Object ablation system, control method, device, medium and electronic equipment

Abstract

The present invention discloses an object ablation system, control method, device, medium, and electronic device, wherein a navigation control device is used to construct a virtual model based on regional image information of the target intervention area, morphological attribute information of the intervention component, motion position information, and intervention position information to obtain a navigation three-dimensional model and an operation object three-dimensional model. The navigation three-dimensional model is used to characterize the three-dimensional spatial characteristics of the target intervention area, the three-dimensional spatial characteristics of the intervention component, and the spatial position information between the object to be ablated, the intervention component, and the target intervention area. The navigation control device is also used to determine the target ablation parameters corresponding to the object to be ablated, and control the ablation device to operate based on the target ablation parameters so that the intervention component ablates the object to be ablated. The application of the object ablation system of the present invention can improve surgical accuracy, efficiency, treatment effect, and treatment safety.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an object ablation system, a control method, a device, a medium and an electronic device. Background Art

[0002] Existing ablation methods primarily utilize thermal ablation techniques such as radiofrequency ablation, microwave ablation, cryoablation, and focused ultrasound ablation. The fundamental principle of radiofrequency ablation is heat therapy. It uses high-frequency electromagnetic waves, composed of alternating electric and magnetic fields, to generate energy from a transmitter to the treatment electrode needle via the negative electrode, forming a closed circuit within the human body. The alternating current excites ions surrounding the electrode needle, causing collisions and friction that generate heat. When the heat exceeds the tolerance of the tumor tissue, tumor cells undergo coagulative necrosis, and small blood vessels surrounding the tumor become occluded due to thermal damage, thereby blocking the tumor's blood supply. During the procedure, the tumor tissue undergoes instantaneous, extensive coagulative necrosis, completely blurring the lesion boundary under real-time ultrasound. Therefore, determining the distance between the ablation area and the lesion edge is difficult when determining complete ablation. Complications such as skin bruising, skin burns, muscle burns, secondary fat necrosis, and wound infection may also occur.

[0003] There are two main methods of microwave ablation: focused microwave phased array thermal therapy (FMPA) and percutaneous microwave coagulation (PMC). FMPA microwaves generate dielectric heat by rapidly stirring water molecules in tissues and cells, leading to heat-induced coagulative necrosis. PMC inserts a probe that can emit microwave energy directly into the tumor, thereby generating high temperatures that can denature proteins or cause coagulative necrosis of cells in a short period of time. The main mechanism of action is that because the water content of cancer cells is higher than that of normal cells, cancer cells will generate more heat under the action of microwaves, causing coagulative necrosis of the cells, but thermal damage to the surrounding tissues of the skin burn will still occur.

[0004] Laser ablation mainly involves inserting a tip laser fiber into the tumor, generating a thermal effect between the laser photons and the tissue, raising the tissue temperature and creating a thermal ablation area. However, this may cause permanent damage to surrounding blood vessels and nerve tissue, and may also result in incomplete or excessive ablation.

[0005] High-intensity focused ultrasound ablation (HIFU) is a non-invasive ablation technique that does not require minimally invasive placement of a catheter or probe at the tumor site. By focusing high-energy ultrasound, HIFU achieves a very high acoustic intensity at the focal point, allowing the acoustic energy to be rapidly absorbed by the tumor tissue and converted into heat energy. The local temperature instantly rises to above 65°C, causing protein denaturation and coagulative necrosis in the target area, while causing minimal or no damage to normal tissue and surrounding tissue through which the ultrasound beam passes. However, during HIFU treatment, the target tissue must remain as still as possible and minimize movement; otherwise, it is easy to cause off-target treatment, thus failing to achieve complete ablation. Secondly, although ablation of a wider area around the tumor edge can achieve radical treatment, the increased ablation range also increases the risk of internal tissue damage.

[0006] Cryoablation involves placing a cryoprobe at the center of the tumor, rapidly cooling the tumor cells to below freezing. Repeated freezing and thawing causes rupture of the tumor cell membranes, damage to organelles, and ultimately cell death. However, cells not directly killed by freezing may also undergo secondary apoptosis. Cryoablation can also induce local microvascular damage, leading to blood stasis.

[0007] The above ablation principles are mainly to achieve the purpose of tissue cell necrosis through changes in the temperature around the tissue. For example, US14023328, US15099665, CN202011501204.5, etc. However, when the heat sink effect occurs, thermal ablation technology can easily cause damage to healthy tissues such as nerves, lymph, and blood vessels in the ablation area. For example, some manufacturers use radiofrequency ablation technology to ablate lung diseases, such as chronic bronchitis, by ablating the smooth muscle around the tracheal cartilage to achieve tracheal dilation and increase ventilation. However, this method also belongs to thermal ablation technology, which uses high temperature to deteriorate cell proteins, thereby achieving tissue necrosis. It is difficult to control the ablation range and it is easy to cause damage to healthy tissues such as blood vessels and nerves. Moreover, the trachea is mainly supported by cartilage and smooth muscle. Therefore, if the smooth muscle is excessively ablated, this method can easily cause the cartilage to be unable to support it, causing the trachea to collapse and causing more serious consequences.

[0008] Pulsed electric field ablation technology, which uses the theory of irreversible electroporation for treatment, has increasingly attracted attention in clinical applications as a non-thermal ablation technology. Pulsed electric field ablation technology generates a high-voltage pulsed electric field with a pulse width of milliseconds, microseconds, or even nanoseconds, releasing extremely high energy in a short period of time. It can cause a large number of irreversible micropores in the cell membrane and even in intracellular organelles such as the endoplasmic reticulum, mitochondria, and nucleus. This in turn causes apoptosis of diseased cells, thereby achieving the desired therapeutic purpose. In the application of treating COPD, the use of pulsed electric field ablation technology can selectively treat inflammatory cells in the lungs without affecting other non-target cell tissues. At the same time, it also has the characteristics of thorough full-layer ablation, precision, speed, and protection of blood vessels, nerves, and cartilage. At the same time, since pulsed electric field ablation technology is not affected by the hot pool effect, it can perform multiple superimposed ablations, which can greatly enhance the ablation depth.

[0009] In current ablation treatments, surgical procedures are used to cut open surrounding tissues to fully expose the tumor and perform puncture ablation and resection. This method causes significant trauma to the human body, takes a long time to heal, and is also accompanied by the risk of wound infection. Therefore, minimally invasive interventional treatment has become a relatively standard surgical method in the medical field. When using interventional methods to perform biopsy or ablation of the target lesion area, determining the position of the interventional device within the target subject's body is crucial for accurate surgical execution. Existing methods for determining the exact position of the interventional device within the target subject's body include observation through endoscopic images and identification using fluoroscopic images. In actual use, for example, in the treatment of lung lesions, due to the multi-level branching and bifurcation of the pulmonary bronchi, the exact position of the interventional device within the bronchi cannot be identified and recorded using images from a bronchoscope alone. Furthermore, due to the outer diameter of the bronchoscope, the endoscope cannot reach the smaller bronchial branches, and therefore cannot provide image assistance for the interventional device. During surgery, fluoroscopic imaging cannot be used constantly because it can be harmful to the human body. Furthermore, fluoroscopic images of the lung bronchi are not clear, making it impossible to determine the position of the interventional device in the image from a three-dimensional perspective. For interventional procedures in complex areas like the bronchi, the operator can easily become lost while manipulating the interventional device within the complex bifurcations of the bronchi, compromising the accuracy and efficiency of the procedure and increasing the operator's workload.

[0010] In existing treatments for lung diseases, for example, CN201810310511.1, CT imaging technology is required to assist in guiding the ablation head through the bronchial branches to reach the tumor, which will expose the patient and the surgeon to a large amount of radiation. CN201580060018.3 requires first marking the tissue near the target, and then positioning it through the combination of fluoroscopic images and CT images. The positioning method is complex and has low accuracy, and a microwave ablation device is used for ablation treatment. CN202010113062.9 requires a fusion positioning method that combines a depth camera and a magnetic locator to locate the position of the ablation needle, but the positioning is real-time and has poor visibility. CN109788979A uses pulsed electric field ablation technology, but during the intervention and energy delivery process, it cannot determine the exact position of the interventional device in the treatment area, and can only modify the control parameters based on feedback from the implemented conditions, resulting in problems such as poor accuracy, real-time performance, and poor targeting of the lesion area in pulse energy ablation. US13538947, CN201711006154.1 and the like provide a probe-type ablation head to treat narrow lung area tissue, but the probe-type ablation head cannot form a good fit with the lesion tissue, and the ablation area is small.

[0011] Based on the shortcomings of the existing technology, it is necessary to provide a minimally invasive interventional treatment method that can navigate and determine the exact position of the interventional instrument in a complex treatment area, so that the interventional instrument can accurately reach the treatment area and evenly adhere to the diseased tissue, while using pulsed electric field ablation technology to generate more precise pulse energy for targeted treatment of the diseased tissue. Summary of the Invention

[0012] In order to solve the problems in the prior art that the object ablation system cannot navigate the interventional device in a complex area so that it can accurately reach the target treatment position and evenly adhere to the diseased tissue, and the ablation energy sent by the ablation device cannot control the ablation range of the tissue, which can easily cause damage to healthy tissue and affect the accuracy, efficiency and treatment effect of the operation, the present application provides an object ablation system, control method, device, medium and electronic equipment.

[0013] In one aspect, the present application provides a system for ablation of an object, comprising an energy delivery interventional device, a navigation control device, a first position acquisition device, and an ablation device; the energy delivery interventional device comprises a second position acquisition device and an interventional component; the first position acquisition device, the second position acquisition device, the interventional component, and the ablation device are respectively communicatively connected to the navigation control device;

[0014] The first position acquisition device is used to acquire motion position information of the target object and transmit it to the navigation control device;

[0015] The second position acquisition device is used to acquire intervention position information of the intervention component in a target intervention area and transmit the information to the navigation control device, wherein the target intervention area belongs to the target object;

[0016] The navigation control device is used to construct a virtual model based on the regional image information of the target intervention area, the morphological attribute information of the intervention component, the motion position information and the intervention position information to obtain a navigation three-dimensional model and an operation object three-dimensional model, the navigation three-dimensional model is used to characterize the three-dimensional spatial characteristics of the target intervention area, the three-dimensional spatial characteristics of the intervention component, and the spatial position information between the object to be ablated, the intervention component and the target intervention area, and the operation object three-dimensional model is used to characterize the three-dimensional spatial characteristics of the object to be ablated;

[0017] The navigation control device is also used to determine the target ablation parameters corresponding to the object to be ablated based on the navigation three-dimensional model, the operation object three-dimensional model and the object attribute information of the object to be ablated; and control the ablation device to operate based on the target ablation parameters so that the interventional component performs ablation processing on the object to be ablated.

