Ablation suture methods, systems, computer devices, and storage media

Abstract

The application relates to an ablation needle arrangement method, system, computer device and storage medium. The method comprises the following steps: obtaining a plurality of needle arrangement schemes generated in different needle number scenarios by linear fitting of ablation needles with different needle tip effective lengths and different ablation durations; the needle arrangement scheme comprises an ablation area, and the number of needles, the effective length of the needle tip, the ablation duration and the needle arrangement point position corresponding to the ablation area; determining a plurality of needle arrangement schemes in which the ablation area completely covers an abnormal area and the normal area corresponding to normal tissue in a medical image of a target object has an area less than a preset value as preselected needle arrangement schemes; and selecting, as a target needle arrangement scheme, a preselected needle arrangement scheme in which the path from the needle arrangement point position to the abnormal area does not pass through important organs of the target object. According to the method, the number of ablation needles, the effective length of the needle tip and the ablation duration can be automatically planned, and the needle arrangement scheme can be accurately planned.

Description

Technical Field

[0001] This application relates to the field of cryoablation technology, and in particular to an ablation needle placement method, system, computer device, and storage medium. Background Technology

[0002] Cryoablation is a technique that uses deep cryotherapy to freeze local tissue, controllingly destroying and ablating abnormal tissue to achieve the goal of removing it. Current cryoablation techniques generally involve the patient estimating the required number of ablation needles, the effective needle tip length, and the ablation time based on the size of the abnormal tissue and their experience. The patient then manually inserts the ablation needles into the abnormal tissue, requiring repeated insertion and removal to determine the position. Finally, freezing is performed, and the procedure is continued depending on the duration.

[0003] However, current cryoablation technology cannot assess whether the effective area for cryoablation completely covers abnormal tissue. It is also impossible to uniformly plan a precise needle placement scheme for parameters such as the number of ablation needles, the effective length of the needle tip, and the ablation time. Moreover, repeated calibration is required during manual needle placement, resulting in multiple injuries. Summary of the Invention

[0004] Therefore, it is necessary to provide an ablation needle placement method, system, computer equipment, and storage medium that can automatically plan the number of ablation needles, the effective length of the needle tip, and the ablation time based on the volume of the abnormal tissue, so that the effective treatment area of ​​cryoablation completely covers the abnormal tissue, while avoiding damage to normal tissue.

[0005] In a first aspect, this application provides a method for ablating needles, the method comprising:

[0006] Obtain the abnormal region corresponding to the abnormal tissue in the medical image of the target object;

[0007] Simulations were performed based on the tissue parameters of the target object, as well as the number of ablation needles, working time parameters, and physical parameters to generate multiple needle placement schemes under different needle count scenarios.

[0008] Based on preset screening criteria, the optimal needle placement scheme is determined from multiple needle placement schemes and used as the target needle placement scheme.

[0009] In one embodiment, acquiring the abnormal region corresponding to the abnormal tissue in the medical image of the target object includes:

[0010] Three-dimensional models were created from the MRI and real-time ultrasound images of the target object to obtain the MRI three-dimensional model and the real-time ultrasound three-dimensional model of the target object. The MRI three-dimensional model includes the three-dimensional contour of the target object and the three-dimensional contour of the abnormal tissue. The ultrasound three-dimensional model includes the real-time three-dimensional contour of the target object.

[0011] The 3D model of nuclear magnetic resonance (NMR) and the 3D model of ultrasound are fused to obtain a fused 3D model of the target object in the ultrasound coordinate system corresponding to the ultrasound 3D model; the fused 3D model includes the real-time 3D contour of the target object and the 3D contour of the abnormal tissue.

[0012] The position and region of the three-dimensional contour of the abnormal tissue in the fused three-dimensional model in the ultrasonic coordinate system are taken as the abnormal region corresponding to the abnormal tissue.

[0013] In one embodiment, the MRI three-dimensional model and the ultrasound three-dimensional model are elastically fused to obtain a fused three-dimensional model in the ultrasound coordinate system corresponding to the ultrasound three-dimensional model, including:

[0014] The NMR coordinate system corresponding to the NMR 3D model is translated and / or rotated until the center of the NMR coordinate system coincides with the center of the ultrasound coordinate system, and the axial directions of the NMR coordinate system are consistent with the axial directions of the ultrasound coordinate system. The 3D contour of the target object in the NMR 3D model is synchronously adjusted to coincide with the real-time 3D contour of the target object in the ultrasound 3D model, thus obtaining a fused 3D model in the ultrasound coordinate system.

[0015] In one embodiment, the needle placement scheme includes a single-needle placement scheme and a multi-needle placement scheme. Simulations are performed based on the tissue parameters of the target object, the number of ablation needles, the working time parameters, and physical parameters to generate multiple needle placement schemes for different needle count scenarios, including:

[0016] Under the tissue parameters of the target object, simulations were conducted on a single ablation needle with different physical parameters and different working duration parameters to obtain multiple single-needle placement schemes;

[0017] By superimposing at least two identical or different single-needle stitching schemes, multiple multi-needle stitching schemes can be obtained.

[0018] In one embodiment, the preset screening conditions include at least one of a first screening condition, a second screening condition, and a third screening condition; the first screening condition is that the ablation area corresponding to the needle placement plan completely covers the abnormal area, and the coverage area of ​​the normal area corresponding to the normal tissue in the medical image of the target object is less than a preset value; the second screening condition is that the path from the needle placement point corresponding to the needle placement plan to the abnormal area does not pass through the important organs of the target object; the third screening condition is that the number of ablation needles corresponding to the needle placement plan is the minimum.

[0019] In one embodiment, based on preset screening conditions, the optimal needle placement scheme is determined from multiple needle placement schemes as the target needle placement scheme, including:

[0020] Initialize multiple pin layout schemes and use these multiple pin layout schemes as parent schemes;

[0021] Multiple offspring are generated from multiple needle placement schemes using the mutation operator of a genetic algorithm;

[0022] Based on the fitness of each parent and offspring, select multiple individuals from the parent and offspring as the next generation, and then select the optimal solution from the obtained next generation.

[0023] If the pin placement scheme corresponding to the optimal solution does not meet the preset screening conditions, then return to the step of generating multiple offspring from multiple pin placement schemes through the mutation operator of the genetic algorithm, and continue to execute until the pin placement scheme corresponding to the optimal solution meets the preset screening conditions. The pin placement scheme corresponding to the optimal solution is then determined to be the optimal pin placement scheme, and the optimal pin placement scheme is taken as the target pin placement scheme.

[0024] In one embodiment, based on the fitness of each parent and child generation, multiple individuals are selected as the next generation from the parent and child generations. The optimal solution is then selected from the obtained next generation, including:

[0025] Determine the coverage ratio between the ablation area and the medical image of the target object for each needle placement scheme;

[0026] Calculate the fitness of coverage for each needle placement scheme, and the average fitness of the needle placement scheme;

[0027] Multiple needle placement schemes with fitness greater than the average fitness are selected as the next generation. Cross-mutation is performed on the next generation. The process returns to the step of determining the coverage between the ablation area corresponding to each needle placement scheme and the medical image of the target object, and continues until the optimal solution is output.

[0028] In one embodiment, determining the coverage between the ablation area and the medical image of the target object for each needle placement scheme includes:

[0029] The fused 3D model corresponding to the target object is divided into multiple cubes. A first label is assigned to the cubes containing normal regions, and a second label is assigned to the cubes containing abnormal regions. The first label indicates that the cube contains normal regions, and the second label indicates that the cube contains abnormal regions.

[0030] The ablation region corresponding to each needle placement scheme is covered to the abnormal region of the fused 3D model. The second label of the cube covered by the ablation region is replaced with the third label, and the first label of the cube covered by the ablation region is replaced with the fourth label. The third label is used to indicate that the abnormal region contained in the cube is covered by the ablation region. The fourth label is used to indicate that the normal region contained in the cube is covered by the ablation region.

[0031] After counting the ablation areas corresponding to each needle placement scheme that cover the abnormal areas of the fused 3D model, the number of second and fourth tags in the fused 3D model is calculated.

[0032] Based on the number of second and fourth tags, the coverage between the ablation area and the medical image of the target object corresponding to each needle placement scheme is determined.

[0033] In one embodiment, the method further includes:

[0034] Based on the physical parameters of the ablation needle in the target needle placement scheme, determine the model of the target ablation needle loaded at the end of the robotic arm;

[0035] Guided by a robotic arm, the target ablation needle is inserted into the needle placement point corresponding to the target needle placement plan. The movement path of the target ablation needle tip is tracked in real time. Based on the deviation between the position of the target ablation needle tip and the needle placement point, the movement path of the target ablation needle tip is adjusted until the position of the target ablation needle tip coincides with the needle placement point.

[0036] The operation is performed on the target object according to the working time parameters corresponding to the target needle placement plan, and the consistency between the ablation area generated during the operation and the ablation area corresponding to the target needle placement plan is detected.

