Cryoablation automated puncture system, cryoablation needle, and readable storage medium

Abstract

The application provides a kind of frozen ablation automatic puncture system, frozen ablation needle and readable storage medium, wherein the system includes: frozen ablation needle, electric puncture ware, mechanical arm, wherein: frozen ablation needle is provided with sensor, sensor is used to collect the real-time puncture data of frozen ablation needle in the process of puncture;Electric puncture ware is installed at the end of mechanical arm;Frozen ablation needle is installed in electric puncture ware, and electric puncture ware is used to control frozen ablation needle to carry out automatic puncture according to the pre-planned path;Electric puncture ware is also used to send the real-time puncture data collected by sensor to controller, and feedback control is carried out on automatic puncture process based on the signal returned by controller.Through the above scheme, the purpose of automatic frozen ablation is realized, the problem of low accuracy and efficiency existing in the frozen ablation based on the experience of the existing doctor puncture is solved, and the technical effect of effectively improving the accuracy of puncture frozen ablation is achieved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of electronic equipment, and particularly relates to a cryoablation automatic puncture system, a cryoablation needle and a readable storage medium. BACKGROUND

[0002] At present, a cryoablation system is generally based on preoperative magnetic resonance (MR) to determine a cryoablation position, and then a doctor performs puncture cryoablation based on clinical experience. Because the doctor is completely based on preoperative MR images and relies on clinical experience and doctor's feeling in the puncture process, the puncture precision and the puncture process cannot be effectively controlled, and there are risks such as puncture position deviation and normal tissue damage caused by puncture to normal tissue.

[0003] At present, no effective solution has been proposed for the above problems. SUMMARY

[0004] The application aims to provide a cryoablation automatic puncture system, a cryoablation needle and a readable storage medium, which can accurately control the puncture precision and the puncture process, thereby improving the safety and accuracy of the puncture process.

[0005] The application provides a cryoablation automatic puncture system, a cryoablation needle and a readable storage medium, which are implemented as follows:

[0006] A cryoablation automatic puncture system comprises a cryoablation needle, an electric puncture device and a mechanical arm, wherein:

[0007] The cryoablation needle is provided with a sensor, and the sensor is used to collect real-time puncture data of the cryoablation needle in the puncture process;

[0008] The electric puncture device is installed at the end of the mechanical arm;

[0009] The cryoablation needle is installed in the electric puncture device, and the electric puncture device is used to control the cryoablation needle to perform automatic puncture according to a preplanned path;

[0010] The electric puncture device is also used to send the real-time puncture data collected by the sensor to a controller, and perform feedback control on the automatic puncture process based on a signal returned by the controller.

[0011] In an embodiment, the mechanical arm is a plurality of or a single arm, and one mechanical arm is provided with one electric puncture device and one cryoablation needle.

[0012] In an embodiment, the sensor comprises at least one of a magnetic positioning sensor, a pressure sensor and a temperature sensor.

[0013] In an embodiment, the controller is configured to generate a deviation correction signal based on a comparison between real-time puncture path data collected by the magnetic positioning sensor and a preset puncture path, send the deviation correction signal as a return signal to the electric puncture device, and / or generate an interrupt signal or a correction signal based on a comparison between real-time pressure data collected by the pressure sensor and a preset puncture pressure, and send the interrupt signal or the correction signal as a return signal to the electric puncture device, and / or generate an interrupt signal or a correction signal based on a comparison between real-time temperature data collected by the temperature sensor and a preset temperature threshold, and send the interrupt signal or the correction signal as a return signal to the electric puncture device.

[0014] In an embodiment, the system further comprises an ultrasound probe mounted on the mechanical arm, configured to collect real-time ultrasound images during the puncture process and transmit the collected real-time ultrasound images to the controller through the electric puncture device.

[0015] In an embodiment, the controller is configured to register the real-time ultrasound images with preoperative magnetic resonance images to obtain registered images, and fuse the puncture path with the registered images to obtain real-time human body images with the puncture path.

[0016] In an embodiment, the electric puncture device comprises a feeding slide, a rotating fixed platform, and a needle holder, wherein,

[0017] The feeding slide is provided with a guide rail for controlling the insertion of the cryoablation needle.

[0018] The rotating fixed platform is configured to fix the cryoablation needle and control the rotation of the cryoablation needle.

[0019] The needle holder is configured to provide support for the cryoablation needle.

[0020] In an embodiment, the system further comprises a surgical trolley, and the mechanical arm is mounted on the surgical trolley.

[0021] A cryoablation needle comprises a needle body for cryoablation, and a sensor provided on the needle body for detecting real-time puncture data during the puncture process.

[0022] In an embodiment, the sensor comprises at least one of a magnetic positioning sensor, a pressure sensor, and a temperature sensor.

[0023] In an embodiment, the outer surface of the needle body is provided with a scale.

[0024] In one embodiment, a predetermined position area of the outer surface of the needle body is provided with an isolation coating.

[0025] A cryoablation control method, comprising:

[0026] Obtaining real-time puncture data of a cryoablation needle during puncture;

[0027] Comparing the real-time puncture data with preset puncture data to generate puncture correction data;

[0028] Correcting the control of the cryoablation needle through the puncture correction data.

[0029] In one embodiment, the puncture correction data includes at least one of the following: correction data of a puncture path, correction data of a puncture pressure, correction data of a puncture progress, and correction data of a puncture temperature.

[0030] In one embodiment, the above method further comprises:

[0031] Obtaining real-time ultrasound images during puncture;

[0032] Obtaining preoperative magnetic resonance images;

[0033] Registering the real-time ultrasound images with the preoperative magnetic resonance images to obtain registered images;

[0034] Determining a puncture path according to the real-time puncture data;

[0035] Fusing the puncture path with the registered images to obtain real-time human body images with the puncture path.

[0036] An electronic device, comprising a processor and a memory for storing processor-executable instructions, the processor executing the instructions to implement the steps of the above method.

[0037] A computer-readable storage medium having stored thereon computer programs / instructions, the computer programs / instructions being executed by a processor to implement the steps of the above method.