[0018] Furthermore, the navigation control device includes:

[0019] an intervention region sub-model construction module, configured to perform image recognition processing on regional image information of the target intervention region to obtain an image recognition result; and to perform image reconstruction based on the image recognition result to obtain an intervention region sub-model and a three-dimensional model of the operation object, wherein the intervention region sub-model is used to characterize the three-dimensional spatial characteristics of the target intervention region;

[0020] An intervention component sub-model construction module is used to construct a virtual model according to the morphological attribute information of the intervention component to obtain an intervention component sub-model, wherein the intervention component sub-model is used to represent the three-dimensional spatial characteristics of the intervention component;

[0021] A fusion module is used to perform spatial fusion processing on the intervention area sub-model, the operation object three-dimensional model and the intervention component sub-model according to the intervention position information and the motion position information to obtain the navigation three-dimensional model.

[0022] Furthermore, the navigation control device further includes a navigation planning module, which is communicatively connected to the navigation three-dimensional model:

[0023] The navigation planning module is used to perform navigation planning based on the intervention area sub-model and the three-dimensional model of the operation object to obtain the navigation path of the intervention component within the intervention area sub-model. The navigation path is used to indicate the required path for the intervention component to reach the object to be ablated within the target intervention area.

[0024] Furthermore, the navigation planning module is also used to determine the intervention trajectory information of the intervention component based on the intervention position information and the motion position information of the intervention component during the movement of the intervention component in the target intervention area; if the intervention trajectory information and the path trajectory information corresponding to the navigation path meet a preset deviation condition, the intervention position of the intervention component in the target intervention area is corrected until the updated intervention trajectory information of the intervention component matches the path trajectory information.

[0025] Furthermore, the navigation control device further includes an initial parameter acquisition module and a target parameter determination module.

[0026] The initial parameter acquisition module is used to acquire initial ablation parameters corresponding to the object attribute information of the object to be ablated, impedance data of the object to be ablated, abutment parameters of the interventional component, and dielectric constant of the object to be ablated, wherein the initial ablation parameters include at least one of pulse voltage, pulse width, number of pulses, and number of pulse groups;

[0027] The target parameter determination module is used to evaluate the ablation effect based on the navigation three-dimensional model, the operation object three-dimensional model, the object attribute information of the object to be ablated, the initial ablation parameters corresponding to the object attribute information of the object to be ablated, the impedance data of the object to be ablated, the attachment parameters of the interventional component and the dielectric constant of the object to be ablated, and obtain the ablation effect data corresponding to the initial ablation parameters; if the ablation effect data meets the target ablation conditions, the initial ablation parameters are determined as the target ablation parameters.

[0028] Furthermore, the energy delivery intervention device includes an abutment detection device and a dielectric constant detection device, and the abutment detection device and the dielectric constant detection device are respectively communicatively connected to the navigation control device;

[0029] The abutment detection device is used to detect impedance data of the object to be ablated and abutment parameters of the interventional component, wherein the impedance data is used to indicate the load of the interventional component, and the abutment parameters are used to indicate the degree of abutment between the interventional component and the object to be ablated; and send the data to the initial parameter acquisition module;

[0030] The dielectric constant detection device is used to detect the dielectric constant of the object to be ablated.

[0031] Furthermore, the target parameter determination module includes a simulation ablation model construction unit;

[0032] The simulation ablation model construction unit is used to simulate the ablation effect based on the object attribute information, the initial ablation parameters, the impedance data, the adhesion parameters, the dielectric constant, the operating object three-dimensional model and the navigation three-dimensional model as inputs of the ablation evaluation model, and obtain a simulation ablation model corresponding to the initial ablation parameters. The simulation ablation model is used to characterize the ablation effect data corresponding to the initial ablation parameters.

[0033] Furthermore, the navigation control device further includes an ablation three-dimensional model generation module;

[0034] The ablation three-dimensional model generation module is used to obtain the ablation trajectory information and ablation data of the interventional component after the interventional component performs ablation treatment on the object to be ablated; generate an ablation three-dimensional model based on the ablation trajectory information, the ablation data and the target ablation parameters, the ablation data including the ablation area that has been ablated and the ablation position information of the ablation area, and the ablation three-dimensional model represents the three-dimensional spatial characteristics of the object to be ablated after the ablation.

[0035] Furthermore, the navigation control device includes a pulse energy generation module;

[0036] The pulse energy generation module is used to generate an energy generation control signal based on the target ablation parameter to control the operation of the ablation device.

[0037] Furthermore, the control circuit of the ablation device includes a switching circuit, which includes at least two branch circuits connected in parallel, full-bridge, half-bridge or series, and each branch circuit includes an input switch module and an output switch module; the switching circuit controls the corresponding input switch module and output switch module to conduct in response to the energy generation control signal of the pulse energy generation module to generate pulse energy.

[0038] Furthermore, the branch circuit includes a filtering module, the filtering module includes a plurality of filtering units, the filtering units include a plurality of filters and a filter selector, and the filter selector is used to select different filters for filtering processing.

[0039] Furthermore, the energy delivery interventional device includes a core shaft and a steering tube assembly, wherein the core shaft is electrically connected to the interventional assembly and the ablation device respectively;

[0040] The second position acquisition device is provided on the core shaft and / or the interventional component;

[0041] The interventional component includes at least one expandable electrode, at least one of the expandable electrodes is mesh-shaped, and at least one of the expandable electrodes is arranged in sequence along the core shaft. The control tube assembly is sleeved on the outside of the core shaft, and the control tube assembly can move relative to the core shaft to drive the interventional component to expand or contract.

[0042] Furthermore, the abutment detection device and the dielectric constant detection device are both provided on the intervention component, and the abutment detection device and the dielectric constant detection device are both communicatively connected to the navigation control device.

[0043] On the other hand, the present application provides a method for controlling ablation of an object, the method comprising:

[0044] receiving motion position information of the target object acquired by a first position acquisition device and intervention position information of the intervention component in a target intervention area acquired by a second position acquisition device, the target intervention area belonging to the target object;

[0045] A virtual model is constructed based on the regional image information of the target intervention region, the morphological attribute information of the intervention component, the motion position information, and the intervention position information to obtain a navigation three-dimensional model and an operation object three-dimensional model, wherein the navigation three-dimensional model is used to characterize the three-dimensional spatial characteristics of the target intervention region, the three-dimensional spatial characteristics of the intervention component, and the spatial position information between the object to be ablated, the intervention component, and the target intervention region, and the operation object three-dimensional model is used to characterize the three-dimensional spatial characteristics of the object to be ablated;

[0046] determining target ablation parameters corresponding to the object to be ablated according to the navigation three-dimensional model, the operation object three-dimensional model, and object attribute information of the object to be ablated;

[0047] The ablation device is controlled to operate based on the target ablation parameter, so that the intervention component performs an ablation process on the object to be ablated.

[0048] On the other hand, the present application provides a device for controlling ablation of an object, the device comprising:

[0049] An information receiving module is configured to receive the motion position information of the target object acquired by the first position acquisition device and the intervention position information of the intervention component in the target intervention area acquired by the second position acquisition device, wherein the target intervention area belongs to the target object;

[0050] a model construction module configured to construct a virtual model based on regional image information of the target intervention region, morphological attribute information of the intervention component, the motion position information, and the intervention position information, to obtain a navigation three-dimensional model and an operation object three-dimensional model, wherein the navigation three-dimensional model is used to characterize the three-dimensional spatial characteristics of the target intervention region, the three-dimensional spatial characteristics of the intervention component, and the spatial position information between the object to be ablated, the intervention component, and the target intervention region, and the operation object three-dimensional model is used to characterize the three-dimensional spatial characteristics of the object to be ablated;

[0051] A parameter determination module is configured to determine target ablation parameters corresponding to the object to be ablated based on the navigation three-dimensional model, the operation object three-dimensional model, and object attribute information of the object to be ablated;

[0052] The object control module is used to control the ablation device to operate based on the target ablation parameters, so that the intervention component performs ablation processing on the object to be ablated.

[0053] On the other hand, the present application provides a computer-readable storage medium, which stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the object ablation control method as described above.

[0054] On the other hand, the present application provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the object ablation control method as described above.

[0055] The implementation of the embodiments of the present invention has the following beneficial effects:

[0056] The object ablation system of the present application is aimed at a complex target intervention area, and a virtual model is constructed based on the regional image information of the target intervention area to obtain a navigation three-dimensional model and an operation object three-dimensional model. The navigation three-dimensional model is used to characterize the three-dimensional spatial characteristics of the target intervention area, the three-dimensional spatial characteristics of the intervention component, and the spatial position information between the object to be ablated, the intervention component and the target intervention area. The navigation three-dimensional model can be used to navigate and position the intervention component, providing important intuitive assistance for determining the position of the intervention component during the operation, so that the intervention component can reach a farther and narrower lesion location, so that the interventional device can accurately reach the treatment area and evenly fit the lesion tissue, significantly optimizing the ablation effect.

[0057] This application constructs a simulated ablation model before ablation, so that the surgeon can intuitively observe the ablation range and ablation effect of the pulse energy generated based on the initial ablation parameters, and can intuitively help the surgeon determine whether the initial ablation parameters need to be adjusted, and then optimize the initial ablation parameters and the number of ablations to obtain the target ablation parameters to generate more accurate pulse energy.

[0058] The switching circuit of the ablation device of the present application can realize several combinations of pulse energy amplitude, pulse width, interval, quantity or direction, etc. by connecting different branch circuits and controlling the corresponding input-end switch modules and output-end switch modules on different branch circuits. By controlling the corresponding input-end switch modules and output-end switch modules on different branch circuits and coordinating with the filter module, the output of pulse energy of different frequencies and shapes can be realized. Based on the switching circuit of the present application, the ablation device can generate more targeted pulse energy by having different voltage amplitudes, frequencies and pulse shapes in a group of pulse energies, which is conducive to reducing the stimulation reaction problems caused by the ablation treatment process while increasing the treatment effect, thereby improving the safety of treatment.

[0059] The navigation control device in this application also includes a module for generating a 3D ablation model. This 3D ablation model is used to record the ablation trajectory and data of the interventional component within the target intervention area. The 3D ablation model allows the surgeon to review the ablation trajectory and data of the interventional component at any time, providing crucial data support for determining which areas have been ablated and which remain unablated. This effectively improves surgical efficiency and reduces the likelihood of repeated ablations.

[0060] The interventional component of the energy delivery interventional device of the present application includes a mesh-shaped expandable electrode. The expandable electrode has a compact structure, good support, and uniform energy distribution. It can better fit the lesion tissue, with a larger fitting area and more uniform ablation.