[0037] If the consistency between the resulting ablation area and the ablation area corresponding to the target needle placement plan meets the requirements, and the working time parameter of the target ablation needle is consistent with the working time parameter corresponding to the target needle placement plan, then the target ablation needle retraction operation is performed by the robotic arm.

[0038] Secondly, this application also provides an ablation needle placement system. The system includes: a control console, a robotic arm, and a cryoablation device;

[0039] The console is used to obtain the abnormal regions corresponding to abnormal tissues in the medical images of the target object;

[0040] Simulations were performed based on the tissue parameters of the target object, as well as the number of ablation needles, working time parameters, and physical parameters to generate multiple needle placement schemes under different needle count scenarios.

[0041] Based on preset screening conditions, the optimal needle placement scheme is determined from multiple needle placement schemes and used as the target needle placement scheme.

[0042] The robotic arm loads the ablation needle and inserts it into the needle placement point;

[0043] Cryoablation equipment is used to provide energy to the ablation needle.

[0044] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0045] Obtain the abnormal region corresponding to the abnormal tissue in the medical image of the target object;

[0046] Simulations were performed based on the tissue parameters of the target object, as well as the number of ablation needles, working time parameters, and physical parameters to generate multiple needle placement schemes under different needle count scenarios.

[0047] Based on preset screening criteria, the optimal needle placement scheme is determined from multiple needle placement schemes and used as the target needle placement scheme.

[0048] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0049] Obtain the abnormal region corresponding to the abnormal tissue in the medical image of the target object;

[0050] Simulations were performed based on the tissue parameters of the target object, as well as the number of ablation needles, working time parameters, and physical parameters to generate multiple needle placement schemes under different needle count scenarios.

[0051] Based on preset screening criteria, the optimal needle placement scheme is determined from multiple needle placement schemes and used as the target needle placement scheme.

[0052] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0053] Obtain the abnormal region corresponding to the abnormal tissue in the medical image of the target object;

[0054] Simulations were performed based on the tissue parameters of the target object, as well as the number of ablation needles, working time parameters, and physical parameters to generate multiple needle placement schemes under different needle count scenarios.

[0055] Based on preset screening criteria, the optimal needle placement scheme is determined from multiple needle placement schemes and used as the target needle placement scheme.

[0056] The aforementioned ablation needle placement method, system, computer equipment, and storage medium obtain multiple needle placement schemes under different needle number scenarios by linearly fitting ablation needles with different effective needle tip lengths and different ablation durations. The optimal scheme search algorithm searches for a pre-selected needle placement scheme from multiple schemes. Then, based on the screening criterion that the path from the needle placement point to the abnormal area does not pass through the target object's vital organs, the target needle placement scheme, i.e., the optimal needle placement scheme, is selected from multiple pre-selected schemes. Thus, the number of ablation needles, the effective needle tip length, and the ablation duration can be automatically planned according to the volume of the abnormal area, ensuring that the effective treatment area of ​​cryoablation completely covers the abnormal area, while avoiding damage to normal cells in the treatment area, achieving a uniformly planned and precise needle placement scheme. Attached Figure Description

[0057] Figure 1 This is a diagram illustrating the application environment of the ablation needle method in one embodiment;

[0058] Figure 2 This is a flowchart illustrating the ablation needle method in one embodiment;

[0059] Figure 3 This is a flowchart illustrating the process of obtaining abnormal regions corresponding to abnormal tissue in a medical image of a target object in one embodiment.

[0060] Figure 4 This is a schematic diagram illustrating the fusion of the nuclear magnetic resonance three-dimensional model and the ultrasound three-dimensional model in another embodiment;

[0061] Figure 5 This is a schematic diagram of the fusion process of an NMR 3D model and an ultrasound 3D model in one embodiment;

[0062] Figure 6 This is an overall flowchart of the ablation needle method in one embodiment;

[0063] Figure 7 This is a schematic diagram of an example cryoablation operating system in one embodiment;

[0064] Figure 8 In one embodiment, a simulation is performed based on the tissue parameters of the target object, as well as the number of ablation needles, working time parameters, and physical parameters, to generate flowcharts of multiple needle placement schemes under different needle number scenarios;

[0065] Figure 9 This is a schematic diagram showing the dimensions of the ablation region in one embodiment;

[0066] Figure 10 This is a schematic diagram of the ablation areas corresponding to different ablation needles in one embodiment;

[0067] Figure 11 This is a schematic diagram of the ablation region fitting in one embodiment;

[0068] Figure 12 This is a schematic diagram showing the superimposed ablation regions in one embodiment;

[0069] Figure 13 Here is a flowchart of the genetic algorithm needle placement process in one embodiment;

[0070] Figure 14 This is a schematic diagram of the genetic algorithm for needle placement in one embodiment;

[0071] Figure 15 This is a flowchart illustrating the coverage between the ablation area and the medical image of the target object for each needle placement scheme in one embodiment.

[0072] Figure 16 This is a schematic diagram of segmentation of a fused 3D model in one embodiment;

[0073] Figure 17 This is a schematic diagram of label replacement fused with a 3D model in one embodiment;

[0074] Figure 18 This is a flowchart of the cryoablation needle application scheme in one embodiment;

[0075] Figure 19 This is a three-dimensional interface display of a cryoablation scheme in one embodiment;

[0076] Figure 20 This is a flowchart illustrating how a robotic arm performs a task on a target object according to a target needle placement scheme in one embodiment.

[0077] Figure 21 This is a schematic diagram of the cryoablation procedure in one embodiment;

[0078] Figure 22 This is a schematic diagram of cryoablation operation monitoring in one embodiment. Detailed Implementation

[0079] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0080] The ablation needle method provided in this application embodiment can be applied to, for example... Figure 1The application environment is shown. Ultrasound equipment acquires real-time ultrasound images of the target object during the procedure. The control console acquires abnormal regions corresponding to abnormal tissues in the target object's medical images; based on the target object's tissue parameters, the number of ablation needles, working time parameters, and physical parameters, simulations are performed to generate multiple needle placement schemes under different needle count scenarios; based on preset screening conditions, the optimal needle placement scheme is determined from these schemes as the target needle placement scheme. A robotic arm loads the ablation needles, and guided by the robotic arm, parallel or non-parallel needle insertion can be achieved. Various models of ablation needles are available for the target object, with different effective needle tip lengths and ablation times, resulting in different cryoablation coverage areas. The cryoablation device provides energy to the ablation needles, supporting up to six needles working simultaneously to ensure cryoablation coverage of the entire target object. During the process of the robotic arm performing the procedure on the target object under the guidance of the control console, the operator and assisting personnel intervene with manual corrections or operations.

[0081] In one embodiment, such as Figure 2 As shown, a method for ablating needles is provided, which can be applied to... Figure 1 Taking the console in the browser as an example, the following steps are included:

[0082] Step 202: Obtain the abnormal region corresponding to the abnormal tissue in the medical image of the target object.

[0083] The target tissue refers to the biological tissue targeted by the ablation needle. Examples include the lungs, heart, and prostate. Abnormal tissue refers to biological tissues that are not part of the target tissue's original structure, or structures that are diseased within the target tissue's original structure. Examples include tumors and nodules. Medical imaging refers to three-dimensional medical scans containing the target tissue, such as MRI and real-time ultrasound images. Abnormal region refers to the imaging area of ​​abnormal tissue within the medical image.

[0084] Optionally, the console acquires medical images of the target object through a medical scanning device and identifies the abnormal areas corresponding to abnormal tissues in the medical images.

[0085] Step 204: Based on the tissue parameters of the target object and the number of ablation needles, working time parameters and physical parameters, simulation is performed to generate multiple needle placement schemes under different needle number scenarios.

[0086] In this context, the tissue parameters of the target object refer to the parameters by which the target object's own tissue structure conducts ablation energy. For example, tissue parameters can be the specific heat capacity and heat loss of the target object. Specific heat capacity is the heat absorbed or released when a unit volume of the object changes by a unit temperature, measured in J / (M^3*K); heat loss is the heat lost when a unit volume of the target object changes by a unit temperature, measured in W / (M^3*K). Taking the prostate as an example, the specific heat capacity of the prostate is the heat absorbed or released when a unit volume of the prostate changes by a unit temperature, and the heat loss of the prostate is the heat lost when a unit volume of the prostate changes by a unit temperature. Since different target objects have different tissue parameters that affect the conduction of ablation energy, this embodiment considers the tissue parameters of the target object during simulation to improve simulation accuracy and obtain a more precise needle placement scheme.

[0087] Ablation needles can be either cryoablation needles or thermal ablation needles. Taking cryoablation needles as an example, the effective tip length of the cryoablation needle is related to its model. Currently, models with effective tip lengths of 5mm, 15mm, and 30mm are commonly available on the market. Different models of cryoablation needles will produce different ablation areas for the same ablation time. Generally, the number of ablation needles can range from 1 to 6; the more needles, the larger the ablation area.

[0088] The working time parameter of an ablation needle refers to the time it takes for the needle to release energy. Currently, the market generally supports a range of 1 to 15 minutes. Taking cryoablation needles as an example, different cryoablation times result in different ablation areas for the same effective needle tip length. Longer ablation times produce larger ablation areas, but there is a maximum value for the ablation area of ​​an ice ball.