[0038] The cryoablation automatic puncture system, cryoablation needle and control method provided by the present application realize automatic puncture by setting a cryoablation needle with a sensor and an electric puncture device. The real-time puncture state of the cryoablation needle during puncture can be obtained, so that feedback control of the cryoablation needle can be performed. The above-mentioned solution solves the problems of puncture position deviation, normal tissue damage caused by puncture, and other risks that cannot be effectively controlled in the existing puncture precision and puncture process, thereby improving the safety and accuracy of the puncture process. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced. Obviously, the accompanying drawings in the following description only represent some embodiments described in the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without any creative effort.

[0040] Figure 1 is a schematic diagram of the architecture of the cryoablation automatic puncture system provided by the present application;

[0041] Figure 2 is a schematic diagram of the surgical scene of the cryoablation automatic puncture system provided by the present application;

[0042] Figure 3 is a schematic diagram of the structure of the cryoablation needle integrated with a sensor provided by the present application;

[0043] Figure 4 is a schematic diagram of the architecture of the multi-robot arm cryoablation automatic puncture system provided by the present application;

[0044] Figure 5 is a block diagram of the implementation of the cryoablation automatic puncture system provided by the present application;

[0045] Figure 6 is a functional schematic diagram of the three-dimensional magnetic positioning sensor provided by the present application;

[0046] Figure 7 is a functional schematic diagram of the pressure sensor provided by the present application;

[0047] Figure 8 is a schematic diagram of the structure of the electric puncture device provided by the present application;

[0048] Figure 9 is a flowchart of the method for controlling the cryoablation needle provided by the present application;

[0049] Figure 10 is a schematic diagram of the setting of the ultrasonic probe provided by the present application;

[0050] Figure 11 is a flowchart of the adjustment of the puncture path and the puncture trajectory in the puncture process provided by the present application;

[0051] Figure 12 is a flowchart of the method for compensating for the deviation in the puncture process provided by the present application;

[0052] Figure 13 is a logic diagram of the real-time calculation of the puncture deviation provided by the present application;

[0053] Figure 14is a method flow chart of one embodiment of the cryoablation control method provided in the present application;

[0054] Figure 15 is a hardware structure block diagram of an electronic device of a cryoablation control method provided in the present application;

[0055] Figure 16 is a module structure schematic diagram of one embodiment of the cryoablation control device provided in the present application. DETAILED DESCRIPTION

[0056] In order to enable personnel in the technical field to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor should fall within the scope of protection of the present application.

[0057] In view of the problem of low puncture accuracy existing in the prior art that the entire puncture process needs to be controlled by human beings based on historical surgical experience, in the present case, a cryoablation automatic puncture system is provided, in which an intelligent cryoablation needle with puncture state sensing capability is introduced, so that the puncture process can be more accurately and safely controlled.

[0058] The cryoablation automatic puncture system provided in the present case can be as shown in Figure 1 , comprising a cryoablation needle 101, an electric puncture device 102, and a mechanical arm 103, wherein a sensor is arranged on the cryoablation needle 101, the sensor is used to collect real-time puncture data of the cryoablation needle in the process of puncture; the electric puncture device 102 is installed at the end of the mechanical arm; the cryoablation needle 101 is installed in the electric puncture device 102, and the electric puncture device 102 is used to control the cryoablation needle to automatically puncture according to a pre-planned path; the electric puncture device is also used to send the real-time puncture data collected by the sensor to a controller, and to perform feedback control on the automatic puncture process based on the signal returned by the controller.

[0059] Specifically, the surgical scene of the above-mentioned cryoablation automatic puncture system can be as shown in Figure 2As shown, it includes: a surgical bed, a cryoablation trolley, a cryoablation automatic puncture system, a doctor, a nurse, etc. Among them, the cryoablation automatic puncture system can perform automatic operation, or can perform operation under the monitoring of the doctor. In the actual operation process, the cryoablation trolley, the operation control trolley, and the patient operation trolley can be provided. The electric puncture device is installed on the mechanical arm, and the mechanical arm is installed on the operation trolley. Further, an ultrasonic instrument and an image processing device can also be provided.

[0060] The cryoablation needle 101 can be integrated with a magnetic positioning sensor, a pressure sensor, and a temperature sensor inside, as shown. Figure 3 The magnetic positioning sensor, the pressure sensor, and the temperature sensor are arranged on the outer contour of the cryoablation needle. Through the magnetic positioning sensor, the pressure sensor, and the temperature sensor, the puncture position, the force size and direction can be detected in real time during the puncture process, and the temperature information can be detected in real time during the cryoablation process, so that the real-time state of the cryoablation needle during the puncture process can be perceived.

[0061] Further, a needle insertion scale can be provided on the surface of the cryoablation needle, and a thermal insulation coating can be applied to the puncture needle except the needle tip position. Through the setting of the needle insertion scale, the depth information of the needle insertion can be determined directly, and through the setting of the isolation coating, the heat transfer can be isolated, so that the non-cryoablation area (i.e. the area coated with the isolation coating) can be prevented from freezing the surrounding tissue.

[0062] As shown in Figure 4 The cryoablation automatic puncture system can be a multi-station electric puncture mechanical device, that is, a plurality of mechanical arms can be provided on the cryoablation trolley. The mechanical arm can be a lightweight collaborative arm with six degrees of freedom, and an electric puncture device is provided at the end of each mechanical arm, so that the purpose of simultaneous puncture and cryoablation of multiple cryoablation needles can be achieved. The cryoablation needle is installed in the electric puncture device, and the electric puncture device is integrated with a data acquisition unit. Through the data acquisition unit, the signals collected by the sensors integrated in the cryoablation needle can be collected in real time, and the data can be sent to the controller through the data bus. The electric puncture device can control the cryoablation needle to advance and rotate with two degrees of freedom, so that the demand for high-precision puncture can be met.