[0061] The ablation system of the present application combines a navigation control device, an ablation device and an energy delivery interventional device, thereby improving surgical accuracy, efficiency, treatment effect and treatment safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] To more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present invention, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0063] Figure 1 is a schematic structural diagram of an object ablation system according to an embodiment of the present invention;

[0064] Figure 2 is a schematic structural diagram of a navigation control device according to an embodiment of the present invention;

[0065] Figure 3 is a schematic structural diagram of a target parameter determination module according to an embodiment of the present invention;

[0066] Figure 4 is a flow chart of an object ablation control method according to an embodiment of the present invention;

[0067] Figure 5 is a schematic structural diagram of a server according to an embodiment of the present invention;

[0068] Figure 6 is a schematic structural diagram of an energy delivery interventional device according to an embodiment of the present invention;

[0069] Figure 7 is a schematic structural diagram of an interventional assembly including a plurality of expandable electrodes according to an embodiment of the present invention;

[0070] Figure 8 is a schematic diagram of the structure of an expandable electrode expanded into a polygon according to an embodiment of the present invention;

[0071] Figure 9 2. It is a schematic diagram of the structure of the expandable electrode in an embodiment of the present invention unfolded into an umbrella shape;

[0072] Figure 10 is a schematic structural diagram of an interventional assembly including a plurality of cylindrical expandable electrodes according to an embodiment of the present invention;

[0073] Figure 11 This is a schematic diagram of the simulation, evaluation, and display of the lung ablation effect of pulse energy according to an embodiment of the present invention;

[0074] Figure 12 is a schematic diagram of a module of a control circuit of an ablation device according to an embodiment of the present invention;

[0075] Figure 13 is a schematic diagram of a module of a branch circuit of an ablation device according to an embodiment of the present invention;

[0076] Figure 14 is a diagram showing the relationship between the contact length between the interventional component and the bronchus and the inner diameter of the bronchus simulated in an embodiment of the present invention;

[0077] Figure 15 is a diagram showing the relationship between contact length and field strength as the number of bronchial stages increases, as simulated by an embodiment of the present invention;

[0078] Figure 16 is a graph showing the relationship between contact length and field strength as bronchial wall thickness increases, as simulated by an embodiment of the present invention;

[0079] Figure 17This is a diagram showing the ablation effect of pulse energy on lung tissue in a simulated ablation model generated when the pulse voltage amplitude is set to 1500V in an embodiment of the present invention.

[0080] Figure 18 3 is a diagram showing the ablation effect of pulse energy generated by different initial ablation parameters on the bronchial tissue mucosal layer in an embodiment of the present invention.

[0081] Among them, the reference numerals in the figure correspond to: 1-energy delivery interventional device, 11-second position acquisition device, 12-interventional component, 121-expandable electrode, 13-core shaft, 14-control tube component, 15-fixed sleeve, 16-operating handle, 17-control component, 2-navigation control device, 21-interventional area sub-model construction module, 22-interventional component sub-model construction module, 23-fusion module, 24-navigation planning module, 25-initial parameter acquisition module, 26-target parameter determination module, 261-simulation ablation model construction unit, 27-ablation three-dimensional model generation module, 28-pulse energy generation module Block, 3-first position acquisition device, 4-ablation device, 41-pulse power supply, 42-switching circuit, 43-output interface, 421-branch circuit, 4211-input end switch module, 4212-output end switch module, 4213-capacitor module, 4214-diode module, 4215-filter module, 100-electronic device, 110-central processing unit, 120-storage medium, 121-operating system, 122-data, 123-application, 130-memory, 140-input and output interface, 150-wired or wireless network interface, 160-power supply, 170-display. DETAILED DESCRIPTION

[0082] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0083] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0084] The present application provides an object ablation system that can control the interventional device to accurately enter the target intervention area such as tumors, lumens, organs, etc. through the navigation and positioning function to form a good contact with the diseased tissue, and can generate more accurate and targeted pulse energy by evaluating the ablation effect data before ablation and deliver it to the diseased tissue for ablation treatment.

[0085] The ablation system targeted by this application can be used to treat conditions within the trachea and bronchi of the lungs, such as chronic bronchitis, chronic obstructive pulmonary disease, and asthma. The bronchial tissue structure of the lungs primarily consists of epithelial cells, a lamina propria, and a basal mucosa. The epithelial cells are ciliated pseudostratified cells, interspersed with goblet cells that secrete a small amount of mucus. The basal mucosa primarily consists of smooth muscle and connective tissue, with mucous glands located within the connective tissue secreting the majority of mucus. Long-term excessive mucus production and accumulation in the lungs is a major cause of various lung diseases. The ablation system targeted by this application uses pulsed energy to destroy and remove goblet cells within the epithelium and mucous glands within the basal mucosa, thereby reducing mucus secretion in the bronchial lumen. The pulsed energy also kills the ineffective ciliated pseudostratified cells, allowing new epithelial cells to better facilitate expectoration of tracheal mucus and prevent mucus accumulation. The ablation system targeted by this application can improve surgical accuracy, efficiency, therapeutic efficacy, and safety.

[0086] It should be noted that, when treating diseases within the lung bronchus, the target intervention area of ​​the present application is the lung bronchus area of ​​the target object, and the operation object is the diseased tissue area to be ablated within the lung bronchus.

[0087] like Figure 1-11As shown, the present application provides a system for ablation of an object, comprising an energy delivery interventional device 1, a navigation control device 2, a first position acquisition device 3, and an ablation device 4. The energy delivery interventional device 1 comprises a second position acquisition device 11 and an interventional component 12. The first position acquisition device 3, the second position acquisition device 11, the interventional component 12, and the ablation device 4 are respectively in communication with the navigation control device 2.

[0088] Specifically, the energy delivery intervention device 1 is used to deliver pulse energy and intervene in the body of the target object to perform ablation treatment on the object to be ablated. Figure 6-10 As shown, in the present application, the energy delivery interventional device 1 includes a core shaft 13, a steering tube assembly 14, a second position acquisition device 11 and an interventional assembly 12. The core shaft 13 is electrically connected to the interventional assembly 12 and the ablation device 4 respectively.

[0089] The second position acquisition device 11 is disposed on the core shaft 13 and / or the interventional component 12 .

[0090] The interventional component 12 includes at least one expandable electrode 121, which may be in a mesh shape. The at least one expandable electrode 121 is arranged in sequence along the core shaft 13. The control tube component 14 is sleeved on the core shaft 13. The control tube component 14 can move relative to the core shaft 13 to drive the interventional component 12 to expand or contract.

[0091] In some embodiments, the second position acquisition device 11 can be set at any position on the core shaft 13 or the intervention component 12, and the number of the second position acquisition device 11 is not limited. Preferably, the second position acquisition device 11 is set at the distal end of the core shaft 13 or the intervention component 12. The second position acquisition device 11 is used to collect the intervention position information of the intervention component 12 in the target intervention area and transmit it to the navigation control device 2 through a signal line. The target intervention area belongs to the target object. In some possible embodiments, the second position acquisition device 11 can be a magnetic induction sensor, which can obtain the intervention position information of the intervention component 12 in the target intervention area through a magnetic field; in other possible embodiments, the second position acquisition device 11 can be an electric induction sensor, which can obtain the intervention position information of the intervention component 12 in the target intervention area through an electric field.

[0092] It should be noted that in some embodiments, the core shaft 13 may be an electrode wire connected to the ablation device 4 and the interventional assembly 12, respectively. In other embodiments, the core shaft 13 may be a stainless steel spring tube, a hypotube, or a spiral tube, etc., with electrode wires disposed within the core shaft 13, respectively connected to the ablation device 4 and the interventional assembly 12, respectively. The electrode wires may be single-strand or multi-strand, with a diameter ranging from 0.05 mm to 1 mm, and may be made of a conductive metal material.

[0093] In some embodiments, the interventional assembly 12 includes an expandable electrode 121, the distal end of which is connected to the distal end of the core shaft 13, and the proximal end of which is fixedly connected to the outer wall of the control tube assembly 14. In other embodiments, the interventional assembly 12 includes a first expandable electrode and a second expandable electrode, which are sequentially arranged along the core shaft 13. The control tube assembly 14 includes a first control tube and a second control tube, which are sequentially sleeved. The distal end of the first expandable electrode is connected to the distal end of the core shaft 13, and the proximal end of the first expandable electrode is fixedly connected to the outer wall of the first control tube. The first expandable electrode can be expanded or contracted by controlling the movement of the first control tube. The distal end of the second expandable electrode is connected to the outer wall of the first control tube, which is a certain distance away from the distal end of the first control tube. The proximal end of the second expandable electrode is fixedly connected to the outer wall of the second control tube. The second expandable electrode can be expanded or contracted by controlling the movement of the second control tube. In some possible embodiments, at least one expandable electrode 121 releases a unipolar pulse, and a negative electrode plate is attached to the surface of the target object's body. The negative electrode plate is combined with the product to form a circuit in the body, so that the pulse energy acts on the treatment area. In other possible embodiments, different expandable electrodes 121 are respectively connected to the ablation device 4 through electrode wires, and the different expandable electrodes 121 can be controlled to form positive and negative poles in the target object's body, and the positive and negative energy are transmitted, forming a closed-loop treatment area with the positive and negative poles and the energy range within the two poles. By controlling the circuit connectivity of the expandable electrodes 121 at the two ends, a larger ablation area can be obtained. By controlling the circuit connectivity of the two adjacent expandable electrodes 121, the ablation range can be controlled between the two adjacent expandable electrodes 121, so that the treatment range is more precise and the stimulation response is smaller.

[0094] In some embodiments, the expandable electrode 121 can be woven from conductive metal wires. Preferably, the material of the metal wire can be stainless steel, nickel-titanium alloy, cobalt-chromium alloy, or other materials with good electrical conductivity. The longitudinal section of the metal wire can be elliptical, circular, or polygonal, so that the woven expandable electrode 121 can fit the target position more fully. The mesh expandable electrode 121 is easy to change shape, can expand and contract, and has higher mesh density, tensile properties, and structural stability. It can better fit the target position, and the fitting area is larger and more uniform, resulting in better treatment effect.

[0095] In some embodiments, the axial cross-section of the expandable electrode 121 after expansion can be spindle-shaped, polygonal, elliptical, or umbrella-shaped. When the proximal end of the expandable electrode 121 moves away from its distal end, the expandable electrode 121 contracts into a cylindrical shape coaxial with the core shaft 13 to facilitate movement within narrow passages. When the proximal end of the expandable electrode 121 is moved toward its distal end by manipulating the tube assembly 14, the axial cross-section of the expandable electrode 121 after expansion can be elliptical, spindle-shaped, polygonal, or umbrella-shaped to increase the contact area with bronchi of varying inner diameters and with objects of unusual shapes to be ablated. In some possible embodiments, when the interventional assembly 12 includes multiple expandable electrodes 121, the maximum expandable diameters of the multiple expandable electrodes 121 increase sequentially from the distal end to the proximal end of the core shaft 13. The expandable electrodes 121 of different diameters can be controlled by manipulating the tube assembly 14 to accommodate varying inner diameters according to changes in the tracheal inner diameter. Preferably, each of the multiple expandable electrodes 121 expands into a cylindrical shape with a rectangular axial cross-section.

