 120, controls the mechanical arm 110 and the fixed needle insertion structure 120 to move to the initial point of the second electrode needle according to the needle insertion path, and controls the fixed needle insertion structure 120 to insert the second electrode needle according to the vector coordinates and the depth of the second electrode needle, so that the second electrode needle is parallel to the first electrode needle.

[0059] Or, the imported image data is acquired, the first electrode needle is inserted by the doctor, the initial point of the first electrode needle is selected as the point corresponding to the skin surface of the lesion site with the smallest respiratory fluctuation, the insertion depth does not exceed the tumor depth of the lesion site of the patient, the insertion direction is not limited, the medical image data is three-dimensionally reconstructed, the three-dimensional model of the medical image data is obtained, the three-dimensional coordinate system is established, the vector coordinates of the first electrode needle and the depth of the first electrode needle are calculated. The initial point coordinates of the second electrode needle are selected as the initial point of the first electrode needle and the center point of the lesion edge, the initial point coordinates of the second electrode needle are input into the electrode needle insertion control device 200, the electrode needle insertion control device 200 calculates the vector coordinates of the second electrode needle and the insertion depth of the second electrode needle based on the initial point coordinates of the second electrode needle and the insertion depth, the vector coordinates of the first electrode needle and the preset parallel needle insertion function model to obtain the best ablation effect; the electrode needle insertion control device 200 performs needle insertion planning based on the vector coordinates of the second electrode needle and the insertion depth of the second electrode needle, and obtains the needle insertion strategy; according to the needle insertion strategy, the electrode needle insertion control device 200 calculates the needle insertion path of the mechanical arm 110 and the fixed needle insertion structure 120, and controls the mechanical arm 110 and the fixed needle insertion structure 120 to move to the initial point of the second electrode needle according to the needle insertion path, and the electrode needle insertion control device 200 controls the fixed needle insertion structure 120 to insert the second electrode needle according to the vector coordinates and the depth of the second electrode needle, so that the second electrode needle is parallel to the first electrode needle.

[0060] In the embodiment of the application, it can be ensured that the electrode needles are inserted into the lesion tissue of the human body in parallel with each other, so that the electrode needles form an effective electric field at the tumor site.

[0061] When the object to be inserted is a human, another embodiment of the electrode needle insertion control method in the embodiment of the application includes:

[0062] The imported image data is acquired, three-dimensional reconstruction is performed on the image data to obtain a three-dimensional model of the image data, a three-dimensional coordinate system is established, an initial point coordinate of the first electrode needle is selected, the initial point coordinate of the first electrode needle is selected as a center point of the lesion site, an insertion depth of the first electrode needle does not exceed a tumor depth of the lesion site of the patient, a terminal point coordinate of the first electrode needle is input into the electrode needle insertion control device 200, the terminal point coordinate is calculated by the electrode needle insertion control device 200 according to the optimal ablation effect of the tumor, and a vector coordinate and a depth of the first electrode needle are calculated, an initial point coordinate of the second electrode needle is selected as a center point of an edge of the lesion site of the first electrode needle, the initial point coordinate of the second electrode needle is input into the electrode needle insertion control device 200, and an insertion depth of the second electrode needle is also calculated by the control device 200 according to the calculation principle that the insertion depth does not exceed the tumor depth of the lesion site of the patient to obtain the optimal insertion depth of the second electrode needle when the optimal ablation effect is achieved, and the electrode needle insertion control device 200 calculates the terminal point coordinate of the second electrode needle when the optimal ablation effect is achieved based on the initial point coordinate and the insertion depth of the second electrode needle, the vector coordinate of the first electrode needle and a preset parallel needle insertion function model. The electrode needle insertion control device 200 performs needle insertion planning of the first electrode needle based on the three-dimensional model and the vector coordinate of the first electrode needle to obtain a first electrode needle insertion strategy of the needle insertion device, calculates a first electrode needle insertion path of the mechanical arm 110 and the fixed needle insertion structure 120 according to the first electrode needle insertion strategy, controls the mechanical arm 110 and the fixed needle insertion structure 120 to move to the initial point of the first electrode needle according to the first electrode needle insertion path, and inserts the first electrode needle into the fixed needle insertion structure 120 according to the vector coordinate and the depth of the first electrode needle calculated by the electrode needle insertion control device 200. The electrode needle insertion control device 200 performs needle insertion planning of the second electrode needle based on the three-dimensional model and the calculated initial point coordinate and terminal point coordinate of the second electrode needle to obtain a second electrode needle insertion strategy, calculates a second electrode needle insertion path of the mechanical arm 110 and the fixed needle insertion structure 120 according to the second electrode needle insertion strategy, controls the mechanical arm 110 and the fixed needle insertion structure 120 to move to the initial point of the second electrode needle according to the second electrode needle insertion path, inserts the second electrode needle into the fixed needle insertion structure 120 according to the terminal point coordinate of the second electrode needle calculated by the electrode needle insertion control device 200, and ensures that the second electrode needle is parallel to the first electrode needle.