[0063] In the single-arm working state, only one mechanical arm is installed, and an electric puncture device is installed on the mechanical arm. The single-needle automatic puncture operation is performed through the electric puncture device. In the multi-arm puncture working state, a plurality of mechanical arms can be installed, and an ultrasonic probe, an automatic puncture device, etc. can be installed on the mechanical arms at the same time. Compared with the single-arm puncture working state, the multi-arm cooperative work can realize multi-needle simultaneous puncture, and can work with the ultrasonic detection and the like.

[0064] The implementation block diagram of the cryoablation automatic puncture system can be as followsFigure 5 As shown, the computer (i.e., the controller) acquires data collected by the magnetic positioning sensor to obtain the position and posture of the puncture needle, and acquires the puncture torque and temperature of the cryoablation needle through the pressure sensor and the temperature sensor, so as to control the mechanical arm and the electric puncture device to automatically control the puncture of the cryoablation needle to the tissue, and the puncture safety module monitors the puncture process in real time and triggers protection if the safety threshold is exceeded. Specifically, the preoperative and intraoperative medical images can be acquired through the image acquisition module to plan the puncture path, then the mechanical arm is operated to the puncture point, the automatic puncture device controls the cryoablation needle to automatically puncture according to the planned path, the puncture navigation and deviation compensation module corrects the puncture path in real time, and the cryoablation is performed after the puncture is completed, the automatic needle withdrawal of the cryoablation puncture device is completed, and the operation is ended.

[0065] For the controller, the following several levels of control of the cryoablation needle can be realized through the electric puncture device:

[0066] 1) Puncture navigation, that is, having the functions of puncture navigation control and puncture deviation compensation, through the magnetic positioning sensor inside the cryoablation needle, the magnetic navigation positioning technology is adopted to acquire the real-time puncture trajectory of the cryoablation needle, the puncture deviation is calculated in real time according to the pre-planned puncture path and the real-time puncture trajectory positioned by the magnetic positioning sensor, and the puncture path is compensated in real time by using the puncture deviation, so as to realize accurate puncture;

[0067] 2) Puncture intelligent detection module, having the function of puncture intelligent monitoring, specifically, it can include an image acquisition module, an image fusion and registration unit; wherein the image acquisition module can acquire intraoperative ultrasound images, preoperative CT / MRI images, and puncture detection data in real time, the image fusion and registration unit can realize the registration of the intraoperative ultrasound images and the preoperative CT / MRI images, and then fuse the puncture path and the registered images to generate a real-time human body image containing the lesion organ and the real-time puncture path;

[0068] 3) Puncture safety module, having the function of puncture safety protection, can read the pressure sensor data in real time, analyze and judge the puncture process, and when the puncture pressure data is abnormal, the puncture process can be interrupted or corrected; it can also detect the safety boundary in real time according to the position of the key organs in the fusion image and the puncture path trajectory, and when the puncture enters the non-safe area, the puncture process is interrupted or corrected to realize safety protection, or the real-time temperature data acquired by the temperature sensor is compared with the preset temperature threshold, and in the case that the real-time temperature is abnormal, an interruption signal or a correction signal is generated, and the interruption signal or the correction signal is sent to the electric puncture device as a returned signal.

[0069] The magnetic positioning sensor described above can be composed of a magnetic field positioning system based on a three-dimensional Hall sensor array and a permanent magnet installed at the tip of the cryoablation needle, which can track the position and attitude of the permanent magnet installed at the tip of the cryoablation needle.

[0070] As shown in Figure 6 , X, Y, Z represent the three-dimensional coordinate system of the permanent magnet, m is the polar moment vector of the permanent magnet, mx, my, mz are the magnetic moments of the polar moment of the permanent magnet decomposed into the XYZ three-dimensional coordinate system, and r is the magnetic moment vector. The three-dimensional magnetic positioning sensor coordinate position P can be determined through the coordinate system.

[0071] The pressure sensor described above can be measured by a fiber optic force sensor using the Fabry-Perot interferometer (FPI) principle as shown in Figure 7 . The fiber optic force sensor can include a laser generator (LD), a force-to-light conversion unit, and an optical measurement unit, wherein the optical measurement unit can include a beamsplitter, a photoelectric conversion unit (PD), and a current-to-voltage conversion unit (A / V). The laser generator generates fixed frequency monochromatic light, and the force-to-light conversion unit can include a reflecting cavity and two optical fibers fixed to the reflecting cavity.

[0072] The electrically driven puncture device can include a feed slide, a rotating fixed platform, a cryoablation needle, and a needle holder as shown in Figure 8 . The feed slide is installed with a guide rail for realizing needle insertion control. The rotating fixed platform is used to fix the cryoablation needle and can realize rotation control of the cryoablation needle. The needle holder serves as a support for the cryoablation needle, providing support for the cryoablation needle, so as to ensure that the needle does not bend and deform during puncture.

[0073] For the electrically driven puncture device, after starting puncture, the puncture speed, needle insertion angle, and puncture needle rotation frequency can be adjusted in real time according to the real-time position and pressure detection value of the puncture ablation needle, so as to realize high-precision puncture control. The needle tip position can be detected in real time, and the real-time detected needle tip position is compared with the planned puncture end position. When the deviation is less than the in-place threshold, the puncture is completed. If it is not in place, the needle insertion speed and rotation frequency are adjusted according to the needle tip pressure detection module, and the puncture angle is adjusted according to the deviation compensation module. Specifically, as shown in Figure 9 , after starting puncture, the puncture angle, needle insertion speed, and rotation frequency of the cryoablation needle are determined, and the needle tip position is detected in real time to determine whether the needle tip position reaches the puncture end point, i.e., whether the puncture is in place. If the puncture is not in place, the needle tip pressure is detected, and if the pressure exceeds the threshold, the needle insertion speed and rotation frequency are adjusted, and whether path deviation compensation is needed is determined by the deviation compensation module. If needed, the puncture angle is adjusted. If it is determined that the puncture is in place, the puncture is completed.