[0089] The physical parameters of an ablation needle refer to its structural parameters, including the effective tip length, thermal conductivity, and stiffness. Commonly available ablation needle tip lengths are 5mm, 15mm, and 30mm. For prostate treatment, a length of approximately 5mm is typically used. Thermal conductivity represents the heat transfer capacity of the ablation needle, measured in W / (M^3*K). The stiffness of the ablation needle refers to the force it withstands against the deformation of the ice ball during cryoablation, measured in N / mm. Since the ice ball area becomes heavier during cryoablation, the previous and subsequent needle placements can affect each other. Therefore, this embodiment considers the stiffness of the ablation needle during simulation to improve simulation accuracy and obtain a more precise needle placement plan.

[0090] The needle placement plan includes the size of the ablation zone, the number of needles required to create that zone, the effective tip length of the ablation needle, the stiffness of the ablation needle, the thermal conductivity of the ablation needle, the ablation time, and the needle placement point location. The needle placement point location is the insertion point of the ablation needle on the surface of the target object.

[0091] The ablation zone created by a cryoablation needle is roughly elliptical in shape, with -40°C being the effective operating temperature. At or below this temperature, abnormal tissue will be cryogenically killed. Various models of cryoablation needles are available for different target objects, each with varying effective needle tip length and ablation duration, resulting in different coverage areas. Existing technologies also employ algorithms to determine the puncture path and corresponding ice ball coverage area for a single ablation needle. Multi-needle combined ablation is achieved by repeatedly performing single-needle ablation on the remaining area after the initial single-needle ablation, thus achieving a multi-needle combined needle placement scheme. However, existing technologies do not provide a complete needle placement plan, and multiple single-needle treatments result in excessively long operation times, while also failing to completely cover abnormal areas or causing duplicate coverage of normal areas. Therefore, to solve the above problems, this embodiment simulates the target object's tissue parameters, the number of ablation needles, working time parameters, and physical parameters to generate multiple needle placement schemes under different needle number scenarios. The optimal needle placement scheme is searched from multiple schemes using an optimal scheme search algorithm. This allows the system to automatically plan the number of ablation needles, the thermal conductivity of the ablation needles, the stiffness of the ablation needles, the effective length of the ablation needle tip, the ablation time, and the needle placement point position based on the volume of the abnormal area. This ensures that the effective treatment area of ​​cryoablation completely covers the abnormal area while avoiding damage to normal cells in the ablation area, thus achieving a unified and precise needle placement scheme.

[0092] Optionally, the console inputs the tissue parameters of the target object, as well as the number of ablation needles, working time parameters, and physical parameters into the simulation software. The simulation software then builds a simulation environment for ablating the target object. Based on the patterns of the ablation area generated by the ablation needles under different numbers of needles, different physical parameters, and different working times, the simulation is performed to obtain multiple needle placement schemes under different needle count scenarios. The needle placement scheme includes the size of the ablation area, the number of needles required to generate the ablation area, the effective length of the ablation needle tip, the stiffness of the ablation needle, the thermal conductivity of the ablation needle, the ablation time, and the needle placement point location.

[0093] Step 206: Based on preset screening conditions, determine the optimal needle placement scheme from multiple needle placement schemes as the target needle placement scheme.

[0094] The multiple needle placement schemes obtained in step 204 can form a needle placement scheme library. An optimal scheme search algorithm is then used to search for the best needle placement scheme from these multiple schemes that meets preset screening criteria, and this best scheme is selected as the target needle placement scheme.

[0095] In some embodiments, the preset screening conditions include at least one of a first screening condition, a second screening condition, and a third screening condition; the first screening condition is that the ablation area corresponding to the needle placement plan completely covers the abnormal area, and the coverage area of ​​the normal area corresponding to the normal tissue in the medical image of the target object is less than a preset value; the second screening condition is that the path from the needle placement point location corresponding to the needle placement plan to the abnormal area does not pass through the important organs of the target object; the third screening condition is that the number of ablation needles corresponding to the needle placement plan is the minimum.

[0096] Among them, the area of ​​the ablation area and the normal area corresponding to the normal tissue in the medical image of the target object is less than the preset value, which indicates that the overlap area between the ablation area and the normal area is less than the preset value.

[0097] Important organs refer to normal and inaccessible organs of the target object. Taking the prostate as an example, important organs could include the urethra and pubis. The path from the needle placement point to the abnormal area can be a straight line. If the coordinates of the pixels on the path do not coincide with the coordinates of the pixels of the important organs of the target object, then the path from the needle placement point to the abnormal area corresponding to the needle placement scheme is determined to not pass through the important organs of the target object.

[0098] Optionally, the console searches for the optimal needle placement scheme that meets preset screening conditions from multiple needle placement schemes using an optimal scheme search algorithm. This optimal needle placement scheme is then used as the target needle placement scheme. The ablation area corresponding to the target needle placement scheme is then covered to the abnormal area. Based on the position of the ablation needle tip in the ablation area within the abnormal area, the needle placement point on the target object is determined. Based on the relative positional relationship between the needle placement point and the ablation needle at the end of the robotic arm, a needle placement point path from the ablation needle to the needle placement point is planned. Based on the needle placement point path, the robotic arm is guided to insert the ablation needle into the needle placement point, and the operation is performed on the target object according to the ablation duration in the target needle placement scheme.

[0099] In the aforementioned ablation needle placement method, simulations are performed based on the tissue parameters of the target object, the number of ablation needles, the working time parameters, and physical parameters to generate multiple needle placement schemes under different needle count scenarios. An optimal scheme search algorithm is then used to search for the best needle placement scheme from these multiple schemes, which is then selected as the target needle placement scheme. This method considers parameters such as the target object's tissue parameters, the number of ablation needles, the working time parameters, and physical parameters during simulation, thereby improving simulation accuracy and obtaining a more precise needle placement scheme. Furthermore, based on the volume of the abnormal area, the number of ablation needles, the type of ablation needle, and the ablation time are automatically planned, ensuring that the effective treatment area of ​​cryoablation completely covers the abnormal area while avoiding damage to normal cells, thus achieving a uniformly planned and precise needle placement scheme.

[0100] In one embodiment, to improve the accuracy of needle insertion by acquiring the real-time location of the abnormal area and its positional relationship with the ablation needle during needle manipulation, this embodiment fuses the MRI 3D model of the target object and the real-time ultrasound 3D model to obtain a fused 3D model. This fused 3D model includes the real-time 3D contour of the target object and the 3D contour of the abnormal tissue. The abnormal area is then transformed into the ultrasound coordinate system corresponding to the ultrasound 3D model, thereby acquiring the real-time location of the abnormal area and its positional relationship with the ablation needle. Specifically, as shown... Figure 3 As shown, the abnormal regions corresponding to abnormal tissues in the medical images of the target object are obtained, including:

[0101] Step 302: Perform three-dimensional modeling on the MRI image and real-time ultrasound image of the target object to obtain the MRI three-dimensional model and the real-time ultrasound three-dimensional model of the target object; the MRI three-dimensional model includes the three-dimensional contour of the target object and the three-dimensional contour of the abnormal tissue; the ultrasound three-dimensional model includes the real-time three-dimensional contour of the target object.

[0102] The MRI images of the target object are acquired before the procedure. Therefore, the 3D MRI model built based on these images can only represent the location and size of the abnormal area on the medical image of the target object at the time the MRI images were taken. However, there are cases where cryoablation is not performed immediately after MRI imaging, and the abnormal area in the 3D MRI model cannot reflect the real-time location and size of the abnormal area. Therefore, if the abnormal tissue changes during the procedure, the final selected needle placement plan will not match the current abnormal image, leading to reduced accuracy of the cryoablation procedure. Real-time ultrasound images of the target object are acquired during the procedure to monitor the real-time 3D contour and vital organs of the target object. However, the 3D ultrasound model built based on these images can only capture the real-time 3D contour of the target object, not the location and size of the abnormal area. Therefore, this embodiment fuses the MRI 3D model and the ultrasound 3D model. The resulting fused 3D model can capture both the location and size of the abnormal area and the real-time 3D contour of the target object.

[0103] Optionally, such as Figure 4 As shown, the MRI image and real-time ultrasound image of the target object are input to the console. The console models the target object based on the MRI image and real-time ultrasound image, respectively, to obtain the MRI 3D model and the real-time ultrasound 3D model of the target object. The MRI 3D model includes the 3D contour of the target object and the 3D contour of the abnormal tissue; the ultrasound 3D model includes the real-time 3D contour of the target object.

[0104] Step 304: The MRI 3D model and the ultrasound 3D model are fused to obtain a fused 3D model of the target object in the ultrasound coordinate system corresponding to the ultrasound 3D model; the fused 3D model includes the real-time 3D contour of the target object and the 3D contour of the abnormal tissue.