[0063] In the embodiment of the present application, it can be ensured that the electrode needles are inserted into the lesion tissue of the human body in parallel to each other, so that the electrode needles form an effective electric field at the tumor site.

[0064] The above describes the electrode needle insertion control method in the embodiment of the present application, and the electrode needle insertion control device in the embodiment of the present application is described below, please refer to Figure 7An embodiment of the electrode needle insertion control device 200 in the embodiment of the present application comprises:

[0065] The image data acquisition module 210 is configured to acquire image data.

[0066] The modeling module 220 is configured to establish a three-dimensional model based on the image data.

[0067] The calculation module 230 is configured to acquire a first needle insertion vector of the inserted first electrode needle in a three-dimensional coordinate system, the three-dimensional model comprising model information of a region to be inserted of the object to be inserted in the three-dimensional coordinate system; receive second electrode needle preset information of a second electrode needle to be inserted, and obtain second electrode needle endpoint coordinates of the second electrode needle according to the second electrode needle preset information, the first needle insertion vector, and a preset parallel needle insertion function model; the second electrode needle preset information comprising initial point coordinates and an insertion depth of the second electrode needle.

[0068] The execution driving module 240 is configured to control the auxiliary needle insertion device 100 to insert the second electrode needle according to the initial point coordinates of the second electrode needle and the second electrode needle endpoint coordinates, so that the second electrode needle is inserted in parallel with the first electrode needle.

[0069] In the embodiment of the present application, the image data acquisition module 210 acquires image data, and then the modeling module 220 establishes a three-dimensional model based on the image data; the calculation module 230 can acquire a first needle insertion vector of the inserted first electrode needle in a three-dimensional coordinate system, receive second electrode needle preset information of a second electrode needle, and obtain a second electrode needle insertion vector of the second electrode needle according to the second electrode needle preset information, the first needle insertion vector, and a preset parallel needle insertion function model; and then the execution driving module 240 can insert the second electrode needle according to the second needle insertion vector, so that the second electrode needle is inserted in parallel with the first electrode needle into the region to be inserted, thereby obtaining the best ablation effect and improving the success rate of the operation.

[0070] The above Figure 7 The electrode needle insertion control device in the embodiment of the present application is described in detail from the perspective of a modular functional entity, and the electrode needle insertion system in the embodiment of the present application is described in detail.

[0071] Please refer to Figure 8 In another aspect, the present application provides an embodiment of an electrode needle insertion system, which comprises the electrode needle insertion control device 200 and the auxiliary needle insertion device 100, and the electrode needle insertion control device 200 is electrically connected with the auxiliary needle insertion device 100. Figures 2-5The auxiliary needle insertion device 100 comprises a mechanical arm 110 and a fixed needle insertion structure 120, wherein the mechanical arm 110 comprises a fixed end 110a and a movable end 110b, the movable end 110b has six degrees of freedom in space relative to the fixed end 110a; the fixed needle insertion structure 120 is rotatably arranged at the movable end 110b, and the fixed needle insertion structure 120 is used for mounting an electrode needle; the fixed needle insertion structure 120 is in close fit with the electrode needle in a first state for clamping the electrode needle; and the fixed needle insertion structure 120 is separated from the electrode needle in a second state for releasing the electrode needle. The electrode needle insertion control device 200 of the embodiment of the present application controls the auxiliary needle insertion device 100 to insert the electrode needle, so as to improve the accuracy and parallelism of the electrode needle insertion, make the surgical operation process more convenient and fast, reduce the number of intraoperative real-time scans, reduce the radiation hazards borne by the patient and the operator, prolong the service life of the scanner, and have a positive significance for accurately implementing percutaneous tumor ablation surgery.