[0096] Specifically, the energy delivery interventional device 1 also includes a fixed sleeve 15, which is fixedly connected to the end of the expandable electrode 121. Internal tooth structures are evenly arranged along the circumference at both ends of the inner hole of the fixed sleeve, and the internal tooth structures at both ends are inclined toward the middle of the inner hole. In some possible embodiments, the tooth shape of the internal tooth structure can be wavy, triangular, trapezoidal, or rectangular, etc. The two ends of the expandable electrode 121 of the present application are fixedly connected to the core shaft 13 or the control tube assembly 14 through the fixed sleeve 15. The internal tooth structure of the fixed sleeve 15 of the present application can better fix the mesh expandable electrode 121. The provision of the internal tooth structure reduces the openings at both ends of the fixed sleeve 15, improves coaxiality, and greatly reduces coaxial problems caused by bending and twisting of the distal end of the expandable electrode 121 after being fixed to the core shaft 13. In some possible embodiments, the space between the two internal tooth structures of the fixed sleeve 15 can be used to place the second position acquisition device 11, thereby reducing the space occupied by the installation of the second acquisition device. By fixing the two ends of the expandable electrode 121 by the fixing sleeve 15, the coaxiality and connection reliability of the two ends of the expandable electrode 121 are improved, the expandable electrode 121 is avoided from falling off during the operation, the treatment time is shortened, and space is left for the second position acquisition device 11 to be placed.

[0097] Specifically, the energy delivery interventional device 1 also includes an operating handle 16, which is provided with a through hole capable of accommodating the core shaft 13 and the control tube assembly 14. A control assembly 17 is provided on the operating handle 16, one end of the control assembly 17 is slidably or rotationally connected to the operating handle 16, and the other end of the control assembly 17 is fixedly connected to the proximal end of the control tube assembly 14. In some possible embodiments, one end of the control assembly 17 is constructed as a slider slidably connected to the outer wall of the operating handle 16, and the other end of the control assembly 17 is constructed as a plunger portion slidably connected to the inner wall of the operating handle 16, and the plunger portion is fixedly connected to the proximal end of the control tube assembly 14. In other possible embodiments, the control assembly 17 can be constructed as a knob, the inner ring of the knob is threadedly connected to the control tube assembly 14, and the rotation of the knob can drive the axial movement of the control tube assembly. The present application can control the movement of the control tube assembly 14 relative to the core shaft 13 through the control assembly 17 to control the expansion degree of the interventional assembly 12.

[0098] Specifically, the energy delivery interventional device 1 also includes a contact detection device and a dielectric constant detection device, which are respectively connected to the navigation control device 2 for communication. The contact detection device is used to detect the impedance data of the object to be ablated and the contact parameters of the interventional component 12. The impedance data is used to indicate the load of the interventional component 12, and the contact parameters are used to indicate the degree of contact between the interventional component 12 and the object to be ablated; and are sent to the initial parameter acquisition module 25; the dielectric constant detection device is used to detect the dielectric constant of the object to be ablated. In some embodiments, the contact detection device and the dielectric constant detection device can be set on the outer wall of the interventional component 12.

[0099] It should be noted that the target ablation system of the present application also includes a first position acquisition device 3, which is used to acquire the motion position information of the target object and transmit it to the navigation control device 2. Specifically, the motion position information of the target object of the present application can be the respiratory state information of the target object, and the first position acquisition device 3 can be a magnetic positioning electrode placed on or around the surface of the target object's body to obtain the target object's chest movement information when breathing. In some possible embodiments, the first position acquisition device 3 includes three or six electrodes with unique shapes and built-in magnetic positioning sensors, which are placed on the patient's chest and / or back. When the target object inhales, the first position acquisition device 3 moves upward with the chest, and when the target object exhales, it moves downward with the chest. The target object's chest movement in the magnetic positioning signal field can be captured by the first position acquisition device 3. The target object's motion position information provided by the first position acquisition device 3 can be used to compensate for respiratory interference in the interventional position information of the interventional component 12 in the target intervention area provided by the second position acquisition device 11. After the compensation calculation, the respiratory interference experienced by the second position acquisition device 11 during movement can be eliminated, and more accurate interventional position information can be obtained.

[0100] It should be noted that the ablation system of the present application also includes a positioning generating device, which is in communication with the navigation control device. The positioning generating device is used to form a multi-dimensional positioning signal field within the working area. When the first position acquisition device and the second position acquisition device move within the positioning signal field, they can collect corresponding three-dimensional spatial position information.

[0101] Specifically, the navigation control device 2 of the present application is used to construct a virtual model based on the regional image information of the target intervention area, the morphological attribute information, motion position information and intervention position information of the intervention component 12, to obtain a navigation three-dimensional model and an operation object three-dimensional model. The navigation three-dimensional model is used to characterize the three-dimensional spatial characteristics of the target intervention area, the three-dimensional spatial characteristics of the intervention component 12, and the spatial position information between the object to be ablated, the intervention component 12 and the target intervention area. The operation object three-dimensional model is used to characterize the three-dimensional spatial characteristics of the object to be ablated.

[0102] Specifically, if Figure 2 As shown, the navigation control device 2 of the present application includes:

[0103] The intervention region sub-model construction module 21 is used to perform image recognition processing on the regional image information of the target intervention region to obtain an image recognition result; and to reconstruct the image based on the image recognition result to obtain an intervention region sub-model and a three-dimensional model of the operation object. The intervention region sub-model is used to characterize the three-dimensional spatial characteristics of the target intervention region.

[0104] It should be noted that the regional image information of the target intervention area of ​​the present application can be a CT image or a nuclear magnetic resonance image of the target intervention area. By performing image recognition processing on the CT image or nuclear magnetic resonance image of the target intervention area, the three-dimensional data of the target intervention area and the three-dimensional data of the operation object can be extracted to provide data support for constructing a three-dimensional model. When the CT image of the target intervention area is a lung CT image of the target object, the three-dimensional data of the lung bronchi and the three-dimensional data of the diseased tissue area in the lung bronchi can be extracted by performing image recognition processing on the lung CT image. Image reconstruction is performed based on the three-dimensional data of the lung bronchi and the three-dimensional data of the diseased tissue area in the lung bronchi to obtain a three-dimensional model of the lung bronchi and a three-dimensional model of the diseased tissue.

[0105] The intervention component sub-model construction module 22 is configured to construct a virtual model based on the morphological attribute information of the intervention component 12, resulting in an intervention component sub-model. The intervention component sub-model is used to represent the three-dimensional spatial characteristics of the intervention component 12. Specifically, the morphological attribute information of the intervention component includes information such as the model and specifications of the intervention component 12. Based on this model and specification information, the model is constructed to obtain the intervention component sub-model. The intervention component sub-model in this application is a three-dimensional model of the intervention component 12.

[0106] The fusion module 23 is used to perform spatial fusion processing on the intervention region sub-model, the operation object 3D model and the intervention component sub-model according to the intervention position information and the motion position information to obtain a navigation 3D model.

[0107] Specifically, the fusion module 23 first dynamically matches the coordinates of the interventional component submodel based on the real-time acquired interventional position information and motion position information of the interventional component 12 with the coordinates of the interventional component submodel to obtain a dynamic interventional component submodel. The dynamic interventional component submodel is then displayed in real time within the static interventional region submodel. This involves spatially fusing the interventional region submodel, the three-dimensional model of the operated object, and the interventional component submodel to obtain a navigational three-dimensional model. The navigational three-dimensional model of this application can intuitively display the dynamic trajectory and real-time position of the interventional component 12 within the target interventional region, providing crucial assistance in determining the position of the interventional component during surgery.

[0108] The navigation control device 2 further includes a navigation planning module 24 , which is in communication with the navigation three-dimensional model.

[0109] The navigation planning module 24 is used to perform navigation planning based on the intervention area sub-model and the three-dimensional model of the operation object to obtain the navigation path of the intervention component 12 within the intervention area sub-model. The navigation path is used to indicate the required path of the intervention component 12 in the process of reaching the object to be ablated in the target intervention area.

[0110] It should be noted that the navigation planning module 24 of the present application can perform navigation planning for the movement path of the interventional component 12 within the target interventional region to reach the object to be ablated based on the interventional region sub-model and the three-dimensional model of the operation object, obtain the navigation path of the interventional component 12 within the interventional region sub-model, generate corresponding two-dimensional, three-dimensional and navigation data, and simultaneously display the planned navigation path from the entrance of the interventional component to the object to be ablated within the navigation three-dimensional model. In some possible embodiments, the key points of the planned navigation path can be highlighted within the navigation three-dimensional model, and the operator can control the movement of the interventional component 12 within the navigation three-dimensional model based on the displayed navigation path, manipulating the interventional component 12 to reach the object to be ablated.

[0111] In some embodiments, the navigation planning module 24 is also used to determine the intervention trajectory information of the intervention component 12 based on the intervention position information and motion position information of the intervention component 12 during the movement of the intervention component 12 in the target intervention area; if the intervention trajectory information and the path trajectory information corresponding to the navigation path meet the preset deviation condition, the intervention position of the intervention component 12 in the target intervention area is corrected until the updated intervention trajectory information of the intervention component 12 matches the path trajectory information.

[0112] It should be noted that, specifically, during the movement of the intervention component 12 in the target intervention area, the real-time intervention trajectory information of the intervention component 12 can be determined based on the intervention position information and movement position information of the intervention component 12. The trajectory key points of the intervention trajectory are generated based on the real-time intervention trajectory information of the intervention component 12, and the trajectory key points are dynamically matched with the path key points of the planned navigation path. When the matching degree between the trajectory key points and the path key points of the planned navigation path meets the preset deviation condition, the real-time intervention position of the intervention component 12 in the target intervention area is corrected until the real-time intervention trajectory information of the intervention component 12 matches the path trajectory information. The preset deviation condition of this application is whether the deviation between the trajectory key points of the intervention trajectory and the path key points of the planned navigation path exceeds a preset deviation threshold. When the deviation between the trajectory key points of the intervention trajectory and the path key points is greater than the preset deviation threshold, the real-time intervention position of the intervention component 12 in the target intervention area is corrected. When the deviation between the trajectory key points of the intervention trajectory and the path key points of the planned navigation path is less than or equal to the preset deviation threshold, the intervention component 12 is controlled to continue moving along the navigation path. This application dynamically matches the real-time intervention trajectory of the intervention component 12 with the navigation path, and can adjust the movement direction of the intervention component 12 at any time during the movement of the intervention component 12 in the target intervention area, thereby preventing the intervention component 12 from deviating from the navigation path and getting lost or causing damage to surrounding healthy tissues, thereby improving navigation accuracy.