[0074] For the needle tip pressure, the needle insertion speed and the rotation frequency of the puncture can be adjusted based on the needle tip pressure. Specifically, the needle speed and the rotation frequency can be determined by the needle tip pressure in the following manner. The needle tip pressure value F is detected by the optical fiber pressure sensor integrated in the needle tip. When F is greater than the set pressure threshold D, the needle insertion speed and the rotation frequency correction values are calculated. Specifically, the pressure is inversely proportional to the needle insertion speed, and the needle insertion speed correction value V1=(D-F)*K, wherein K is the relationship coefficient of pressure and needle insertion speed, which can be determined according to clinical research. The needle insertion rotation frequency is proportional to the pressure, and the frequency correction value H1=(F-D)*I, wherein I is the relationship coefficient of pressure and rotation frequency, which can be determined according to clinical research.

[0075] Correspondingly, after the current needle insertion speed V and the current needle insertion frequency H are obtained, and the needle insertion speed correction value V1 and the frequency correction value H1 are determined, the final needle insertion speed Vout=V+V1 and the final needle insertion rotation frequency Hout=H+H1 can be determined.

[0076] In order to realize the acquisition of the intraoperative ultrasound image, an ultrasound probe can be arranged on the mechanical arm. Specifically, as shown in Figure 10 The headgear, the ultrasound probe, the probe support and the fixing device are arranged on the mechanical arm. The probe support and the fixing device connected thereto are used to fix the probe.

[0077] For the image acquisition module, real-time ultrasound images collected by the ultrasound probe can be acquired, or image information collected by external imaging instruments can be received, for example, which can include preoperative images and intraoperative real-time images. The preoperative image can be a magnetic resonance image, that is, the patient can have a magnetic resonance image of the body before the operation. In order to facilitate observation, the magnetic resonance image can be converted into a 3D image. Further, considering that the cost of the magnetic resonance image is very high, in this example, the real-time image adopts the ultrasound image during the actual operation. Specifically, the lesion area can be scanned by the ultrasound probe to form a 3D image of the lesion area (for example, scanning once every 0.5 mm), and then the puncture section can be scanned in real time by the ultrasound probe during the operation.

[0078] The image acquisition module can acquire intraoperative ultrasound images, preoperative CT / MRI (nuclear magnetic resonance) images, and puncture detection data in real time, then perform three-dimensional image modeling on the preoperative nuclear magnetic resonance images to form three-dimensional nuclear magnetic resonance images, perform registration on the three-dimensional nuclear magnetic resonance images and the intraoperative ultrasound images to obtain real-time registration images, and then fuse the puncture path with the registration images to generate real-time human body images containing a lesion organ and a real-time puncture path. The intraoperative ultrasound images can be obtained through a puncture probe, and the puncture path can be obtained through a three-dimensional magnetic positioning sensor on a cryoablation needle.

[0079] Specifically, as shown in Figure 11 , the real-time configuration image can be used to identify the real-time puncture path, and the data collected by the three-dimensional magnetic positioning sensor can be used to identify the real-time puncture position and the puncture needle attitude data. Then, the real-time puncture position and the puncture needle attitude are used to correct the puncture trajectory to obtain a high-precision real-time puncture trajectory and calibrate the current puncture attitude. Further, the puncture torque can be collected by the optical fiber pressure sensor, so that the high-precision real-time puncture trajectory, the current puncture attitude, and the puncture torque can be finally output.

[0080] In order to ensure the accuracy of the puncture process, the puncture trajectory can be corrected in real time during the puncture process, that is, the puncture path deviation value can be calculated in real time to determine whether to correct the puncture. Specifically, as shown in Figure 12 , the real-time puncture trajectory and the planned puncture trajectory are obtained, and then the real-time puncture deviation is calculated according to the real-time puncture trajectory and the planned puncture trajectory. If the real-time puncture deviation does not exceed the threshold value, the puncture correction value is determined to be 0, and if the threshold value is exceeded, the puncture angle correction value is calculated based on the puncture deviation and the current puncture attitude, and the puncture correction value is output.

[0081] As shown in Figure 13 , the X-Y-Z coordinate system is the mechanical arm coordinate system, the O point is the needle entry point of the puncture, the puncture deviation vector is the absolute value of the planned puncture path vector minus the actual puncture path vector, and if the puncture deviation vector is greater than the deviation threshold value, the puncture angle is adjusted. The adjustment value of the puncture angle can be the included angle between the planned puncture path vector and the actual puncture path vector.

[0082] The planned puncture path can be generated by a preoperative doctor based on the preoperative nuclear magnetic resonance images and the analysis of the lesion and the surrounding tissue.

[0083] In order to avoid puncturing into a non-safe area during the puncture process, a safety monitoring function can be set, for example, a safe operation boundary can be formed, whether the safe operation boundary is exceeded is determined according to the input real-time registration image, and if exceeded, an alarm processing can be performed through sound, light, interactive interface display and the like. Specifically, the data of the pressure sensor can be read in real time, the puncture process is analyzed and judged according to the data of the pressure sensor, when the puncture pressure data is abnormal, the puncture process can be interrupted or corrected; the safety boundary can also be detected in real time according to the position of the key organs in the fusion image and the puncture path trajectory, when the puncture enters the non-safe area, the puncture process is interrupted or corrected. The real-time temperature data collected by the temperature sensor can also be compared with the preset temperature threshold, in the case of determining that the real-time temperature is abnormal, an interruption signal or a correction signal is generated, and the puncture process is interrupted or corrected.

[0084] In the above example, because the intelligent cryoablation needle has strong puncture state perception ability, a more accurate and safe puncture process can be provided, by setting a multi-station electric puncture device, an automatic cryopuncture function can be realized, and puncture cryoablation of multiple needles (for example, 3 needles) can be performed at the same time, thereby greatly improving the treatment efficiency and treatment applicability. By sensing the puncture cryoablation process in real time and providing safety protection, the entire cryoablation process can be more intuitive and safe.