[0105] The fusion process of the NMR 3D model and the ultrasound 3D model involves calculating the distance between corresponding pixels of the target object's 3D contour in both models. This distance is then minimized through translation or rotation, resulting in the fused 3D model. The fused 3D model is located in the ultrasound coordinate system; therefore, it can display the real-time 3D contours of the target object and abnormal tissues.

[0106] In some embodiments, the nuclear magnetic resonance (NMR) 3D model and the ultrasound 3D model are fused to obtain a fused 3D model of the target object in the ultrasound coordinate system corresponding to the ultrasound 3D model. This specifically includes the following steps:

[0107] The NMR coordinate system corresponding to the NMR 3D model is translated and / or rotated until the center of the NMR coordinate system coincides with the center of the ultrasound coordinate system, and the axial directions of the NMR coordinate system are consistent with the axial directions of the ultrasound coordinate system. The 3D contour of the target object in the NMR 3D model is synchronously adjusted to coincide with the real-time 3D contour of the target object in the ultrasound 3D model, thus obtaining a fused 3D model in the ultrasound coordinate system.

[0108] The fusion process uses the real-time ultrasound coordinate system as a reference, translating and rotating the MRI 3D model to match the center point and direction of the ultrasound coordinate system until the contour of the target object in the MRI 3D model is synchronously adjusted and embedded into the real-time ultrasound 3D model. The final effect is as follows: Figure 4 As shown, Figure 4 The three-dimensional contours of the target object in the NMR three-dimensional model and the ultrasound three-dimensional model overlap.

[0109] Step 306: The position and region of the three-dimensional contour of the abnormal tissue in the fused three-dimensional model in the ultrasonic coordinate system are taken as the abnormal region corresponding to the abnormal tissue.

[0110] In order to display the real-time three-dimensional contour of the target object, as well as the real-time position and size of the abnormal area, this embodiment calculates the real-time position and size of the abnormal area in the fused three-dimensional model under the ultrasonic coordinate system.

[0111] Optionally, such as Figure 5As shown, the console fuses the MRI 3D model and the ultrasound 3D model to obtain a fused 3D model of the target object in the ultrasound coordinate system corresponding to the ultrasound 3D model. The fused 3D model includes the 3D contour of the abnormal tissue of the target object, and the position and size of the abnormal area are determined based on the 3D contour of the abnormal tissue.

[0112] In some embodiments, the overall process of the ablation needle placement method is as follows: Figure 6 As shown, real-time ultrasound images are first acquired using real-time ultrasound scanning. The control console then models the object based on these images to obtain a 3D ultrasound model. An MRI 3D model is imported into the ultrasound coordinate system corresponding to the ultrasound 3D model. The control console then fuses the MRI and ultrasound 3D models to obtain a fused 3D model of the target object in the ultrasound coordinate system corresponding to the ultrasound 3D model. The real-time location and size of the abnormal area are calculated in the ultrasound coordinate system. Simulations are performed based on the target object's tissue parameters, the number of ablation needles, the working time, and physical parameters to generate multiple needle placement schemes under different needle count scenarios. The optimal needle placement scheme is selected from these schemes as the target needle placement scheme. Based on the target needle placement scheme, the number of needles, model, ablation time, and placement points of the cryoablation needles can be determined. The location is determined by extending the cryoablation area corresponding to the target needle placement plan to the abnormal area. The position of the needle tip in the cryoablation area within the abnormal area is used as the needle placement point on the target object's surface. The robotic arm is equipped with an ultrasound probe to acquire a two-dimensional ultrasound image containing the target object and the cryoablation needle. The ultrasound two-dimensional image is calibrated with the actual object, and the robotic arm coordinate system is transformed into the ultrasound coordinate system to obtain the relative positional relationship between the needle placement point and the robotic arm. Based on the relative positional relationship, the path from the cryoablation needle to the needle placement point is planned. Combining the number of cryoablation needles, their type, freezing time, and the path from the cryoablation needle to the needle placement point, the final execution plan is determined. The robotic arm is guided and positioned, and the cryoablation operation is performed according to the final execution plan, thus completing the cryoablation operation.

[0113] In some embodiments, such as Figure 7The diagram illustrates an example flow of ablation needle placement in a cryoablation system. The system involves a control cart acquiring real-time ultrasound images via ultrasound scanning, then using these images to create a 3D ultrasound model. An MRI 3D model is imported into the ultrasound coordinate system corresponding to the ultrasound 3D model. The control cart then fuses the MRI and ultrasound 3D models to obtain a fused 3D model of the target object in the ultrasound coordinate system corresponding to the ultrasound 3D model. Simultaneously, the control cart's needle placement algorithm model obtains multiple needle placement schemes by linearly fitting the cryoablation region. The real-time location of the abnormal region in the fused 3D model calculated in the ultrasound coordinate system is then compared with... The size of the area is calculated and the cryoablation area corresponding to each needle placement plan is obtained to obtain the ablation parameters covering the abnormal area. The ablation parameters include the number of needles, model, freezing time, and needle tip position corresponding to the cryoablation needles. The target needle placement plan is determined based on the determined number of needles, model, and freezing time corresponding to the cryoablation needles. The needle placement point path is automatically planned based on the determined needle tip position. Based on the target needle placement plan and the needle placement point path, the machine is positioned and the target needle placement plan is implemented. The cryoablation needle is inserted into the needle placement point. At the same time, the cryoablation equipment freezes according to the freezing time corresponding to the target needle placement plan. After freezing, rewarming is performed, and then the cryoablation needle is withdrawn.

[0114] In this embodiment, the MRI 3D model of the target object and the real-time ultrasound 3D model are fused to obtain a fused 3D model. The fused 3D model includes the real-time 3D contour of the target object and the 3D contour of the abnormal tissue. The abnormal region is transformed into the ultrasound coordinate system corresponding to the ultrasound 3D model. The real-time position and size of the abnormal region are calculated in the ultrasound coordinate system. This avoids the problem that the accuracy of the cryoablation operation is reduced because the target needle placement plan determined after screening does not match the current abnormal image due to changes in the abnormal tissue during the operation.

[0115] In some embodiments, the needle placement scheme includes a single-needle placement scheme and a multi-needle placement scheme. The single-needle placement scheme includes the number of ablation needles, the effective tip length of each ablation needle, the ablation time, the placement point location of each ablation needle, and the size of the single-needle ablation area. The multi-needle placement scheme includes the number of ablation needles, the effective tip length of each ablation needle, the ablation time of each ablation needle, the placement point location of each ablation needle, and the size of the multi-needle ablation area. Figure 8 As shown, simulations are performed based on the target object's tissue parameters, the number of ablation needles, the working time parameters, and physical parameters to generate multiple needle placement schemes under different needle count scenarios. The simulation includes the following steps:

[0116] Step 802: Under the tissue parameters of the target object, multiple single-needle placement schemes are generated based on the different physical parameters of a single ablation needle under different working duration parameters.

[0117] Taking cryoablation needles as an example, the ablation zone produced by a cryoablation needle specifically refers to an elliptical area with a temperature less than -40℃, such as... Figure 9 The central area of ​​the solid line. For example... Figure 10 As shown, from left to right, the cryoablation areas produced by cryoablation needles with effective tip lengths of 5mm, 15mm, and 30mm at cryoablation times of 5min, 10min, and 15min, respectively, are as follows: Figure 10 The central area of ​​the solid line.

[0118] Under the target object's tissue parameters, simulations were performed on single ablation needles with different physical parameters and different working durations to obtain multiple single-needle placement schemes. The simulated ablation zone of the ice puck was obtained by acquiring the transverse and longitudinal diameters of the ablation zone formed by each type of needle (effective tip length, thermal conductivity, and stiffness) at different ablation durations (1-minute intervals). Figure 11 As shown, Figure 11 The solid line region represents the cryoablation area generated when the cryoablation needle's cryoablation time is 5 minutes. The dashed line region in the middle represents the cryoablation area generated by the same cryoablation needle when the cryoablation time is 10 minutes. The outermost dashed line region represents the cryoablation area generated by the same cryoablation needle when the cryoablation time is 15 minutes. Point P represents a point on the boundary of the cryoablation area corresponding to any time between 5 minutes and 10 minutes of cryoablation time. Calculate the distance l1 from P to the surface of the cryoablation area corresponding to 5 minutes, and the distance l2 from P to the surface of the cryoablation area corresponding to 10 minutes. The horizontal and vertical diameters of the cryoablation area containing point P are:

[0119]

[0120]

[0121] Among them, T XP and T YP X5 and Y5 represent the transverse and longitudinal diameters of the cryoablation region where point P is located, respectively; X5 and Y5 represent the transverse and longitudinal diameters of the cryoablation region corresponding to 5 minutes, respectively; X 10 and Y 10 These represent the transverse and longitudinal diameters of the cryoablation zone corresponding to 10 minutes, respectively.

[0122] Optionally, the console can use the algorithm described above to calculate the transverse and longitudinal diameters of the cryoablation region where point P is located to simulate multiple single-needle ablation regions generated by a single ablation needle with different effective tip lengths and different ablation durations. A single-needle ablation region refers to the ablation region generated by one ablation needle. The console generates a single-needle placement scheme corresponding to the single-needle ablation region based on the number of ablation needles corresponding to the single-needle ablation region, the effective tip length of the ablation needle, the ablation duration, the needle placement point position of the ablation needle, and the size of the single-needle ablation region.