[0072] Further, the mechanical arm 110 of the embodiment of the present application comprises a base 111, a fixed support 112, a first mechanical arm 113, a second mechanical arm 114, a third mechanical arm 115 and a fourth mechanical arm 110. Specifically, the base 111 comprises a fixed end 110a and a mounting surface; the fixed support 112 is rotatably arranged on the mounting surface; the first mechanical arm 113 is mounted on the fixed support 112 and can rotate relative to the fixed support 112; the second mechanical arm 114 is hinged to one end of the first mechanical arm 113 away from the fixed support 112 and can rotate about the hinge between the second mechanical arm 114 and the first mechanical arm 113; the third mechanical arm 115 is arranged at one end of the second mechanical arm 114 away from the first mechanical arm 113 and can rotate about an axis in the length direction of the second mechanical arm 114; and the fourth mechanical arm 110 is rotatably mounted on the third mechanical arm 115, and one end of the fourth mechanical arm 110 away from the third mechanical arm 115 is the movable end 110b.

[0073] Referring to Figure 4 and Figure 5 , the fixed needle insertion structure 120 comprises a first clamping part 121 and a second clamping part 122 arranged opposite to each other; the first clamping part 121 and the second clamping part 122 are connected to the movable end 110b of the mechanical arm 110 at the same end, and the first clamping part 121 and the second clamping part 122 are respectively provided with a first groove and a second groove at the end close to each other; as shown in Figure 5 , in the first state, the first groove and the second groove match to form a clamping cavity 123 for fixing the electrode needle; as shown in Figure 4 , in the second state, the first groove and the second groove are separated for releasing the electrode needle.

[0074] Specifically, the fixed end of the base 111 is horizontally placed on the ground or a table top, the fixed support 112 is connected to the base 111 through the first rotating piece 1181, and the fixed support 112 can drive the mechanical arm 110 to flexibly rotate around the axis direction of the base 111. The lower end of the first mechanical arm 113 is connected to the fixed support 112 through the first pitching shaft 1171, and the first mechanical arm 113 can flexibly rotate around the first pitching shaft 1171. The second mechanical arm 114 is connected to the first mechanical arm 113 through the second pitching shaft, and the second mechanical arm 114 can flexibly rotate around the second pitching shaft 1172; the second mechanical arm 114 and the third mechanical arm 115 are connected through the second rotating piece 1182, and the third mechanical arm 115 can flexibly rotate around the axis direction of the second mechanical arm 114. The fourth mechanical arm 110 is connected to the third mechanical arm 115 through the third pitching shaft 1173, and the fourth mechanical arm 110 can flexibly rotate around the third pitching shaft 1173. The fixed needle insertion structure 120 is connected to the fourth mechanical arm 110 through the third rotating piece 1183, and the fixed needle insertion structure 120 can flexibly rotate around the axis direction of the fourth mechanical arm 110. The fixed needle insertion structure 120 includes the first clamping part 121 and the second clamping part 122 arranged oppositely; the first clamping part 121 and the second clamping part 122 are connected to the movable end 110b of the mechanical arm 110 at the same end, and the first clamping part 121 and the second clamping part 122 are respectively provided with the first groove and the second groove at the end close to each other; the first groove and the second groove are matched to surround the clamping cavity 123 for fixing the electrode needle, wherein the clamping cavity 123 has a diameter slightly larger than the diameter of the electrode needle 400, the clamping cavity 123 can insert the electrode needle 400 and can make the insertion three-dimensional angle of the electrode needle 400 consistent with the three-dimensional angle of the clamping cavity. The fixed needle insertion structure 120 can be converted between the first state and the second state, the fixed needle insertion structure 120 is in the first state during the needle insertion operation, and is in the second state during the needle withdrawal operation, wherein the fixed needle insertion structure 120 has a clamping function when in the first state, can keep the insertion three-dimensional angle of the clamped electrode needle 400 stable, and the fixed needle insertion structure 120 is in the second state to facilitate the needle withdrawal operation after the insertion of the electrode needle 400 is completed. The auxiliary needle insertion device 100 further includes a connecting part electrically connected with the electrode needle insertion control device 200, the connecting part is installed on the first rotating piece 1181 and electrically connected with the electrode needle insertion control device 200, the connecting part integrates the traction mechanism 130 inside the mechanical arm 110, the electrode needle insertion control device 200 can input three-dimensional coordinates by the operator, and then the traction mechanism 130 drives the mechanical arm 110 and the fixed needle insertion structure 120 to rotate respectively, so that the three-dimensional coordinates of the fixed needle insertion structure 120 are the three-dimensional coordinates input by the electrode needle insertion control device 200.