[0085] Figure 14 is a method flowchart of an embodiment of the cryoablation control method provided by the present application. Although the present application provides the method operation steps or device structures as described in the following embodiments or drawings, more or fewer operation steps or module units can be included in the method or device based on conventional or non-creative labor. In steps or structures that do not have necessary causal relationships in logic, the execution order of these steps or the module structure of the device is not limited to the execution order or module structure shown in the embodiments and drawings of the present application. When the method or module structure is applied in actual device or terminal product, it can be sequentially executed or executed in parallel (for example, parallel processor or multi-thread processing environment, even distributed processing environment) according to the method or module structure shown in the embodiments or drawings.

[0086] Specifically, as shown in Figure 14 The cryoablation control method described above can include the following steps:

[0087] Step 1401: acquiring real-time puncture data of a cryoablation needle in a puncture process;

[0088] Step 1402: comparing the real-time puncture data with preset puncture data to generate puncture correction data;

[0089] The puncture correction data can include, but is not limited to, at least one of the following: correction data of a puncture path, correction data of a puncture pressure, correction data of a puncture progress, and correction data of a puncture temperature.

[0090] Step 1403: Correctively control the cryoablation needle by the puncture correction data.

[0091] In the above example, by real-time sensing of the puncture data of the cryoablation needle during the puncture process, the automatic puncture process can be accurately and efficiently controlled.

[0092] Further, during the puncture process, real-time ultrasound images during the puncture process can also be acquired; preoperative magnetic resonance images can be called; the real-time ultrasound images and the preoperative magnetic resonance images can be registered to obtain registered images; a puncture path can be determined according to the real-time puncture data; and the puncture path and the registered images can be fused to obtain real-time human body images with the puncture path. Specifically, real-time ultrasound images acquired by an ultrasound probe can be acquired, or image information acquired by external imaging instruments can be received, for example, which can include preoperative images and intraoperative real-time images. The preoperative images can be magnetic resonance images, that is, the patient can have a magnetic resonance image of the body for the disease site before the operation. In order to facilitate observation, the magnetic resonance image can be converted into a 3D image. Further, considering that the cost of the magnetic resonance image is very high, in this example, real-time images during the actual operation are in the form of ultrasound images. Specifically, the lesion area can be scanned by the ultrasound probe to form a 3D image of the lesion area (for example, scanning once every 0.5 mm), and then the puncture section can be scanned in real time by the ultrasound probe during the operation.

[0093] In implementation, intraoperative ultrasound images, preoperative CT / MRI (magnetic resonance) images, and puncture detection data can be acquired in real time, then a three-dimensional image model of the preoperative magnetic resonance image is formed to obtain a three-dimensional magnetic resonance image, the three-dimensional magnetic resonance image and the intraoperative ultrasound image are registered to obtain a real-time registered image, then the puncture path and the registered image are fused to generate a real-time human body image containing a lesion organ and a real-time puncture path. The intraoperative ultrasound image can be acquired by a puncture probe, and the puncture path can be acquired by a three-dimensional magnetic positioning sensor on the cryoablation needle.

[0094] In the case that the real-time puncture data is pressure data, the needle speed and rotation frequency of the puncture can be adjusted by the tip pressure. Specifically, the needle speed and rotation frequency can be determined by the tip pressure in the following manner: the tip pressure value F is detected by the optical fiber pressure sensor integrated in the tip, and when F is greater than the set pressure threshold D, the needle speed and rotation frequency correction values are calculated. Specifically, the pressure is inversely proportional to the needle speed, and the needle speed correction value V1=(D-F)*K, wherein K is the relationship coefficient of pressure and needle speed, which can be determined according to clinical research. The needle rotation frequency is proportional to the pressure, and the frequency correction value H1=(F-D)*I, wherein I is the relationship coefficient of pressure and rotation frequency, which can be determined according to clinical research. Accordingly, after the current needle speed V and the current needle frequency H are obtained, and the needle speed correction value V1 and the frequency correction value H1 are determined, the final needle speed Vout=V+V1 and the final needle rotation frequency Hout=H+H1 can be determined.

[0095] In the case that the real-time puncture data is positioning data and pressure data, the real-time puncture path can be identified by the real-time configuration image, and the real-time puncture position and puncture needle posture data can be identified by the data collected by the three-dimensional magnetic positioning sensor. Then, the puncture trajectory is corrected by the real-time puncture position and puncture needle posture to obtain a high-precision real-time puncture trajectory and calibrate the current puncture posture. Further, the puncture torque can be collected by the optical fiber pressure sensor, so that the high-precision real-time puncture trajectory, the current puncture posture and the puncture torque can be finally output.

[0096] In order to ensure the accuracy of the puncture process, the puncture trajectory can be corrected in real time during the puncture process, that is, the puncture path deviation value can be calculated in real time to determine whether to correct the puncture. Specifically, as shown in Figure 12 the real-time puncture trajectory and the planned puncture trajectory are obtained, and then the real-time puncture deviation is calculated according to the real-time puncture trajectory and the planned puncture trajectory. If the real-time puncture deviation does not exceed the threshold, the puncture correction value is determined to be 0, and if the threshold is exceeded, the puncture angle correction value is calculated based on the puncture deviation and the current puncture posture, and the puncture correction value is output.

[0097] The above-mentioned preset puncture data can be generated by a doctor according to the preoperative analysis of the lesion and the surrounding tissue based on the preoperative magnetic resonance image.

[0098] In the case that the real-time puncture data is positioning data and pressure data, safety boundary processing can also be performed to avoid puncturing into a non-safety area during the puncture process. Specifically, a safety operation boundary can be formed, and it is determined whether the safety operation boundary is exceeded according to the input real-time registration image. If the safety operation boundary is exceeded, an alarm can be given through sound, light, an interactive interface display, and the like. Specifically, the data of the pressure sensor can be read in real time, and the puncture process is analyzed and judged according to the data of the pressure sensor. When the puncture pressure data is abnormal, the puncture process can be interrupted or corrected. The safety boundary can also be detected in real time according to the position of the key organs in the fused image and the puncture path trajectory. When the puncture enters a non-safety area, the puncture process is interrupted or corrected.