[0123] Step 804: Overlay at least two identical or different single-needle stitching schemes to obtain multiple multi-needle stitching schemes.

[0124] The multi-needle ablation zone refers to the ablation area generated by multiple ablation needles at different ablation durations. Since temperatures below -40℃ are considered effective temperatures, the ice ball ablation zones formed by the effective needle tip length and ablation duration can be superimposed. The superimposed area with a temperature below -40℃ is the multi-needle ablation zone, which can cover a large abnormal area.

[0125] Step 802 yields multiple single-needle ablation regions. At least two identical or different single-needle ablation regions are selected from these regions and superimposed. Therefore, the resulting multi-needle ablation region includes at least two scenarios. The first scenario involves the multi-needle ablation region formed by the superposition of at least two identical single-needle ablation regions, such as... Figure 12 As shown, the first type is a multi-needle ablation area formed by superimposing single-needle ablation areas with the same effective needle tip length and the same ablation duration. The second type is a multi-needle ablation area formed by superimposing at least two different single-needle ablation areas. The multi-needle ablation area can be formed by superimposing at least two single-needle ablation areas with the same ablation needle type but different ablation durations; it can also be formed by superimposing at least two single-needle ablation areas with different ablation needle types but the same ablation duration; or it can be formed by superimposing at least two single-needle ablation areas with different ablation needle types and different ablation durations.

[0126] It is important to note that when at least two single-needle ablation regions are superimposed, there must be an overlap between the two regions, and the needle tips of the two regions cannot completely coincide. During simulation, the distance between the needle tips of the superimposed ablation regions can be limited to ensure that the required overlap distance is met.

[0127] Optionally, the console selects at least two identical or different single-needle ablation regions from the multiple ablation regions obtained in step 802 and superimposes them. During the superposition process, it ensures that the distance between the needle tips of adjacent single-needle ablation regions meets the superposition requirements, thereby obtaining multiple multi-needle ablation regions. A multi-needle placement plan corresponding to the multi-needle ablation region is generated based on the number of ablation needles corresponding to the multi-needle ablation region, the effective needle tip length of each ablation needle, the ablation duration of each ablation needle, the placement point position of each ablation needle, and the size of the multi-needle ablation region.

[0128] In this embodiment, the ablation areas generated by ablation needles with different effective tip lengths and different ablation times are simulated. It is not necessary to obtain the final needle placement plan by repeatedly inserting and removing ablation needles. The complete needle placement plan can be planned at one time through simulation, including the number of ablation needles, the ablation needle model (effective tip length, thermal conductivity and stiffness), the ablation time and the needle placement point position. This avoids the damage caused by repeated needle insertion and removal during the needle placement process, and also avoids inserting the needle into normal tissue during insertion, thus improving the needle insertion efficiency and safety of cryoablation operation on the target object.

[0129] In one embodiment, to obtain the optimal needle placement scheme as the target needle placement scheme, this embodiment uses a genetic algorithm to screen the target needle placement scheme from multiple pre-selected needle placement schemes obtained in the above embodiments. Specifically, as shown... Figure 13 As shown, it includes the following steps:

[0130] Step 1302: Initialize multiple needle placement schemes and use them as parent schemes.

[0131] Optionally, the console obtains the size of the abnormal area in the ultrasound coordinate system, and obtains multiple needle placement schemes under different needle number scenarios by simulating cryoablation needles with different effective needle tip lengths and different freezing times. Assuming there are N needle placement schemes, each ablation area is randomly initialized.

[0132] Step 1304: Generate multiple offspring from multiple needle placement schemes using the mutation operator of the genetic algorithm.

[0133] Step 1306: Based on the fitness of each parent and child generation, select multiple individuals from the parent and child generations as the next generation, and then select the optimal solution from the obtained next generation.

[0134] Optionally, the console selects the better N individuals from the parent and child generations as the next generation based on the fitness of each parent and child generation, and filters the optimal solution from the obtained next generation; records the number of needles, ablation needle model (effective needle tip length, thermal conductivity and stiffness), ablation time and needle placement position corresponding to the optimal solution.

[0135] Step 1308: If the needle placement scheme corresponding to the optimal solution does not meet the preset screening conditions, return to the step of generating multiple offspring from multiple needle placement schemes through the mutation operator of the genetic algorithm, and continue to execute until the needle placement scheme corresponding to the optimal solution meets the preset screening conditions. The needle placement scheme corresponding to the optimal solution is determined to be the optimal needle placement scheme, and the optimal needle placement scheme is taken as the target needle placement scheme.

[0136] In some embodiments, the console can select a pre-selected needle placement scheme as the one where the ablation area completely covers the abnormal area and has the smallest coverage area of ​​the normal area corresponding to the normal tissue in the medical image of the target object; remove the ablation area corresponding to the pre-selected needle placement scheme from the population, return to the step of generating N offspring through the mutation operator of the genetic algorithm and continue to execute until 3-4 pre-selected needle placement schemes are selected; select the pre-selected needle placement scheme with the fewest number of ablation needles and whose path from the needle placement point to the abnormal area does not pass through the important organs of the target object, as the target needle placement scheme, and finally output the target needle placement scheme.

[0137] In some embodiments, based on the fitness of each parent and child generation, multiple individuals are selected as the next generation from the parent and child generations, and the optimal solution is selected from the obtained next generation, including the following steps:

[0138] Step 1: Determine the coverage between the ablation area and the medical image of the target object for each needle placement scheme.

[0139] The coverage rate includes the coverage rate of normal areas corresponding to normal tissues in the medical images of the ablation area and the target object, as well as the coverage rate of abnormal areas corresponding to abnormal tissues in the medical images of the ablation area and the target object.

[0140] Step 2: Calculate the fitness of coverage for each needle placement scheme and the average fitness of the needle placement scheme.

[0141] Optionally, the console calculates the fitness eval(Vi) of the cryoablation area coverage for each needle placement scheme; where eval represents the fitness; and Vi represents the i-th needle placement scheme, i = 1, ..., N. The console calculates the total fitness of the cryoablation area coverage for all needle placement schemes, where the total fitness is: The average fitness of each needle placement pattern is determined based on the total fitness and the number of needle placement patterns.

[0142] Step 3: Select multiple needle placement schemes with fitness greater than the average fitness as the next generation, perform crossover mutation on the next generation, return to the step of determining the coverage between the ablation area corresponding to each needle placement scheme and the medical image of the target object, and continue to execute until the optimal solution is output.

[0143] like Figure 14 As shown, from N needle placement schemes, the needle placement scheme corresponding to the cryoablation area is selected. After fitness calculation and comparison, the needle placement scheme with a fitness greater than the average fitness is one with 3 needles, an effective needle tip length of 5mm for each cryoablation needle, and a freezing time of 8min. Then, adaptive calculation is performed to determine whether the cryoablation area corresponding to the needle placement scheme meets the requirement that the cryoablation area completely covers the abnormal area and has the smallest coverage area with the normal area corresponding to the normal tissue in the medical image of the target object. If it does not meet the requirements, the iteration is performed, and the freezing time of a single cryoablation needle is mutated through a genetic algorithm.

[0144] In some instances, such as Figure 15 As shown, the coverage between the ablation area and the medical image of the target object corresponding to each needle placement scheme is determined, including:

[0145] Step 1502: Divide the fused 3D model corresponding to the target object into multiple cubes, configure a first label for cubes containing normal regions, and configure a second label for cubes containing abnormal regions; the first label is used to indicate that the cube contains normal regions; the second label indicates that the cube contains abnormal regions.

[0146] Optionally, such as Figure 16 As shown, Figure 16 The rectangular block shown on the left is a simplified diagram of the fused 3D model of the target object. The fused 3D model is divided into multiple cubes, as shown below. Figure 16 The cube shown on the right. In the ultrasonic coordinate system, the fused 3D model is divided into sufficiently small cubes, with an accuracy of 0.01ML, and each cube is labeled 'a'. The label 'a' of the cubes in the fused 3D model containing abnormal regions is replaced with label 'b', and the remaining cubes with label 'a' are cubes containing normal regions; that is, label 'a' is the first label, and label 'b' is the second label.

[0147] Step 1504: Cover the ablation area corresponding to each needle placement scheme to the abnormal area of ​​the fused 3D model, replace the second label of the cube covered by the ablation area with the third label, and replace the first label of the cube covered by the ablation area with the fourth label; the third label is used to indicate that the abnormal area contained in the cube is covered by the ablation area; the fourth label is used to indicate that the normal area contained in the cube is covered by the ablation area.

[0148] Optionally, during the genetic algorithm calculation process, the console, as the ablation region mutates, will cover the ablation region corresponding to the needle placement scheme onto the abnormal region of the fused 3D model, such as... Figure 17As shown, the second label (i.e., label b) of the cube covered by the ablation region is replaced with the third label (i.e., label d), and the first label (i.e., label a) of the cube covered by the ablation region is replaced with the fourth label (i.e., label c).