[0075] The application further provides an electrode needle insertion control device, the computer device comprising a memory and a processor, the memory storing computer readable instructions, and the computer readable instructions being executed by the processor to make the processor execute the steps of the electrode needle insertion control method in each of the embodiments.

[0076] Figure 9 is a structural schematic diagram of an electrode needle insertion control device provided by an embodiment of the application. The electrode needle insertion control device 500 can have great differences due to different configurations or performances, and can comprise one or more processors (central processing units, CPUs) 510 (for example, one or more processors) and a memory 520, and one or more storage media 530 (for example, one or more mass storage devices) storing application programs 533 or data 532. The memory 520 and the storage media 530 can be temporary storage or persistent storage. The programs stored in the storage media 530 can comprise one or more modules (not shown in the figure), and each module can comprise a series of instruction operations in the electrode needle insertion control device 500. Furthermore, the processor 510 can be configured to communicate with the storage media 530 and execute the series of instruction operations in the storage media 530 on the electrode needle insertion control device 500.

[0077] The electrode needle insertion control device 500 can further comprise one or more power supplies 540, one or more wired or wireless network interfaces 550, one or more input and output interfaces 560, and / or one or more operating systems 531, such as Windows Serve, Mac OS X, Unix, Linux, FreeBSD, and the like. Those skilled in the art can understand that the electrode needle insertion control device 500 can further comprise other components that are not shown in the figure, and the components shown in the figure do not constitute a limitation on the electrode needle insertion control device 500, and the electrode needle insertion control device 500 can comprise more or fewer components than those shown in the figure, or some components can be combined, or different components can be arranged. Figure 9 The electrode needle insertion control device structure shown in the figure does not constitute a limitation on the electrode needle insertion control device, and can comprise more or fewer components than those shown in the figure, or some components can be combined, or different components can be arranged.

[0078] The application further provides a computer readable storage medium, which can be a non-volatile computer readable storage medium or a volatile computer readable storage medium, and the computer readable storage medium stores instructions, and the instructions make a computer execute the steps of the electrode needle insertion control method when the instructions are run on the computer.

[0079] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be described herein.