[0099] The method embodiments provided in the above embodiments of the application can be executed in a mobile terminal, a computer terminal, or a similar computing device. Taking the case of running on an electronic device as an example, Figure 15 is a hardware structure block diagram of an electronic device providing a cryoablation control method according to the application. As shown in the figure, Figure 15 The electronic device 10 can include one or more (only one is shown in the figure) processors 02 (the processor 02 can include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 04 for storing data, and a transmission module 06 for communication functions. Those skilled in the art can understand that, Figure 15 The structure shown in the figure is only schematic, and it does not limit the structure of the above-mentioned electronic device. For example, the electronic device 10 can include more or fewer components than those shown in Figure 15 , or have a different configuration from Figure 15 .

[0100] The memory 04 can be used to store software programs and modules of application software, such as program instructions / modules corresponding to the cryoablation control method of the application embodiments. The processor 02 executes various functional applications and data processing by running the software programs and modules stored in the memory 04, that is, implements the cryoablation control method of the application program described above. The memory 04 can include a high-speed random access memory, and can also include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some examples, the memory 04 can further include a memory remotely arranged with respect to the processor 02, and these remote memories can be connected to the electronic device 10 through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0101] The transmission module 06 is configured to receive or send data via a network. The network can include a wireless network provided by a communication provider of the electronic device 10. In one example, the transmission module 06 includes a network interface controller (NIC) that can be connected to other network devices through a base station to communicate with the Internet. In one example, the transmission module 06 can be a radio frequency (RF) module that is configured to communicate with the Internet wirelessly.

[0102] At the software level, the above-mentioned cryoablation control device can include, as shown in the figure: Figure 16

[0103] The acquisition module 1601 is configured to acquire real-time puncture data of the cryoablation needle during puncture.

[0104] The generation module 1602 is configured to compare the real-time puncture data with preset puncture data to generate puncture correction data.

[0105] The control module 1603 is configured to control the cryoablation needle according to the puncture correction data.

[0106] Further, during the puncture process, real-time ultrasound images during the puncture process can also be acquired; preoperative magnetic resonance images can be called; the real-time ultrasound images and the preoperative magnetic resonance images are registered to obtain registered images; the puncture path is determined according to the real-time puncture data; and the puncture path and the registered images are fused to obtain real-time human body images with the puncture path. Specifically, real-time ultrasound images collected by an ultrasound probe can be acquired, and image information collected by external imaging instruments can also be received, for example, preoperative images and intraoperative real-time images. The preoperative images can be magnetic resonance images, that is, the patient can have a magnetic resonance image of the body before the operation. In order to facilitate observation, the magnetic resonance image can be converted into a 3D image. Further, considering that the cost of the magnetic resonance image is very high, in this example, the real-time image adopts an ultrasound image during the actual operation. Specifically, the lesion area can be scanned by the ultrasound probe to form a 3D image of the lesion area (for example, scanning once every 0.5 mm), and then the ultrasound probe is used to scan the puncture section in real time during the operation.

[0107] ​In implementation, the intraoperative ultrasound image, the preoperative CT / MRI image, and the puncture detection data can be collected in real time, then the preoperative MRI image is modeled to form a three-dimensional MRI image, the three-dimensional MRI image and the intraoperative ultrasound image are registered to obtain a real-time registration image, then the puncture path is fused with the registration image to generate a real-time human body image containing the lesion organ and the real-time puncture path. The intraoperative ultrasound image can be obtained through a puncture probe, and the puncture path can be obtained through a three-dimensional magnetic positioning sensor on a cryoablation needle.

[0108] In the case that the real-time puncture data is pressure data, the needle speed and the rotation frequency of the puncture can be adjusted by the needle tip pressure. Specifically, the needle speed and the rotation frequency can be determined by the needle tip pressure in the following manner: the needle tip pressure value F is detected by the optical fiber pressure sensor integrated in the needle tip, when F is greater than the set pressure threshold D, the needle speed and rotation frequency correction values are calculated. Specifically, the pressure is inversely proportional to the needle speed, the needle speed correction value V1=(D-F)*K, wherein K is the relationship coefficient of pressure and needle speed, which can be determined according to clinical research. The needle rotation frequency is proportional to the pressure, and the frequency correction value H1=(F-D)*I, wherein I is the relationship coefficient of pressure and rotation frequency, which can be determined according to clinical research. Accordingly, after the current needle speed V and the current needle frequency H are obtained, and the needle speed correction value V1 and the needle frequency correction value H1 are determined, the final needle speed Vout=V+V1 and the final needle rotation frequency Hout=H+H1 can be determined.

[0109] In the case that the real-time puncture data is positioning data and pressure data, the real-time puncture path can be identified through the real-time configuration image, the real-time puncture position and the puncture needle attitude data can be identified through the data collected by the three-dimensional magnetic positioning sensor, then the puncture trajectory is corrected through the real-time puncture position and the puncture needle attitude to obtain a high-precision real-time puncture trajectory, and the current puncture attitude is calibrated. Further, the puncture torque can be collected by the optical fiber pressure sensor, so that the high-precision real-time puncture trajectory, the current puncture attitude, and the puncture torque can be finally output.

[0110] In order to ensure the accuracy of the puncture process, the puncture trajectory can be corrected in real time during the puncture process, that is, the puncture path deviation value can be calculated in real time to determine whether to correct the puncture. Specifically, as shown in Figure 12 the real-time puncture trajectory and the planned puncture trajectory are obtained, then the real-time puncture deviation is calculated according to the real-time puncture trajectory and the planned puncture trajectory, if the real-time puncture deviation does not exceed the threshold, the puncture correction value is determined to be 0, if the threshold is exceeded, the puncture angle correction value is calculated based on the puncture deviation and the current puncture attitude, and the puncture correction value is output.

[0111] The preset puncture data can be generated by a preoperative doctor according to analysis of a lesion and surrounding tissue based on a preoperative magnetic resonance image, and the like.