[0113] In some possible implementations, when the navigation path appears blurred or obscured in the 3D navigation model, the surgeon can still determine whether the path ahead is a passageway based on the displayed 3D navigation model, and determine whether to continue moving along the planned navigation path. For example, if the navigation model of the lung bronchi appears blurred or obscured, it is usually caused by lung mucus in the bronchial passages. If the surgeon can determine that the bronchus blocking the front is a passageway based on the displayed 3D navigation model, the surgeon can continue to explore forward. By utilizing the viscous properties of mucus, when the front end of the interventional component 12 encounters mucus, it can continue to move forward for a distance according to the guidance of the navigation path, and thus flush out the mucus, allowing the mucus to flow along the tracheal wall instead of sticking to the front end of the interventional component 12, thereby resolving the problem of blurred vision and interference, and saving surgical time.

[0114] like Figure 2 and 3 As shown, the navigation control device 2 further includes an initial parameter acquisition module 25 and a target parameter determination module 26 .

[0115] The initial parameter acquisition module 25 is used to obtain the initial ablation parameters corresponding to the object attribute information of the object to be ablated, the impedance data of the object to be ablated, the contact parameters of the interventional component 12 and the dielectric constant of the object to be ablated. The initial ablation parameters include at least one of the pulse voltage, pulse width, pulse time and pulse frequency.

[0116] It should be noted that the object attribute information of the object to be ablated in the present application includes but is not limited to the lesion type and lesion degree information of the lesion tissue; the impedance data of the object to be ablated can indicate the current load condition of the interventional component 12; the attachment parameters of the interventional component 12 include but are not limited to information such as the attachment area and contact length between the interventional component 12 and the bronchus.

[0117] The present application can judge the tissue characteristics of the current object to be ablated based on the dielectric constant of the object to be ablated. Specifically, different cells have different electroporation thresholds, so the dielectric constants of different tissues are different. The ratio of the dielectric constants of different tissues can guide the proportion of different tissues and thus determine the content of different cells in the tissue. In some possible real-time methods, the detection of the dielectric constant can utilize sinusoidal excitation signals with multiple frequencies in 5KHz-300MHz to stimulate the changes in the complex impedance electrical signals corresponding to the reaction cell tissues under different frequency signals, and then convert these signals into frequency domain signals through methods such as Fourier transform, thereby obtaining the dielectric constant of the tissue. The present application can understand the changes in the content of different types of cells in the bronchial tissue corresponding to the object to be ablated based on the comparison of the dielectric constants of the object to be ablated before and after ablation, which can help evaluate the effectiveness of the ablation parameters.

[0118] The target parameter determination module 26 is used to evaluate the ablation effect based on the navigation three-dimensional model, the operation object three-dimensional model, the object attribute information of the object to be ablated, the initial ablation parameters corresponding to the object attribute information of the object to be ablated, the impedance data of the object to be ablated, the attachment parameters of the interventional component 12 and the dielectric constant of the object to be ablated, and obtain the ablation effect data corresponding to the initial ablation parameters; if the ablation effect data meets the target ablation conditions, the initial ablation parameters are determined as the target ablation parameters.

[0119] like Figure 11 This is a schematic diagram of the simulation, evaluation and display of the lung ablation effect of pulse energy in this application.

[0120] It should be noted that the impedance data of this application, together with parameters such as pulse voltage, pulse width, pulse time and pulse frequency, can be used to calculate the pulse energy currently loaded on the object to be ablated. The contact parameters of the interventional component 12 can be obtained by the rate of change of the impedance, thereby determining the contact quality between the interventional component 12 and the object to be ablated. In some possible implementations, the inner wall diameter of the bronchus can be calculated by the contact parameters of the interventional component 12, thereby determining the thickness of the bronchial mucosal layer. Figure 14 The figure shows the relationship between the inner diameter of the bronchus and the contact length. When the model and specifications of the interventional component 12 remain unchanged, the contact length between the interventional component 12 and the bronchus decreases as the inner diameter of the bronchus increases. Furthermore, based on the impedance data, the relationship between the inner diameter of the bronchus, the ablation range, the contact parameters, the pulse parameters, the thickness of the bronchus and the ablation effect can be further obtained through simulation. For example, in some embodiments, Figure 15 As shown, the point at a central depth of about 0.5mm at the contact point with the inner wall of the bronchus is selected as the marking point to characterize the ablation effect. When the contact length between the interventional component 12 and the bronchus is 5.0mm, 7.5mm, 10.0mm, 12.5mm and 15.0mm, the corresponding field strengths are approximately 1220V / cm, 1120V / cm, 900V / cm, 1000V / cm and 1125V / cm, respectively. When the contact length is about 11.0mm, the field strength is the smallest, about 900V / cm. As the bronchial order increases and the inner diameter decreases, the contact length between the interventional component 12 and the bronchus increases, and the field strength at the marking point tends to decrease, but the minimum field strength is not less than 900V / cm, which can meet the threshold field strength for achieving the preset ablation effect, and the treatment effect is not significantly reduced. Figure 16 As shown, a point at a central depth of approximately 0.5 mm at the contact point with the inner wall of the bronchus is selected as a marking point to characterize the ablation effect. As the bronchial wall thickness increases, when the contact length of the interventional component 12 with the bronchus is 5.0 mm, 7.5 mm, 10.0 mm, 12.5 mm and 15.0 mm, the corresponding field strengths are approximately 1600 V / cm, 1310 V / cm, 1120 V / cm, 1060 V / cm, 1080 V / cm and 1200 V / cm, respectively. When the contact length is approximately 10.0 mm, the field strength is the smallest, approximately 1060 V / cm. As the bronchial wall thickness increases, the contact length of the interventional component 12 with the bronchus increases, and the field strength at the marking point tends to decrease, but the minimum field strength is not less than 1000 V / cm, which can meet the threshold field strength for achieving the preset ablation effect. Obviously, in the present application, when the inner diameter of the bronchus decreases or the bronchial wall thickness increases, increasing the contact length between the interventional component 12 and the bronchus will not have a significant impact on the ablation effect.

[0121] Specifically, the target parameter determination module 26 includes a simulation ablation model construction unit 261 .

[0122] The simulation ablation model construction unit 261 is used to simulate the ablation effect based on the object attribute information, initial ablation parameters, impedance data, adhesion parameters, dielectric constant, operation object three-dimensional model and navigation three-dimensional model as inputs of the ablation evaluation model, and obtain a simulation ablation model corresponding to the initial ablation parameters. The simulation ablation model is used to characterize the ablation effect data corresponding to the initial ablation parameters.

[0123] It should be noted that the simulation ablation model construction unit 261 inputs the object attribute information, initial ablation parameters, impedance data, attachment parameters, dielectric constant, operation object three-dimensional model and navigation three-dimensional model into the ablation evaluation model to simulate the ablation effect, and obtains a simulation ablation model corresponding to the initial ablation parameters. The ablation evaluation model of the present application can be an ablation evaluation database established by pre-simulated data and clinically collected data. The pre-simulated data is the relationship data between the bronchial inner diameter, ablation range, attachment parameters, pulse parameters and bronchial thickness and the ablation effect obtained by simulating the impedance data. According to the simulation ablation model, the present application can intuitively observe the ablation range and ablation effect of the pulse energy generated based on the initial ablation parameters on the lung tissue, and can intuitively help the operator judge whether the initial ablation parameters need to be adjusted. Figure 17 As shown in FIG, the ablation effect of the pulse energy on the lung tissue in the simulated ablation model generated when the pulse voltage amplitude is set to 1500 V. It can be seen that most areas in the bronchus are ablated.

[0124] In some embodiments, the color of the ablation model can be used to indicate the ablation range and ablation effect of the lung tissue based on different initial ablation parameters in the simulated ablation model. The surgeon can adjust the initial ablation parameters according to the simulated ablation model, and can also use this to avoid possible risks, such as Figure 18 The simulation model shown shows the ablation effects of the pulse energy generated with different initial ablation parameters on the superficial ablation, partial ablation and complete ablation of the bronchial tissue mucosal layer.

[0125] It should be noted that when the ablation effect data corresponding to the obtained initial ablation parameters meet the target ablation conditions, the initial ablation parameters are determined as the target ablation parameters. In some possible embodiments, the target ablation conditions include the ablation range and ablation effect of the lung tissue observed through the simulated ablation model reaching the desired ablation effect, and the dielectric constant of the object to be ablated after ablation meeting a preset condition, that is, the content of different types of cells in the bronchial tissue after ablation reaches the normal tissue standard.

[0126] It should be noted that, before ablation, the present application can input the object attribute information, initial ablation parameters, impedance data, attachment parameters, dielectric constant, operating object three-dimensional model and navigation three-dimensional model into the ablation evaluation model to simulate the ablation effect, and obtain a simulated ablation model, so as to indicate the ablation effect before ablation in advance according to the simulated ablation model, and then optimize the initial ablation parameters and the number of ablations, thereby improving the effectiveness of the treatment. In other embodiments, after ablation, the updated object attribute information, ablation parameters, impedance data, attachment parameters, dielectric constant, operating object three-dimensional model and navigation three-dimensional model can also be input into the ablation evaluation model to simulate the effect after ablation, thereby helping to determine whether the ablation is effective. The ablation effect evaluation of the ablation effect after ablation can also be used to optimize the ablation evaluation database, help optimization and learning, and thus improve the quality of the evaluation.

[0127] The navigation control device 2 includes a pulse energy generation module 27 .

[0128] The pulse energy generation module 27 is used to generate an energy generation control signal based on the target ablation parameters to control the operation of the ablation device 4.

[0129] Specifically, the navigation control device 2 also includes an ablation three-dimensional model generation module 28, which is used to obtain the ablation trajectory information and ablation data of the interventional component 12 after the interventional component 12 performs ablation treatment on the object to be ablated; generate an ablation three-dimensional model based on the ablation trajectory information, ablation data and target ablation parameters, the ablation data including the ablation area that has been ablated and the ablation position information of the ablation area, and the ablation three-dimensional model represents the three-dimensional spatial characteristics of the object to be ablated after ablation.

[0130] It should be noted that the three-dimensional ablation model of the present application is used to record the ablation trajectory information and ablation data of the interventional component 12 in the target interventional area. In some possible embodiments, the ablation data includes the ablation area that has been ablated and the ablation position information of the ablation area. In other possible embodiments, the ablation data also includes information such as the ablation parameters, ablation time and ablation status of the interventional component 12 in the ablation area that has been ablated and the ablation area. Through the three-dimensional ablation model of the present application, the surgeon can review and observe the ablation trajectory information and ablation data of the interventional component 12 at any time. In the "complex" pulmonary bronchial "maze", this information provides very important data support for the surgeon to judge which parts have been ablated and which parts have not yet been ablated, which can effectively improve the efficiency of the operation and reduce the possibility of repeated ablation in the operation.