[0149] It should be noted that in this embodiment, in areas with a large number of labels b, the surrounding parameters are mutated first to reduce the number of iterations and improve the computation time.

[0150] Step 1506: Count the number of second and fourth tags in the fused 3D model after the ablation area corresponding to each needle placement scheme covers the abnormal area of ​​the fused 3D model.

[0151] If the number of second labels in the fused 3D model is 0, it means that the ablation area completely covers the abnormal area; if the number of fourth labels is the smallest, it means that the ablation area covers the smallest area of ​​the normal area corresponding to the normal tissue in the medical image of the target object.

[0152] Optionally, the console covers the ablation area corresponding to each needle placement scheme to the abnormal area of ​​the fused 3D model, and after replacing the cube labels according to the coverage of the ablation area, it counts the number of various labels corresponding to each needle placement scheme.

[0153] Step 1508: Based on the number of second and fourth tags, determine the coverage between the ablation area and the medical image of the target object corresponding to each needle placement scheme.

[0154] The second label (label b) indicates that the cube contains an abnormal region. If, after label replacement, all labels b are replaced with labels d, it means the ablation area completely covers the abnormal region; if labels b still exist after label replacement, it means the ablation area does not completely cover the abnormal region. The fourth label (label c) indicates that the normal region contained in the cube is covered by the ablation area, meaning the ablation area damages the normal region; if the number of labels c is the smallest, it means the ablation area causes the least damage to normal tissue.

[0155] Optionally, the console determines the coverage rate of the ablation region over the abnormal region based on the ratio between the number of third labels and the total number of cubes; and determines the coverage rate of the ablation region over the normal region based on the ratio between the number of fourth labels and the total number of cubes.

[0156] In some embodiments, the ablation region is fitted based on the location and size of multiple abnormal regions of the target object to obtain multiple needle placement schemes; the optimal needle placement scheme corresponding to each abnormal region is obtained based on the optimal calculation of the genetic algorithm and the calculation of the coverage rate between the ablation region and the abnormal region. Figure 18As shown, if the target object includes a first abnormal region and a second abnormal region, the first and second abnormal regions are calculated and compared with multiple pre-fitted needle placement schemes, and the optimal solution corresponding to each abnormal region is found based on a genetic algorithm. If the cryoablation region of the target needle placement scheme corresponding to the optimal solution is formed by a single cryoablation needle, it indicates that the area of ​​the abnormal region is small, and the target needle placement scheme is a single-needle placement scheme. The cryoablation region corresponding to the target needle placement scheme is then covered to the abnormal region, and the position of the needle tip in the abnormal region within the cryoablation region is recorded as the needle placement point position. Needle placement is performed based on the single cryoablation needle corresponding to the target needle placement scheme, the model of the cryoablation needle (effective needle tip length, thermal conductivity, and stiffness), the freezing time, and the needle placement point position. If the cryoablation area of ​​the target needle placement scheme corresponding to the optimal solution is formed by multiple cryoablation needles, it indicates that the area of ​​the abnormal region is large, and the target needle placement scheme is a multi-needle placement scheme. The cryoablation area corresponding to the target needle placement scheme covers the abnormal region, and each position of the multiple needle tips in the abnormal region is recorded as a needle placement point position. Based on the multiple cryoablation needles corresponding to the target needle placement scheme, the effective length of the needle tips of the multiple cryoablation needles, the multiple freezing times, and the multiple needle placement point positions, the needles are placed.

[0157] If the first and second abnormal regions of the target object are as follows Figure 19 As shown, after Figure 18 The target needle placement scheme determined by the process shown is shown in the table below:

[0158]

[0159] In this embodiment, the fused 3D model corresponding to the target object is divided into multiple cubes, and the ablation area corresponding to the needle placement scheme is covered to the abnormal area of ​​the fused 3D model. The coverage of the ablation area is characterized by label replacement. The ablation area corresponding to the current needle placement scheme can be determined based on the number of second labels indicating that the abnormal area is covered by the ablation area and the number of fourth labels indicating that the normal area is covered by the ablation area. This allows for a quick and accurate determination of the coverage of the ablation area and the abnormal area, as well as the damage of the ablation area to normal tissue.

[0160] In one embodiment, such as Figure 20 As shown, after determining the target needle placement plan, the control console guides the robotic arm to perform the operation on the target object according to the target needle placement plan, which specifically includes the following steps:

[0161] Step 2002: Determine the model of the target ablation needle loaded at the end of the robotic arm based on the physical parameters of the ablation needle in the target needle placement scheme.

[0162] The physical parameters of the ablation needle are related to its model; different models of ablation needles have different physical parameters. For example... Figure 21 As shown, the number and model of cryoablation needles (i.e., effective needle tip length, thermal conductivity, and stiffness) are determined according to the target needle placement scheme. The operation object is selected with the same model of cryoablation needle as the target needle placement scheme, and the cryoablation needle is inserted into the needle placement point.

[0163] It should be noted that the model of the ablation needle can be determined based on the effective length of the needle tip. Before inserting the needle, the model of the target ablation needle can be determined based on the effective length of the needle tip, and the target ablation needle can be loaded onto the end of the robotic arm.

[0164] Step 2004: Guided positioning by a robotic arm, insert the target ablation needle into the needle placement point corresponding to the target needle placement plan, track the movement path of the target ablation needle tip in real time, and adjust the movement path of the target ablation needle tip according to the deviation between the position of the target ablation needle tip and the needle placement point until the position of the target ablation needle tip coincides with the needle placement point.

[0165] Specifically, if the target needle placement scheme is a single-needle placement scheme, then the target needle placement scheme has only one needle placement point. If the target needle placement scheme is a multi-needle placement scheme, then the target needle placement scheme has multiple needle placement points.

[0166] Robotic arm guidance and positioning refers to the position and posture required for the robotic arm to reach the needle placement point. For example... Figure 22 As shown, the movement path of the needle tip can be tracked based on the marked points on the ultrasound two-dimensional image, thereby detecting the insertion trajectory of the cryoablation needle; guided by machine positioning, the cryoablation needle is precisely inserted into the needle placement point; after the needle insertion is completed, the marked points on the needle tip and the needle placement point on the ultrasound two-dimensional image are compared to determine the deviation between the actual and the planned points, preventing excessive errors.

[0167] Optionally, the robotic arm is equipped with an ultrasonic probe. During the insertion of the target ablation needle into the needle placement point corresponding to the target needle placement scheme, the control console acquires an ultrasonic two-dimensional image containing the target object and the ablation needle. The ultrasonic two-dimensional image is calibrated with the actual object, and then the robotic arm coordinate system corresponding to the robotic arm is transformed into the ultrasonic coordinate system to obtain the relative positional relationship between the needle placement point and the robotic arm. The movement path of the target ablation needle tip is tracked in real time to detect the insertion trajectory of the cryoablation needle. If the deviation between the position of the target ablation needle tip and the needle placement point does not meet the requirements, the movement path of the target ablation needle tip is adjusted until the position of the target ablation needle tip coincides with the needle placement point.

[0168] Step 2006: Perform the operation on the target object according to the working time parameters corresponding to the target needle placement plan, and check the consistency between the ablation area generated during the operation and the ablation area corresponding to the target needle placement plan.

[0169] Optionally, if the deviation between the tip position of the target ablation needle and the placement point is within the error range, after all cryoablation needles are inserted to the placement point, the cryoablation time of each cryoablation needle is set according to the cryoablation time of the cryoablation needle in the target placement plan. After freezing is turned on, the ice ball contour and the cryoablation area of ​​the ultrasound image are compared to detect the consistency of the ice ball. If the ice ball contour and the cryoablation area are inconsistent, the output can be displayed through sound, light, interactive interface pop-up window, etc.

[0170] Step 2008: If the consistency between the generated ablation area and the ablation area corresponding to the target needle placement plan meets the requirements, and the working time parameter of the target ablation needle is consistent with the working time parameter corresponding to the target needle placement plan, then the target ablation needle retraction operation is performed by the robotic arm.

[0171] After freezing, the process involves thawing and needle removal.

[0172] In this embodiment, by real-time detection of the ablation needle's insertion trajectory, the needle is precisely inserted. After insertion, the marking points of the needle tip and the needle placement points in the ultrasound two-dimensional image are compared to determine the deviation between the actual and planned points, preventing excessive errors. After freezing is activated, the ice ball outline and ablation area in the ultrasound image are compared to detect the consistency of the ice ball, thereby ensuring that the ablation area completely covers the abnormal area while avoiding damage to normal tissue, thus achieving precise cryoablation operation.

[0173] In one embodiment, a detailed method for ablating needles is provided, specifically including the following steps:

[0174] Step 1: Perform 3D modeling on the MRI and real-time ultrasound images of the target object to obtain the MRI 3D model and the real-time ultrasound 3D model of the target object. The MRI 3D model includes the 3D contour of the target object and the 3D contour of the abnormal tissue. The ultrasound 3D model includes the real-time 3D contour of the target object.