[0112] In the case that the real-time puncture data is the positioning data and the pressure data, safety boundary processing can also be performed to avoid puncturing into a non-safe area during the puncture process. Specifically, a safe operation boundary can be formed, and it is determined whether the safe operation boundary is exceeded according to the input real-time registration image. If the safe operation boundary is exceeded, an alarm can be given through sound, light, an interactive interface display, or the like. Specifically, data of the pressure sensor can be read in real time, and the puncture process is analyzed and judged according to the data of the pressure sensor. When the puncture pressure data is abnormal, the puncture process can be interrupted or corrected. The safety boundary can also be detected in real time according to a position of a key organ in the fused image and a puncture path trajectory. When the puncture enters a non-safe area, the puncture process can be interrupted or corrected.

[0113] The embodiment of the present application also provides a specific implementation of an electronic device capable of implementing all steps of the cryoablation control method in the above embodiment, and the electronic device specifically includes the following contents: a processor, a memory, a communications interface, and a bus; wherein the processor, the memory, and the communications interface complete mutual communication through the bus; the processor is used to call a computer program in the memory, and the processor implements all steps of the cryoablation control method in the above embodiment when executing the computer program, for example, the processor implements the following steps when executing the computer program:

[0114] Step 1: acquiring real-time puncture data of a cryoablation needle in a puncture process;

[0115] Step 2: comparing the real-time puncture data with preset puncture data to generate puncture correction data;

[0116] Step 3: correcting and controlling the cryoablation needle through the puncture correction data.

[0117] As known from the above description, the embodiment of the present application can accurately and efficiently control the automatic puncture process through real-time sensing of puncture data of the cryoablation needle in the puncture process.

[0118] The embodiment of the present application also provides a computer readable storage medium capable of realizing all steps of the cryoablation control method in the above-mentioned embodiment, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a processor to realize all steps of the cryoablation control method in the above-mentioned embodiment, for example, the processor executes the computer program to realize the following steps:

[0119] Step 1: acquiring real-time puncture data of the cryoablation needle in a puncture process;

[0120] Step 2: comparing the real-time puncture data with preset puncture data to generate puncture correction data;

[0121] Step 3: correcting and controlling the cryoablation needle through the puncture correction data.

[0122] As can be seen from the above description, the embodiment of the present application can accurately and efficiently control the automatic puncture process through real-time sensing of the puncture data of the cryoablation needle in the puncture process.

[0123] Each of the embodiments in the specification is described in a progressive manner, and the same or similar parts of each of the embodiments can be referred to each other. Each of the embodiments focuses on the difference from other embodiments. In particular, for the hardware+program type embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiment.

[0124] The above describes specific embodiments of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be executed in an order different than the order in the embodiments and still achieve the desired result. In addition, the processes depicted in the figures do not necessarily require the particular order shown or sequential order to achieve the desired results. In some embodiments, multitasking and parallel processing can be utilized or can be advantageous.

[0125] Although the present application provides method operation steps as described in the embodiments or flowcharts, more or fewer operation steps can be included based on routine or non-creative labor. The order of steps listed in the embodiments is only one of the many execution orders of the steps, and does not represent the only execution order. When the device or client product is executed in practice, the method order shown in the embodiments or the drawings can be executed in sequence or in parallel (for example, in a parallel processor or multi-thread processing environment).

[0126] The systems, apparatuses, modules, or units illustrated in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer can be, for example, a personal computer, a laptop computer, an in-vehicle human-computer interaction device, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0127] Although the embodiments of the present specification provide method operation steps as described in the embodiments or flowcharts, more or fewer operation steps can be included based on conventional or non-inventive means. The order of steps listed in the embodiments is only one of the many step execution orders, and does not represent the only execution order. When the device or terminal product is executed in practice, the method order shown in the embodiments or the drawings can be executed in sequence or in parallel (for example, in a parallel processor or a multi-thread processing environment, or even in a distributed data processing environment). The term "comprise", "include" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, product or device including a series of elements includes not only those elements, but also other elements not explicitly listed or inherent to such a process, method, product or device. Without more limitations, it does not exclude the presence of other same or equivalent elements in the process, method, product or device including the elements.

[0128] For the convenience of description, the above device is described as various modules respectively described in function. Of course, when implementing the embodiments of the present specification, the functions of each module can be implemented in the same or multiple software and / or hardware, or the modules implementing the same function can be implemented by a combination of multiple sub-modules or sub-units. The above described device embodiments are only illustrative, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the coupling or direct coupling or communication connection between the displayed or discussed each other can be through some interface, indirect coupling or communication connection between the devices or units, which can be electrical, mechanical or other forms.

[0129] Those skilled in the art will also appreciate that, in addition to being implemented in purely computer readable program code means, the controller can be implemented using logic gates, switches, application specific integrated circuits, programmable logic controllers and embedded microcontrollers to perform the same functions as described. The controller can therefore be considered to be a hardware component and the means for performing the various functions described therein can be considered to be structures within the hardware component. Alternatively, the means for performing the various functions described can be considered to be both software modules which implement the methods and structures within the hardware component.

[0130] The present application is described herein with reference to the Figures, which illustrate the exemplary embodiments of the application. The drawings described are intended to be illustrative, and not restrictive. Although the Figures can show certain exemplary sequences of steps or blocks in a particular, vertical, arrangement, this should not be interpreted to mean that there is one and only one manner of executing the methods, other sequences or arrangements of steps can be made. For example, the steps and / or blocks can be executed in parallel, or the steps and / or blocks can be executed in an order different than that which is illustrated. Also, some or all of the steps and / or blocks can be executed by different Figure 1 one or more of the steps and / or blocks Figure 1 means for performing the functions specified in the block or blocks.

[0131] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the flow Figure 1 one or more of the steps and / or blocks Figure 1 means for performing the functions specified in the block or blocks.

[0132] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flow Figure 1 one or more of the steps and / or blocks Figure 1 means for performing the functions specified in the block or blocks.

[0133] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0134] Memory can include, without limitation, non- persistent memory, random access memory (RAM), and / or non-volatile memory, etc. such as read only memory (ROM), or flash memory (flash RAM). Memory is an example of computer readable media.