[0080] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application or the entire or part of the technical solutions that essentially contribute to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0081] The above-described embodiments are merely used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some of the technical features; and these modifications or replacements do not cause the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A control device for electrode needle insertion, characterized in that, The control device of the electrode needle insertion needle comprises: An image data acquisition module for acquiring image data; A modeling module configured to establish a three-dimensional model based on the image data; A calculation module for obtaining a first needle insertion vector of a first electrode needle that has been inserted in a three-dimensional coordinate system, the first needle insertion vector including obtaining coordinates of an intersection of the first electrode needle and a skin of an object to be inserted, and coordinates of a deepest point of an insertion to a region to be inserted, the three-dimensional model including model information of the region to be inserted of the object to be inserted in the three-dimensional coordinate system; further for receiving second electrode needle preset information of a second electrode needle to be inserted, and obtaining second electrode needle end point coordinates of the second electrode needle according to the second electrode needle preset information, the first needle insertion vector, and a preset parallel needle insertion function model; the second electrode needle preset information including initial point coordinates (x2, y2, z2) of the second electrode needle and an insertion depth L; An execution driving module for controlling an auxiliary needle insertion device to insert the second electrode needle according to the initial point coordinates (x2, y2, z2) of the second electrode needle and the second electrode needle end point coordinates (x, y, z), so that the second electrode needle is inserted in parallel with the first electrode needle; Wherein, the parallel needle insertion function model satisfies the relationship: The first needle insertion vector is The vector coordinates of the second electrode needle are The relationship between the vector coordinates of the second electrode needle and the insertion depth L satisfies the relationship: The vector coordinates of the second electrode needle satisfy the relationship: The second electrode needle end point coordinates satisfy the relationship:

2. The control device for the needle advancement of the electrode needle according to claim 1, characterized in that The calculation module is further configured to: obtain actual space information of the first electrode needle that has been inserted; and convert the actual space information of the first electrode needle into the first needle insertion vector in the three-dimensional coordinate system.

3. The control device for the needle advancement of the electrode needle according to claim 2, characterized in that The calculation module is further configured to: obtain the first needle insertion vector according to first electrode needle preset information.

4. The control device for the needle advancement of the electrode needle according to claim 2, wherein The auxiliary needle insertion device comprises a mechanical arm and a fixed needle insertion structure, the fixed needle insertion structure being rotatably installed on the mechanical arm, and the fixed needle insertion structure being used for installing an electrode needle; The execution driving module is further configured to: control the mechanical arm to drive the fixed needle insertion structure to move to the initial point coordinates of the second electrode needle, and control the fixed needle insertion structure to adjust an angle of the electrode needle based on the second electrode needle end point coordinates, so that the electrode needle is inserted into the region to be inserted in a preset needle insertion direction.

5. An electrode needle advancement system, comprising: The control device of the electrode needle insertion needle and the auxiliary needle insertion device of claim 1 are electrically connected, and the auxiliary needle insertion device comprises: A mechanical arm comprising a fixed end and a movable end, the movable end having six degrees of freedom in space relative to the fixed end; A fixed needle insertion structure rotatably arranged on the movable end, the fixed needle insertion structure being used for installing an electrode needle.

6. The electrode needle advancing system of claim 5, wherein, The fixed needle insertion structure is in close contact with the electrode needle in a first state to hold the electrode needle, and the fixed needle insertion structure is separated from the electrode needle in a second state to release the electrode needle.

7. The electrode needle advancing system of claim 5 or 6, wherein, The mechanical arm comprises A base comprising the fixed end and a mounting surface; A fixed support rotatably arranged on the mounting surface; A first mechanical arm mounted on the fixed support and capable of rotating relative to the fixed support; A second mechanical arm is hinged to the end of the first mechanical arm away from the fixed support and can rotate around the hinge with the first mechanical arm; A third mechanical arm is arranged at the end of the second mechanical arm away from the first mechanical arm and can rotate around the axis of the length direction of the second mechanical arm, A fourth mechanical arm is rotatably mounted on the third mechanical arm, and the end of the fourth mechanical arm away from the third mechanical arm is the movable end.

8. The electrode needle advancing system of claim 7, wherein, The fixed needle insertion structure comprises a first clamping part and a second clamping part arranged opposite to each other; The first clamping part and the second clamping part are connected to the movable end of the mechanical arm at the same end, and the first clamping part and the second clamping part are respectively provided with a first groove and a second groove at the end close to each other; In the first state of the fixed needle insertion structure, the first groove and the second groove match to form a clamping cavity for fixing the electrode needle; In the second state of the fixed needle insertion structure, the first groove and the second groove are separated to release the electrode needle.

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