[0175] Step 2: Translate and / or rotate the NMR coordinate system corresponding to the NMR 3D model until the center of the NMR coordinate system coincides with the center of the ultrasound coordinate system, and the axial directions of the NMR coordinate system are consistent with the axial directions of the ultrasound coordinate system. Synchronously adjust the 3D contour of the target object in the NMR 3D model to coincide with the real-time 3D contour of the target object in the ultrasound 3D model to obtain a fused 3D model in the ultrasound coordinate system. The fused 3D model includes the real-time 3D contour of the target object and the 3D contour of the abnormal tissue.

[0176] Step 3: The position and region of the three-dimensional contour of the abnormal tissue in the fused three-dimensional model in the ultrasonic coordinate system are taken as the abnormal region corresponding to the abnormal tissue.

[0177] Step 4: Under the tissue parameters of the target object, simulate a single ablation needle with different physical parameters and different working time parameters to obtain multiple single needle placement schemes.

[0178] Step 5: Overlay at least two identical or different single-needle stitching schemes to obtain multiple multi-needle stitching schemes.

[0179] Step 6: Initialize multiple needle placement schemes and use them as parent schemes.

[0180] Step 7: Generate multiple offspring from multiple needle placement schemes using the mutation operator of the genetic algorithm.

[0181] The fused 3D model corresponding to the target object is divided into multiple cubes. A first label is assigned to the cubes containing normal regions, and a second label is assigned to the cubes containing abnormal regions. The first label indicates that the cube contains normal regions, and the second label indicates that the cube contains abnormal regions.

[0182] Step 8: Cover the ablation area corresponding to each needle placement scheme onto the abnormal area of ​​the fused 3D model, replace the second label of the cube covered by the ablation area with the third label, and replace the first label of the cube covered by the ablation area with the fourth label; the third label is used to indicate that the abnormal area contained in the cube is covered by the ablation area; the fourth label is used to indicate that the normal area contained in the cube is covered by the ablation area.

[0183] Step 9: Count the number of second and fourth tags in the fused 3D model after the ablation area corresponding to each needle placement scheme covers the abnormal area of ​​the fused 3D model.

[0184] Step 10: Based on the number of second and fourth tags, determine the coverage between the ablation area and the medical image of the target object for each needle placement scheme.

[0185] Step 11: Calculate the fitness of coverage for each needle placement scheme and the average fitness of the needle placement scheme.

[0186] Step 12: Select multiple needle placement schemes with fitness greater than the average fitness as the next generation, perform crossover mutation on the next generation, return to the step of determining the coverage between the ablation area corresponding to each needle placement scheme and the medical image of the target object, and continue to execute until the optimal solution is output.

[0187] Step 13: If the needle placement scheme corresponding to the optimal solution does not meet the preset screening conditions, return to the step of generating multiple offspring from multiple needle placement schemes through the mutation operator of the genetic algorithm, and continue to execute until the needle placement scheme corresponding to the optimal solution meets the preset screening conditions. The needle placement scheme corresponding to the optimal solution is determined to be the optimal needle placement scheme, and the optimal needle placement scheme is taken as the target needle placement scheme.

[0188] Step 14: Determine the model of the target ablation needle loaded at the end of the robotic arm based on the physical parameters of the ablation needle in the target ablation needle placement scheme.

[0189] Step 15: Guided by the robotic arm, the target ablation needle is inserted into the needle placement point corresponding to the target needle placement plan. The movement path of the target ablation needle tip is tracked in real time. Based on the deviation between the position of the target ablation needle tip and the needle placement point, the movement path of the target ablation needle tip is adjusted until the position of the target ablation needle tip coincides with the needle placement point.

[0190] Step 16: Perform the operation on the target object according to the working time parameters corresponding to the target needle placement plan, and check the consistency between the ablation area generated during the operation and the ablation area corresponding to the target needle placement plan.

[0191] Step 17: If the consistency between the generated ablation area and the ablation area corresponding to the target needle placement plan meets the requirements, and the working time parameter of the target ablation needle is consistent with the working time parameter corresponding to the target needle placement plan, then the target ablation needle retraction operation is performed by the robotic arm.

[0192] In this embodiment, the needle placement plan is automatically planned according to the size of the abnormal area, including the number of ablation needles, the effective length of the needle tip, the ablation time, and the position of the needle tip of each ablation needle. This eliminates the influence of different planning plans by different doctors and ensures the consistency of operation. Furthermore, based on the volume of the abnormal area, the effective treatment area of ​​cryoablation is completely covered by the abnormal area, while avoiding damage to normal tissue, thus achieving precise operation.

[0193] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0194] Based on the same inventive concept, this application also provides an ablation needle distribution system for implementing the ablation needle distribution method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of the one or more ablation needle distribution system embodiments provided below can be found in the limitations of the ablation needle distribution method described above, and will not be repeated here.

[0195] In one embodiment, an ablation needle placement system is provided, comprising: a control console, a robotic arm, and a cryoablation device, wherein:

[0196] The console is used to obtain the abnormal regions corresponding to abnormal tissues in the medical images of the target object;

[0197] Simulations were performed based on the tissue parameters of the target object, as well as the number of ablation needles, working time parameters, and physical parameters to generate multiple needle placement schemes under different needle count scenarios.

[0198] Based on preset screening conditions, the optimal needle placement scheme is determined from multiple needle placement schemes and used as the target needle placement scheme.

[0199] The robotic arm loads the ablation needle and inserts it into the needle placement point;

[0200] Cryoablation equipment is used to provide energy to the ablation needle.

[0201] In one embodiment, the console is further configured to: perform three-dimensional modeling on the MRI image and real-time ultrasound image of the target object respectively, to obtain an MRI three-dimensional model and a real-time ultrasound three-dimensional model of the target object; the MRI three-dimensional model includes the three-dimensional contour of the target object and the three-dimensional contour of the abnormal tissue; the ultrasound three-dimensional model includes the real-time three-dimensional contour of the target object;

[0202] The 3D model of nuclear magnetic resonance (NMR) and the 3D model of ultrasound are fused to obtain a fused 3D model of the target object in the ultrasound coordinate system corresponding to the ultrasound 3D model; the fused 3D model includes the real-time 3D contour of the target object and the 3D contour of the abnormal tissue.

[0203] The position and region of the three-dimensional contour of the abnormal tissue in the fused three-dimensional model in the ultrasonic coordinate system are taken as the abnormal region corresponding to the abnormal tissue.

[0204] In one embodiment, the console is also used to: translate and / or rotate the NMR coordinate system corresponding to the NMR 3D model until the center of the NMR coordinate system coincides with the center of the ultrasound coordinate system, and the axial directions of the NMR coordinate system are consistent with the axial directions of the ultrasound coordinate system, thereby synchronously adjusting the 3D contour of the target object in the NMR 3D model to coincide with the real-time 3D contour of the target object in the ultrasound 3D model, and obtaining a fused 3D model in the ultrasound coordinate system.

[0205] In one embodiment, the console is also used to: simulate a single ablation needle with different physical parameters under the tissue parameters of the target object at different working time parameters to obtain multiple single needle placement schemes;

[0206] By superimposing at least two identical or different single-needle stitching schemes, multiple multi-needle stitching schemes can be obtained.

[0207] In one embodiment, the console is also used to: initialize multiple needle placement schemes and use the multiple needle placement schemes as parent schemes;

[0208] Multiple offspring are generated from multiple needle placement schemes using the mutation operator of a genetic algorithm;

[0209] Based on the fitness of each parent and offspring, select multiple individuals from the parent and offspring as the next generation, and then select the optimal solution from the obtained next generation.

[0210] If the pin placement scheme corresponding to the optimal solution does not meet the preset screening conditions, then return to the step of generating multiple offspring from multiple pin placement schemes through the mutation operator of the genetic algorithm, and continue to execute until the pin placement scheme corresponding to the optimal solution meets the preset screening conditions. The pin placement scheme corresponding to the optimal solution is then determined to be the optimal pin placement scheme, and the optimal pin placement scheme is taken as the target pin placement scheme.

[0211] In one embodiment, the console is also used to: determine the coverage between the ablation area corresponding to each needle placement scheme and the medical image of the target object;

[0212] Calculate the fitness of coverage for each needle placement scheme, and the average fitness of the needle placement scheme;

[0213] Multiple needle placement schemes with fitness greater than the average fitness are selected as the next generation. Cross-mutation is performed on the next generation. The process returns to the step of determining the coverage between the ablation area corresponding to each needle placement scheme and the medical image of the target object, and continues until the optimal solution is output.

[0214] In one embodiment, the console is further configured to: divide the fused 3D model corresponding to the target object into multiple cubes, configure a first label for cubes containing normal regions, and configure a second label for cubes containing abnormal regions; the first label indicates that the cube contains normal regions; the second label indicates that the cube contains abnormal regions.

[0215] The ablation region corresponding to each needle placement scheme is covered to the abnormal region of the fused 3D model. The second label of the cube covered by the ablation region is replaced with the third label, and the first label of the cube covered by the ablation region is replaced with the fourth label. The third label is used to indicate that the abnormal region contained in the cube is covered by the ablation region. The fourth label is used to indicate that the normal region contained in the cube is covered by the ablation region.