[0131] like Figure 12 and 13As shown, the control circuit of the ablation device 4 of the present application includes a pulse power supply 41, a switching circuit 42 and an output interface 43, wherein the pulse power supply 41 is electrically connected to the switching circuit 42, and the output interface 43 is used to electrically connect to the energy delivery intervention device 1, and the switching circuit 42 includes at least two branch circuits 421 connected in parallel, full bridge, half bridge or series, and each branch circuit 421 includes an input end switch module 4211 and an output end switch module 4212. The switching circuit 42 controls the corresponding input end switch module 4211 and the output end switch module 4212 to conduct in response to the energy generation control signal of the pulse energy generation module 27 to generate pulse energy.

[0132] Furthermore, the branch circuit 421 also includes a capacitor module 4213, which includes a plurality of capacitor groups connected in series or in parallel. Each capacitor group may include capacitors of different models and different numbers according to different outputs. By controlling the start and disconnection of the input end switch module 4211 and the output end switch module 4212 on the branch circuit 421, it is possible to charge the capacitor in the capacitor module 4213 at the input end, and to output pulse energy of different voltage amplitudes at the output end. In some possible embodiments, by controlling the charge and discharge time of the capacitor module 4213, it is possible to output pulse energy of different voltage amplitudes. In other possible embodiments, by combining multiple controllable branch circuits 421 and controlling the corresponding input end switch modules 4211 and output end switch modules 4212 on different branch circuits 421, it is also possible to control the output of pulse energy and the charging of the capacitor module 4213 in a time-sharing manner, thereby improving circuit safety and being more convenient and efficient.

[0133] Furthermore, branch circuit 421 further includes a diode module 4214, which includes multiple diodes arranged in a forward and reverse arrangement. The arrangement of diode module 4214 allows the control of the states of the individual switches on different branch circuits 421 during the charging and discharging processes of switch circuit 42, thereby enabling the charging or discharging of specific capacitors. Furthermore, during the discharge process, the capacitor bank's capacitance is not reversely charged, thereby reducing unnecessary energy loss in the capacitor bank's capacitance.

[0134] Furthermore, the branch circuit 421 also includes a filtering module 4215, and the filtering module 4215 includes a plurality of filtering units. The filtering unit includes a plurality of filters and a filter selector, and the filter selector is used to select different filters for filtering processing. In some possible embodiments, the filtering unit includes one or more of a low-pass filter, a high-pass filter, a band-pass filter, a band-stop filter, and an all-pass filter. The energy generating unit of the present application can achieve the output of pulse energy of different frequencies and forms by using different filters or different filter combinations for filtering processing. In some possible embodiments, by selecting different filters or different filter combinations for filtering processing, the output of pulse energy of different waveforms or combined waveforms such as sine waves, square waves, and triangle waves can be achieved.

[0135] In some possible implementations, the branch circuit 421 may include, but is not limited to, an input-end switch module 4211 , a capacitor module 4213 , a diode module 4214 , a filter module 4215 , and an output-end switch module 4212 .

[0136] The switching circuit of the ablation device of the present application can realize several combinations of pulse energy amplitude, pulse width, interval, quantity or direction, etc. by connecting multiple branch circuits 421 and controlling the corresponding input end switch modules 4211 and output end switch modules 4212 on different branch circuits 421. By controlling the corresponding input end switch modules 4211 and output end switch modules 4212 on the branch circuit 421 and cooperating with the filter module 4215, the output of pulse energy of different frequencies and shapes can be realized. Based on the switching circuit of the present application, the ablation device can have different voltage amplitudes, frequencies and pulse shapes in a set of pulse energies, generate more targeted pulse energy, and while increasing the treatment effect, it is helpful to reduce the stimulation reaction problem caused by the ablation treatment process and improve the safety of treatment.

[0137] Specifically, the steps of using the ablation system of the present application to treat endobronchial diseases of the lungs include:

[0138] The interventional assembly 12 in a collapsed state is delivered into the lung bronchus via the operating handle 16;

[0139] Collecting the motion position information of the target object and transmitting it to the navigation control device 2;

[0140] The acquisition device acquires the intervention position information of the intervention component 12 in the lung bronchus and transmits it to the navigation control device 2;

[0141] A virtual model is constructed based on the lung CT image to obtain a 3D model of the lung bronchus and a 3D model of the lesion tissue; a virtual model is constructed based on the morphological attribute information of the intervention component 12 to obtain an intervention component sub-model; and a spatial fusion processing is performed on the 3D model of the lung bronchus, the 3D model of the lesion tissue, and the intervention component sub-model based on the intervention position information and the motion position information to obtain a navigation 3D model.

[0142] Perform navigation planning based on the 3D lung bronchial model and the 3D lesion tissue model to obtain a navigation path for the interventional component 12 within the 3D lung bronchial model and generate corresponding 2D and 3D navigation data;

[0143] During the movement of the interventional component 12 in the pulmonary bronchus, the real-time interventional position of the interventional component 12 in the pulmonary bronchus is corrected at any time according to the navigation path until the interventional component 12 reaches the diseased tissue area in the pulmonary bronchus;

[0144] The expansion degree of the interventional component 12 is controlled by the control component 17 on the operating handle 16 so that the interventional component 12 is evenly attached to the diseased tissue;

[0145] Acquiring initial ablation parameters corresponding to the object attribute information of the lesion tissue, impedance data of the lesion tissue, abutment parameters of the interventional component 12, and dielectric constant of the lesion tissue;

[0146] Based on the object attribute information, initial ablation parameters, impedance data, attachment parameters, dielectric constant, lesion tissue three-dimensional model and the navigation three-dimensional model as inputs of the ablation evaluation model, ablation effect simulation is performed to obtain a simulated ablation model corresponding to the initial ablation parameters;

[0147] According to the simulated ablation model, if the ablation effect data corresponding to the initial ablation parameters meet the target ablation conditions, the target ablation parameters are determined;

[0148] generating an energy generation control signal based on the target ablation parameter to control the operation of the ablation device 4;

[0149] The ablation device 4 controls the corresponding switch circuit 42 to conduct in response to the energy generation control signal to generate pulse energy;

[0150] Transmitting pulse energy to the energy delivery interventional device 1 so that the interventional component 12 ablates the diseased tissue;

[0151] The ablation trajectory information and ablation data of the interventional component 12 are acquired, and a three-dimensional ablation model is generated according to the ablation trajectory information, ablation data and target ablation parameters.

[0152] This application also provides a method for controlling object ablation, such as Figure 4 A flow chart of a method for controlling object ablation, the method comprising:

[0153] S101: Receive motion position information of a target object collected by a first position collection device and intervention position information of an intervention component in a target intervention area collected by a second position collection device, where the target intervention area belongs to a target object.

[0154] S102: A virtual model is constructed based on the regional image information of the target intervention area, the morphological attribute information of the intervention component, the motion position information and the intervention position information to obtain a navigation three-dimensional model and an operation object three-dimensional model. The navigation three-dimensional model is used to characterize the three-dimensional spatial characteristics of the target intervention area, the three-dimensional spatial characteristics of the intervention component, and the spatial position information between the object to be ablated, the intervention component and the target intervention area. The operation object three-dimensional model is used to characterize the three-dimensional spatial characteristics of the object to be ablated.

[0155] S103: Determine target ablation parameters corresponding to the object to be ablated according to the navigation three-dimensional model, the operation object three-dimensional model and object attribute information of the object to be ablated.

[0156] S104: Control the ablation device to operate based on the target ablation parameters, so that the intervention component performs ablation processing on the object to be ablated.

[0157] Furthermore, step S102 further includes:

[0158] S1021: Perform image recognition processing on the regional image information of the target intervention area to obtain an image recognition result; and perform image reconstruction based on the image recognition result to obtain an intervention area sub-model and an operation object three-dimensional model. The intervention area sub-model is used to characterize the three-dimensional spatial characteristics of the target intervention area.

[0159] S1022: Construct a virtual model according to the morphological attribute information of the intervention component to obtain an intervention component sub-model, where the intervention component sub-model is used to represent the three-dimensional spatial characteristics of the intervention component.

[0160] S1023: Perform spatial fusion processing on the intervention region sub-model, the operation object three-dimensional model, and the intervention component sub-model according to the intervention position information and the motion position information to obtain a navigation three-dimensional model.

[0161] Furthermore, step S102 further includes:

[0162] S1024: Navigation planning is performed based on the intervention region sub-model and the operation object three-dimensional model to obtain a navigation path of the intervention component within the intervention region sub-model. The navigation path is used to indicate the required path for the intervention component to reach the object to be ablated within the target intervention region.

[0163] Furthermore, step S102 further includes:

[0164] S1025: During the movement of the intervention component in the target intervention area, the intervention trajectory information of the intervention component is determined based on the intervention position information and the movement position information of the intervention component; if the intervention trajectory information and the path trajectory information corresponding to the navigation path meet the preset deviation condition, the intervention position of the intervention component in the target intervention area is corrected until the updated intervention trajectory information of the intervention component matches the path trajectory information.

[0165] Furthermore, step S103 further includes:

[0166] S1031: Obtaining initial ablation parameters corresponding to object attribute information of the object to be ablated, impedance data of the object to be ablated, attachment parameters of the interventional component, and dielectric constant of the object to be ablated, wherein the initial ablation parameters include at least one of pulse voltage, pulse width, number of pulses, and number of pulse groups.

[0167] S1032: Evaluate the ablation effect based on the navigation three-dimensional model, the operation object three-dimensional model, the object attribute information of the object to be ablated, the initial ablation parameters corresponding to the object attribute information of the object to be ablated, the impedance data of the object to be ablated, the attachment parameters of the interventional component and the dielectric constant of the object to be ablated, and obtain ablation effect data corresponding to the initial ablation parameters; if the ablation effect data meets the target ablation conditions, determine the initial ablation parameters as the target ablation parameters.

[0168] Furthermore, step S103 further includes:

[0169] S1033: Based on the object attribute information, initial ablation parameters, impedance data, adhesion parameters, dielectric constant, operation object three-dimensional model and navigation three-dimensional model as inputs of the ablation evaluation model, an ablation effect simulation is performed to obtain a simulated ablation model corresponding to the initial ablation parameters. The simulated ablation model is used to characterize the ablation effect data corresponding to the initial ablation parameters.

[0170] Furthermore, step 104 further includes:

[0171] S1041: Generate an energy generation control signal based on the target ablation parameter to control the operation of the ablation device.

[0172] Furthermore, the object ablation control method further includes:

[0173] S105: After the interventional component performs ablation on the object to be ablated, the ablation trajectory information and ablation data of the interventional component are obtained; an ablation three-dimensional model is generated according to the ablation trajectory information, the ablation data and the target ablation parameters, wherein the ablation data includes the ablation area that has been ablated and the ablation position information of the ablation area, and the ablation three-dimensional model represents the three-dimensional spatial characteristics of the object to be ablated after ablation.

[0174] The present application also provides an object ablation control device, which may include the following modules.