[0135] Computer readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, without limitation, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital versatile disks (DVDs) or other optical storage, magnetic cassettes, magnetic disks storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition provided herein, computer readable media does not include transitory media, such as modulated data signals and carrier waves.

[0136] Those skilled in the art will appreciate that embodiments of the present specification can be provided as methods, systems or computer program products. Accordingly, embodiments of the present specification can be embodied in the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present specification can be embodied in the form of a computer program product embodied on one or more computer readable storage media (including, without limitation, magnetic disks storage, CD-ROMs, optical storage, etc.) having computer usable program code embodied thereon.

[0137] Embodiments of the present specification can be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. Embodiments of the present specification can also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules can be located in both local and remote computer storage media including memory storage devices.

[0138] Each of the embodiments in the specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each of the embodiments focuses on the difference from other embodiments. In particular, the system embodiments are described simply because they are basically similar to the method embodiments, and the relevant parts can be referred to the description of the method embodiments. In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the specification. The illustrative description of the above terms in the specification does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0139] The above only describes the embodiments of the embodiments of the specification and does not limit the embodiments of the specification. The embodiments of the specification can have various changes and variations for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the embodiments of the specification shall be included in the scope of claims of the embodiments of the specification.

Claims

1. A cryoablation automated puncture system, comprising: The application relates to a cryoablation needle, a motorized puncture device and a mechanical arm, wherein: The cryoablation needle is provided with a sensor for collecting real-time puncture data of the cryoablation needle during puncture; The motorized puncture device is installed at the end of the mechanical arm; The cryoablation needle is installed in the motorized puncture device, and the motorized puncture device is used for controlling the cryoablation needle to automatically puncture according to a preplanned path; The motorized puncture device is also used for sending the real-time puncture data collected by the sensor to a controller, and feedback control is performed on the automatic puncture process based on a signal returned by the controller; The magnetic positioning sensor, the pressure sensor and the temperature sensor are integrated on the outer contour of the cryoablation needle, the puncture position, the force size and direction are detected in real time during puncture, the temperature is detected in real time during cryoablation, the real-time puncture data is compared with preset puncture data, and puncture correction data is generated, wherein the puncture correction data comprises correction data of a puncture path, correction data of puncture pressure, correction data of puncture progress and correction data of puncture temperature. The mechanical arm is a plurality of or a single arm, one mechanical arm is provided with one motorized puncture device and one cryoablation needle.

2. The system of claim 1, wherein, The controller is used for generating a deviation correction signal according to puncture real-time path data collected by the magnetic positioning sensor and a preset puncture path, sending the deviation correction signal as a returned signal to the motorized puncture device, comparing real-time pressure data collected by the pressure sensor with preset puncture pressure, generating an interruption signal or a correction signal in the case that the real-time pressure is determined to be abnormal, and sending the interruption signal or the correction signal as a returned signal to the motorized puncture device, and comparing real-time temperature data collected by the temperature sensor with a preset temperature threshold, generating an interruption signal or a correction signal in the case that the real-time temperature is determined to be abnormal, and sending the interruption signal or the correction signal as a returned signal to the motorized puncture device.

3. The system of claim 1, wherein, The application further comprises:

4. The system of claim 1, wherein, An ultrasonic probe is installed on the mechanical arm and is used for collecting real-time ultrasonic images during puncture and transmitting the collected real-time ultrasonic images to the controller through the motorized puncture device. The controller is used for registering the real-time ultrasonic images with preoperative magnetic resonance images to obtain registered images, and fusing a puncture path with the registered images to obtain real-time human body images with the puncture path.

5. The system of claim 4, wherein, The motorized puncture device comprises a feeding slide, a rotating fixed platform and a needle holder, wherein:

6. The system of claim 1, wherein, The feeding slide is provided with a guide rail and is used for controlling the feeding of the cryoablation needle; The rotating fixed platform is used for fixing the cryoablation needle and controlling the rotation of the cryoablation needle; The needle holder is used for supporting the cryoablation needle. The application relates to a cryoablation needle, a motorized puncture device and a mechanical arm, wherein:

7. A cryoablation needle, comprising: The cryoablation needle is provided with a sensor for collecting real-time puncture data of the cryoablation needle during puncture; ​ ​ The magnetic positioning sensor, the pressure sensor and the temperature sensor are integrated on the outer contour of the cryoablation needle, the puncture position, the force size and direction are detected in real time during the puncture process, the temperature is detected in real time during the cryoablation process, the real-time puncture data is compared with preset puncture data, and puncture correction data is generated, wherein the puncture correction data includes correction data of a puncture path, correction data of puncture pressure, correction data of puncture progress and correction data of puncture temperature.

8. The cryoablation needle of claim 7, wherein, The outer surface of the needle body is provided with a scale.

9. The cryoablation needle of claim 7, wherein, A predetermined position area of the outer surface of the needle body is provided with an isolation coating.

10. A computer readable storage medium having stored thereon computer programs / instructions, characterized in that, The computer program / instructions are executed by the processor to implement the steps of the following method: Real-time puncture data of the cryoablation needle during the puncture process is acquired; The real-time puncture data is compared with preset puncture data to generate puncture correction data; The cryoablation needle is controlled by the puncture correction data; The magnetic positioning sensor, the pressure sensor and the temperature sensor are integrated on the outer contour of the cryoablation needle, the puncture position, the force size and direction are detected in real time during the puncture process, the temperature is detected in real time during the cryoablation process, the real-time puncture data is compared with preset puncture data, and puncture correction data is generated, wherein the puncture correction data includes correction data of a puncture path, correction data of puncture pressure, correction data of puncture progress and correction data of puncture temperature.

11. The computer-readable storage medium of claim 10, wherein, The computer program / instructions are executed by the processor to implement the following steps: Real-time ultrasound images during the puncture process are acquired; A preoperative magnetic resonance image is called; The real-time ultrasound images are registered with the preoperative magnetic resonance image to obtain a registered image; A puncture path is determined according to the real-time puncture data; The puncture path is fused with the registered image to obtain a real-time human body image with the puncture path.

Images