[0175] An information receiving module is configured to receive the motion position information of the target object acquired by the first position acquisition device and the intervention position information of the intervention component in the target intervention area acquired by the second position acquisition device, where the target intervention area belongs to the target object;

[0176] Model construction module: used to construct a virtual model based on regional image information of the target intervention area, morphological attribute information of the intervention component, motion position information and intervention position information, to obtain a navigation 3D model and an operation object 3D model. The navigation 3D model is used to represent the 3D spatial characteristics of the target intervention area, the 3D spatial characteristics of the intervention component, and the spatial position information between the object to be ablated, the intervention component and the target intervention area. The operation object 3D model is used to represent the 3D spatial characteristics of the object to be ablated.

[0177] Parameter determination module: used to determine the target ablation parameters corresponding to the object to be ablated based on the navigation three-dimensional model, the operation object three-dimensional model and the object attribute information of the object to be ablated;

[0178] Object control module: used to control the ablation device to operate based on the target ablation parameters so that the intervention component can perform ablation treatment on the object to be ablated.

[0179] In some embodiments, the model building module includes:

[0180] The intervention area sub-model construction module is used to perform image recognition processing on the regional image information of the target intervention area to obtain image recognition results; and to reconstruct the image based on the image recognition results to obtain the intervention area sub-model and the three-dimensional model of the operation object. The intervention area sub-model is used to characterize the three-dimensional spatial characteristics of the target intervention area.

[0181] The intervention component sub-model construction module is used to construct a virtual model according to the morphological attribute information of the intervention component to obtain the intervention component sub-model, which is used to represent the three-dimensional spatial characteristics of the intervention component.

[0182] The fusion module is used to perform spatial fusion processing on the intervention area sub-model, the operation object three-dimensional model and the intervention component sub-model according to the intervention position information and the motion position information to obtain the navigation three-dimensional model.

[0183] Furthermore, the model building module also includes a navigation planning module, which is in communication with the navigation three-dimensional model:

[0184] The navigation planning module is used to perform navigation planning based on the intervention area sub-model and the three-dimensional model of the operation object, and obtain the navigation path of the intervention component within the intervention area sub-model. The navigation path is used to indicate the required path for the intervention component to reach the object to be ablated in the target intervention area.

[0185] Furthermore, the navigation planning module is also used to determine the intervention trajectory information of the intervention component based on the intervention position information and motion position information of the intervention component during the movement of the intervention component in the target intervention area; if the intervention trajectory information and the path trajectory information corresponding to the navigation path meet the preset deviation condition, the intervention position of the intervention component in the target intervention area is corrected until the updated intervention trajectory information of the intervention component matches the path trajectory information.

[0186] In some embodiments, the parameter determination module includes:

[0187] The initial parameter acquisition module is used to obtain initial ablation parameters corresponding to the object attribute information of the object to be ablated, impedance data of the object to be ablated, abutment parameters of the interventional component, and dielectric constant of the object to be ablated, wherein the initial ablation parameters include at least one of pulse voltage, pulse width, number of pulses, and number of pulse groups;

[0188] The target parameter determination module is used to evaluate the ablation effect based on the navigation three-dimensional model, the operation object three-dimensional model, the object attribute information of the object to be ablated, the initial ablation parameters corresponding to the object attribute information of the object to be ablated, the impedance data of the object to be ablated, the attachment parameters of the interventional component and the dielectric constant of the object to be ablated, and obtain the ablation effect data corresponding to the initial ablation parameters; if the ablation effect data meets the target ablation conditions, the initial ablation parameters are determined as the target ablation parameters.

[0189] Furthermore, the target parameter determination module also includes:

[0190] The simulation ablation model construction unit is used to simulate the ablation effect based on the object attribute information, initial ablation parameters, impedance data, adhesion parameters, dielectric constant, operation object three-dimensional model and navigation three-dimensional model as inputs of the ablation evaluation model, and obtain a simulation ablation model corresponding to the initial ablation parameters. The simulation ablation model is used to characterize the ablation effect data corresponding to the initial ablation parameters.

[0191] Furthermore, the object control module includes:

[0192] The pulse energy generation module is used to generate an energy generation control signal based on the target ablation parameters to control the operation of the ablation device.

[0193] In some embodiments, the object ablation control apparatus further comprises:

[0194] The ablation three-dimensional model generation module is used to obtain the ablation trajectory information and ablation data of the interventional component after the interventional component performs ablation treatment on the object to be ablated; generate an ablation three-dimensional model based on the ablation trajectory information, ablation data and target ablation parameters, the ablation data including the ablation area that has been ablated and the ablation position information of the ablation area, and the ablation three-dimensional model represents the three-dimensional spatial characteristics of the object to be ablated after ablation.

[0195] It should be noted that the above device embodiments and method embodiments are based on the same implementation method.

[0196] The navigation control device of the object ablation system of the present application can run on a terminal or a server, and includes a processor and a memory, in which at least one instruction or at least one program is stored. The at least one instruction or the at least one program is loaded and executed by the processor to implement the object ablation control method provided in the above-mentioned method embodiment.

[0197] The memory can be used to store software programs and modules. The processor executes various functional applications and object ablation operations by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area. The program storage area can store the operating system, application programs required for the function, etc.; the data storage area can store data created based on the use of the device, etc. In addition, the memory can include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory can also include a memory controller to provide the processor with access to the memory.

[0198] The method embodiments provided in the embodiments of the present application can be executed in electronic devices such as mobile terminals, computer terminals, servers or similar computing devices. Figure 5 This is a hardware structure block diagram of an electronic device for an object ablation control method provided in an embodiment of the present application. Figure 5As shown, the electronic device 100 may have relatively large differences due to different configurations or performances, and may include one or more central processing units (CPUs) 110 (the processor 110 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 130 for storing data, and one or more storage media 120 for storing applications 123 or data 122 (for example, one or more mass storage devices). Among them, the memory 130 and the storage medium 120 can be short-term storage or persistent storage. The program stored in the storage medium 120 may include one or more modules, each module may include a series of instruction operations on the electronic device. Furthermore, the central processing unit 110 can be configured to communicate with the storage medium 120 to execute a series of instruction operations in the storage medium 120 on the electronic device 100. The electronic device 100 may also include one or more power supplies 160, one or more wired or wireless network interfaces 150, one or more input and output interfaces 140, one or more displays 170, and / or one or more operating systems 121, such as Windows Server™, MacOS X™, Unix™, Linux™, FreeBSD™, etc.

[0199] The input / output interface 140 can be used to receive or send data via a network. Specific examples of the aforementioned network may include a wireless network provided by a communications provider of the electronic device 100. In one embodiment, the input / output interface 140 includes a network adapter (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one embodiment, the input / output interface 140 can be a radio frequency (RF) module for wirelessly communicating with the Internet.

[0200] The display 170 can be used to display electronic files on a screen via a specific transmission device and then reflect them to the human eye. The display 170 of the present application can be used for interface display, data management display, endoscopic image display, two-dimensional image display, three-dimensional image display, and a combination of multiple two-dimensional and three-dimensional images and multi-dimensional display.

[0201] It can be understood by those skilled in the art that Figure 5 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 5 More or fewer components than shown, or with Figure 5 Different configurations shown.

[0202] An embodiment of the present application also provides a computer-readable storage medium, which can be set in an electronic device to store at least one instruction or at least one program related to an object ablation control method in a method embodiment. The at least one instruction or the at least one program is loaded and executed by the processor to implement the object ablation control method provided by the above-mentioned method embodiment.

[0203] Optionally, in this embodiment, the storage medium may be located in at least one of a plurality of network servers in a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0204] According to one aspect of the present application, a computer program product or computer program is provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the methods provided in the various optional implementations described above.

[0205] The object ablation system, control method, device, storage medium, and electronic device provided by the present application have the following beneficial effects:

[0206] The object ablation system of the present application is designed to construct a virtual model for a complex target intervention area based on the regional image information of the target intervention area, thereby obtaining a navigation three-dimensional model and an operation object three-dimensional model. The navigation three-dimensional model is used to characterize the three-dimensional spatial characteristics of the target intervention area, the three-dimensional spatial characteristics of the intervention component, and the spatial position information between the object to be ablated, the intervention component, and the target intervention area. The navigation three-dimensional model can be used to navigate and position the intervention component, providing important intuitive assistance for determining the position of the intervention component during the operation, thereby enabling the intervention component to reach a more distant and narrow lesion location.

[0207] This application constructs a simulated ablation model before ablation, so that the surgeon can intuitively observe the ablation range and ablation effect of the pulse energy generated based on the initial ablation parameters, and can intuitively help the surgeon determine whether the initial ablation parameters need to be adjusted, and then optimize the initial ablation parameters and the number of ablations to obtain the target ablation parameters to generate more accurate pulse energy.

[0208] The switching circuit of the ablation device of the present application can realize several combinations of pulse energy amplitude, pulse width, interval, quantity or direction, etc. by connecting different branch circuits and controlling the corresponding input-end switch modules and output-end switch modules on different branch circuits. By controlling the corresponding input-end switch modules and output-end switch modules on different branch circuits and coordinating with the filter module, the output of pulse energy of different frequencies and shapes can be realized. Based on the switching circuit of the present application, the ablation device can generate more targeted pulse energy by having different voltage amplitudes, frequencies and pulse shapes in a group of pulse energies, which is conducive to reducing the stimulation reaction problems caused by the ablation treatment process while increasing the treatment effect, thereby improving the safety of treatment.

[0209] The navigation control device in this application also includes a module for generating a 3D ablation model. This 3D ablation model is used to record the ablation trajectory and data of the interventional component within the target intervention area. The 3D ablation model allows the surgeon to review the ablation trajectory and data of the interventional component at any time, providing crucial data support for determining which areas have been ablated and which remain unablated. This effectively improves surgical efficiency and reduces the likelihood of repeated ablations.

[0210] The interventional component of the energy delivery interventional device of the present application includes a mesh-shaped expandable electrode. The expandable electrode has a compact structure, good support, and uniform energy distribution. It can better fit the lesion tissue, with a larger fitting area and more uniform ablation.

[0211] The ablation system of the present application combines a navigation control device, an ablation device and an energy delivery interventional device, thereby improving surgical accuracy, efficiency, treatment effect and treatment safety.

[0212] The above-mentioned order of the embodiments of the present application is for descriptive purposes only and does not represent the superiority or inferiority of the embodiments. The above description is of specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0213] The various embodiments in this application are described in a progressive manner. Similar portions between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the device, equipment, and storage medium embodiments are generally similar to the method embodiments, so their descriptions are relatively simple. For relevant portions, refer to the descriptions of the method embodiments.

[0214] Those skilled in the art will appreciate that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by instructing the relevant hardware to accomplish the steps through a program.

[0215] The foregoing description shows and describes preferred embodiments of the present invention. As previously mentioned, it should be understood that the present invention is not limited to the form disclosed herein and should not be construed as excluding other embodiments. Instead, the present invention can be used in various other combinations, modifications, and environments and can be modified within the scope of the inventive concept described herein by the teachings above or by techniques or knowledge in the relevant art. Modifications and variations made by those skilled in the art without departing from the spirit and scope of the present invention are intended to be within the scope of the appended claims.

Claims

1. A system for ablation of an object, characterized in that: The invention comprises an energy delivery intervention device (1), a navigation control device (2), a first position acquisition device (3) and an ablation device (4); the energy delivery intervention device (1) comprises a second position acquisition device (11) and an intervention component (12); the first position acquisition device (3), the second position acquisition device (11), the intervention component (12) and the ablation device (4) are respectively connected to the navigation control device (2) for communication; The energy delivery intervention device (1) comprises an abutment detection device and a dielectric constant detection device, wherein the abutment detection device and the dielectric constant detection device are respectively communicatively connected to the navigation control device (2); The abutment detection device is used to detect impedance data of the object to be ablated and an abutment parameter of the intervention component (12), the impedance data is used to indicate the load of the intervention component (12), and the abutment parameter is used to indicate the degree of abutment between the intervention component (12) and the object to be ablated, and is sent to the initial parameter acquisition module (25); The dielectric constant detection device is used to detect the dielectric constant of the object to be ablated; The first position acquisition device (3) is used to acquire motion position information of the target object and transmit it to the navigation control device (2); The second position acquisition device (11) is used to acquire intervention position information of the intervention component (12) in a target intervention area and transmit the information to the navigation control device (2), wherein the target intervention area belongs to the target object; The navigation control device (2) is used to construct a virtual model based on the regional image information of the target intervention area, the morphological attribute information of the intervention component (12), the motion position information and the intervention position information, to obtain a navigation three-dimensional model and an operation object three-dimensional model, the navigation three-dimensional model is used to characterize the three-dimensional spatial characteristics of the target intervention area, the three-dimensional spatial characteristics of the intervention component (12), and the spatial position information between the object to be ablated, the intervention component (12) and the target intervention area, and the operation object three-dimensional model is used to characterize the three-dimensional spatial characteristics of the object to be ablated; The navigation control device (2) is further configured to determine target ablation parameters corresponding to the object to be ablated based on the navigation three-dimensional model, the operation object three-dimensional model, and object attribute information of the object to be ablated; and to control the ablation device (4) to operate based on the target ablation parameters so that the intervention component (12) performs ablation processing on the object to be ablated; The navigation control device (2) further includes an initial parameter acquisition module (25) and a target parameter determination module (26); The initial parameter acquisition module (25) is used to acquire initial ablation parameters corresponding to the object attribute information of the object to be ablated, impedance data of the object to be ablated, abutment parameters of the intervention component (12), and the dielectric constant of the object to be ablated, wherein the initial ablation parameters include at least one of pulse voltage, pulse width, number of pulses, and number of pulse groups; The target parameter determination module (26) is used to evaluate the ablation effect based on the navigation three-dimensional model, the operation object three-dimensional model, the object attribute information of the object to be ablated, the initial ablation parameters corresponding to the object attribute information of the object to be ablated, the impedance data of the object to be ablated, the attachment parameters of the interventional component (12) and the dielectric constant of the object to be ablated, and obtain the ablation effect data corresponding to the initial ablation parameters; if the ablation effect data meets the target ablation condition, the initial ablation parameters are determined as the target ablation parameters.

2. The object ablation system according to claim 1, characterized in that: The navigation control device (2) comprises: An intervention region sub-model construction module (21) is used to perform image recognition processing on the regional image information of the target intervention region to obtain an image recognition result; and to perform image reconstruction based on the image recognition result to obtain an intervention region sub-model and the three-dimensional model of the operation object, wherein the intervention region sub-model is used to characterize the three-dimensional spatial characteristics of the target intervention region; An intervention component sub-model construction module (22) is used to construct a virtual model based on the morphological attribute information of the intervention component (12) to obtain an intervention component sub-model, wherein the intervention component sub-model is used to represent the three-dimensional spatial characteristics of the intervention component (12); A fusion module (23) is used to perform spatial fusion processing on the intervention region sub-model, the operation object three-dimensional model and the intervention component sub-model according to the intervention position information and the motion position information to obtain the navigation three-dimensional model.

3. The object ablation system according to claim 2, characterized in that: The navigation control device (2) further comprises a navigation planning module (24), wherein the navigation planning module (24) is in communication with the navigation three-dimensional model: The navigation planning module (24) is used to perform navigation planning based on the intervention area sub-model and the three-dimensional model of the operation object to obtain a navigation path of the intervention component (12) within the intervention area sub-model. The navigation path is used to indicate the required path for the intervention component (12) to reach the object to be ablated in the target intervention area.

4. The object ablation system according to claim 3, characterized in that: The navigation planning module (24) is further configured to determine the intervention trajectory information of the intervention component (12) based on the intervention position information of the intervention component (12) and the movement position information during the movement of the intervention component (12) in the target intervention area; if the intervention trajectory information and the path trajectory information corresponding to the navigation path meet a preset deviation condition, the intervention position of the intervention component (12) in the target intervention area is corrected until the updated intervention trajectory information of the intervention component (12) matches the path trajectory information.

5. The object ablation system according to claim 1, characterized in that: The target parameter determination module (26) includes a simulation ablation model construction unit (261); The simulation ablation model construction unit (261) is used to simulate the ablation effect based on the object attribute information, the initial ablation parameters, the impedance data, the adhesion parameters, the dielectric constant, the operating object three-dimensional model and the navigation three-dimensional model as inputs of the ablation evaluation model, and obtain a simulation ablation model corresponding to the initial ablation parameters. The simulation ablation model is used to characterize the ablation effect data corresponding to the initial ablation parameters.

6. An object ablation system according to any one of claims 1 to 4, characterized in that: The navigation control device (2) further includes an ablation three-dimensional model generation module (27); The ablation three-dimensional model generation module (27) is used to obtain the ablation trajectory information and ablation data of the interventional component (12) after the interventional component (12) performs ablation treatment on the object to be ablated; generate an ablation three-dimensional model based on the ablation trajectory information, the ablation data and the target ablation parameters, the ablation data including the ablation area that has been ablated and the ablation position information of the ablation area, and the ablation three-dimensional model represents the three-dimensional spatial characteristics of the object to be ablated after ablation.

7. The object ablation system according to claim 6, characterized in that: The navigation control device (2) includes a pulse energy generation module (28); The pulse energy generation module (28) is used to generate an energy generation control signal based on the target ablation parameter to control the operation of the ablation device (4).

8. The object ablation system according to claim 7, characterized in that: The control circuit of the ablation device (4) includes a switching circuit (42), and the switching circuit (42) includes at least two branch circuits (421) connected in parallel, full bridge, half bridge or series, and each branch circuit (421) includes an input end switch module (4211) and an output end switch module (4212); the switching circuit (42) controls the corresponding input end switch module (4211) and output end switch module (4212) to conduct in response to the energy generation control signal of the pulse energy generation module (28), thereby generating pulse energy.

9. The object ablation system according to claim 8, characterized in that: The branch circuit (421) includes a filtering module (4215), the filtering module (4215) includes a plurality of filtering units, the filtering units include a plurality of filters and a filtering selector, and the filtering selector is used to select different filters for filtering processing.

10. The object ablation system according to any one of claims 1 to 4, characterized in that: The energy delivery interventional device (1) comprises a core shaft (13) and a steering tube assembly (14), wherein the core shaft (13) is electrically connected to the interventional assembly (12) and the ablation device (4) respectively; The second position acquisition device (11) is arranged on the core shaft (13) and / or the intervention component (12); The interventional component (12) includes at least one expandable electrode (121), at least one of the expandable electrodes (121) is mesh-shaped, and at least one of the expandable electrodes (121) is arranged in sequence along the core shaft (13). The control tube component (14) is sleeved on the outside of the core shaft (13), and the control tube component (14) can move relative to the core shaft (13) to drive the interventional component (12) to expand or contract.

11. The object ablation system according to claim 1, characterized in that: The abutment detection device and the dielectric constant detection device are both arranged on the intervention component (12), and the abutment detection device and the dielectric constant detection device are both communicatively connected to the navigation control device (2).

12. An object ablation control device, characterized in that: The device comprises: An energy delivery intervention device (1) comprises an abutment detection device and a dielectric constant detection device, wherein the abutment detection device and the dielectric constant detection device are communicatively connected to a navigation control device (2); The abutment detection device is used to detect impedance data of the object to be ablated and an abutment parameter of the intervention component (12), wherein the impedance data is used to indicate the load of the intervention component (12), and the abutment parameter is used to indicate the degree of abutment between the intervention component (12) and the object to be ablated, and is sent to the initial parameter acquisition module (25); the dielectric constant detection device is used to detect the dielectric constant of the object to be ablated; An information receiving module is configured to receive movement position information of a target object acquired by a first position acquisition device (3) and intervention position information of an intervention component (12) in a target intervention area acquired by a second position acquisition device (11), wherein the target intervention area belongs to the target object; A model construction module is used to construct a virtual model based on regional image information of the target intervention region, morphological attribute information of the intervention component (12), the motion position information and the intervention position information, to obtain a navigation three-dimensional model and an operation object three-dimensional model, wherein the navigation three-dimensional model is used to characterize the three-dimensional spatial characteristics of the target intervention region, the three-dimensional spatial characteristics of the intervention component (12), and the spatial position information between the object to be ablated, the intervention component (12) and the target intervention region, and the operation object three-dimensional model is used to characterize the three-dimensional spatial characteristics of the object to be ablated; A parameter determination module is configured to determine target ablation parameters corresponding to the object to be ablated based on the navigation three-dimensional model, the operation object three-dimensional model, and object attribute information of the object to be ablated; The parameter determination module includes: an initial parameter acquisition module, configured to acquire initial ablation parameters corresponding to object attribute information of the object to be ablated, impedance data of the object to be ablated, abutment parameters of the interventional component, and a dielectric constant of the object to be ablated, wherein the initial ablation parameters include at least one of pulse voltage, pulse width, number of pulses, and number of pulse groups; a target parameter determination module, configured to evaluate the ablation effect based on the navigation three-dimensional model, the operation object three-dimensional model, the object attribute information of the object to be ablated, the initial ablation parameters corresponding to the object attribute information of the object to be ablated, the impedance data of the object to be ablated, the attachment parameters of the interventional component, and the dielectric constant of the object to be ablated, and obtain ablation effect data corresponding to the initial ablation parameters; if the ablation effect data meets the target ablation conditions, determine the initial ablation parameters as the target ablation parameters; The object control module is used to control the ablation device (4) to operate based on the target ablation parameters, so that the intervention component (12) performs ablation processing on the object to be ablated.

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