[0216] After counting the ablation areas corresponding to each needle placement scheme that cover the abnormal areas of the fused 3D model, the number of second and fourth tags in the fused 3D model is calculated.

[0217] Based on the number of second and fourth tags, the coverage between the ablation area and the medical image of the target object corresponding to each needle placement scheme is determined.

[0218] In one embodiment, the console is also used to: determine the model of the target ablation needle loaded at the end of the robotic arm based on the physical parameters of the ablation needle in the target ablation needle placement scheme;

[0219] Guided by a robotic arm, the target ablation needle is inserted into the needle placement point corresponding to the target needle placement plan. The movement path of the target ablation needle tip is tracked in real time. Based on the deviation between the position of the target ablation needle tip and the needle placement point, the movement path of the target ablation needle tip is adjusted until the position of the target ablation needle tip coincides with the needle placement point.

[0220] The operation is performed on the target object according to the working time parameters corresponding to the target needle placement plan, and the consistency between the ablation area generated during the operation and the ablation area corresponding to the target needle placement plan is detected.

[0221] If the consistency between the resulting ablation area and the ablation area corresponding to the target needle placement plan meets the requirements, and the working time parameter of the target ablation needle is consistent with the working time parameter corresponding to the target needle placement plan, then the target ablation needle retraction operation is performed by the robotic arm.

[0222] Each module in the aforementioned ablation needle system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0223] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0224] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above method embodiments.

[0225] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0226] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0227] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (Pmm), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0228] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0229] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for planning ablation needles, characterized in that, The method includes: Obtain the abnormal region corresponding to the abnormal tissue in the medical image of the target object; Simulations are performed based on the tissue parameters of the target object, the number of ablation needles, working time parameters, and physical parameters to generate multiple needle placement schemes under different needle number scenarios. The needle placement scheme includes the size of the ablation area, the number of needles required to generate the ablation area, the effective length of the ablation needle tip, the stiffness of the ablation needle, the thermal conductivity of the ablation needle, the ablation time, and the needle placement point position. Based on preset screening conditions, the optimal needle placement scheme is determined from multiple needle placement schemes and used as the target needle placement scheme. The preset screening conditions include at least one of the first screening condition, the second screening condition, and the third screening condition; the first screening condition is that the ablation area corresponding to the needle placement scheme completely covers the abnormal area, and the coverage area of ​​the normal area corresponding to the normal tissue in the medical image of the target object is less than a preset value; the second screening condition is that the path from the needle placement point corresponding to the needle placement scheme to the abnormal area does not pass through the important organs of the target object; the third screening condition is that the number of ablation needles corresponding to the needle placement scheme is the minimum.

2. The method according to claim 1, characterized in that, The acquisition of abnormal regions corresponding to abnormal tissues in the medical images of the target object includes: Three-dimensional modeling is performed on the MRI and real-time ultrasound images of the target object to obtain the MRI three-dimensional model and the real-time ultrasound three-dimensional model of the target object; the MRI three-dimensional model includes the three-dimensional contour of the target object and the three-dimensional contour of the abnormal tissue; the ultrasound three-dimensional model includes the real-time three-dimensional contour of the target object. The nuclear magnetic resonance 3D model and the ultrasound 3D model are fused to obtain a fused 3D model of the target object in the ultrasound coordinate system corresponding to the ultrasound 3D model; the fused 3D model includes the real-time 3D contour of the target object and the 3D contour of the abnormal tissue; The position and region of the three-dimensional contour of the abnormal tissue in the fused three-dimensional model under the ultrasonic coordinate system are taken as the abnormal region corresponding to the abnormal tissue.

3. The method according to claim 2, characterized in that, The nuclear magnetic resonance (NMR) 3D model and the ultrasound 3D model are fused to obtain a fused 3D model of the target object in the ultrasound coordinate system corresponding to the ultrasound 3D model, including: The NMR coordinate system corresponding to the NMR 3D model is translated and / or rotated until the center of the NMR coordinate system coincides with the center of the ultrasound coordinate system, and the axial directions of the NMR coordinate system are consistent with the axial directions of the ultrasound coordinate system. The 3D contour of the target object in the NMR 3D model is synchronously adjusted to coincide with the real-time 3D contour of the target object in the ultrasound 3D model, thereby obtaining a fused 3D model in the ultrasound coordinate system.

4. The method according to claim 1, characterized in that, The needle placement scheme includes a single-needle placement scheme and a multi-needle placement scheme. Simulations are performed based on the tissue parameters of the target object, the number of ablation needles, the working time parameters, and physical parameters to generate multiple needle placement schemes under different needle count scenarios, including: Under the tissue parameters of the target object, simulations were performed on a single ablation needle with different physical parameters and different working duration parameters to obtain multiple single-needle placement schemes; By superimposing at least two identical or different single-needle placement schemes, multiple multi-needle placement schemes can be obtained.

5. The method according to claim 1 or 4, characterized in that, The process of determining the optimal needle placement scheme from multiple needle placement schemes based on preset screening conditions, as the target needle placement scheme, includes: Initialize multiple pin layout schemes and use these multiple pin layout schemes as parent schemes; Multiple offspring are generated from multiple needle placement schemes using the mutation operator of a genetic algorithm; Based on the fitness of each parent and offspring, select multiple individuals from the parent and offspring as the next generation, and then select the optimal solution from the obtained next generation. If the needle placement scheme corresponding to the optimal solution does not meet the preset screening conditions, then return to the step of generating multiple offspring from multiple needle placement schemes through the mutation operator of the genetic algorithm, and continue to execute until the needle placement scheme corresponding to the optimal solution meets the preset screening conditions. The needle placement scheme corresponding to the optimal solution is determined to be the optimal needle placement scheme, and the optimal needle placement scheme is taken as the target needle placement scheme.

6. The method according to claim 5, characterized in that, The process of selecting multiple individuals from the parent and offspring generations as the next generation based on the fitness of each parent and offspring, and then selecting the optimal solution from the obtained next generation, includes: Determine the coverage ratio between the ablation area corresponding to each needle placement scheme and the medical image of the target object; Calculate the fitness of coverage for each needle placement scheme, and the average fitness of the needle placement scheme; Multiple needle placement schemes with fitness greater than the average fitness are selected as the next generation. The next generation is cross-mutated, and the step of determining the coverage between the ablation area corresponding to each needle placement scheme and the medical image of the target object is returned. The process continues until the optimal solution is output.

7. The method according to claim 6, characterized in that, Determining the coverage ratio between the ablation area corresponding to each needle placement scheme and the medical image of the target object includes: The fused 3D model corresponding to the target object is divided into multiple cubes. A first label is assigned to the cubes containing the normal region, and a second label is assigned to the cubes containing the abnormal region. The first label indicates that the cube contains the normal region, and the second label indicates that the cube contains the abnormal region. The ablation region corresponding to each of the aforementioned needle placement schemes is covered over the abnormal region of the fused 3D model. The second label of the cube covered by the ablation region is replaced with the third label, and the first label of the cube covered by the ablation region is replaced with the fourth label. The third label is used to indicate that the abnormal region contained in the cube is covered by the ablation region. The fourth label is used to indicate that the normal region contained in the cube is covered by the ablation region. After counting the ablation areas corresponding to each of the aforementioned needle placement schemes that cover the abnormal areas of the fused 3D model, the number of the second label and the fourth label in the fused 3D model are determined; Based on the number of the second and fourth tags, the coverage between the ablation area corresponding to each needle placement scheme and the medical image of the target object is determined.

8. An ablation needle system, characterized in that, The system includes: a control console, a robotic arm, and a cryoablation device; The console is used to acquire abnormal regions corresponding to abnormal tissues in the medical images of the target object; Obtain the abnormal region corresponding to the abnormal tissue in the medical image of the target object; Simulations are performed based on the tissue parameters of the target object, the number of ablation needles, working time parameters, and physical parameters to generate multiple needle placement schemes under different needle number scenarios. The needle placement scheme includes the size of the ablation area, the number of needles required to generate the ablation area, the effective length of the ablation needle tip, the stiffness of the ablation needle, the thermal conductivity of the ablation needle, the ablation time, and the needle placement point position. Based on preset screening conditions, the optimal needle placement scheme is determined from multiple needle placement schemes and used as the target needle placement scheme. The robotic arm is equipped with an ablation needle and inserts the ablation needle into the needle placement point corresponding to the target needle placement scheme. The cryoablation device is used to provide energy to the ablation needle; The preset screening conditions include at least one of the first screening condition, the second screening condition, and the third screening condition; the first screening condition is that the ablation area corresponding to the needle placement scheme completely covers the abnormal area, and the coverage area of ​​the normal area corresponding to the normal tissue in the medical image of the target object is less than a preset value; the second screening condition is that the path from the needle placement point corresponding to the needle placement scheme to the abnormal area does not pass through the important organs of the target object; the third screening condition is that the number of ablation needles corresponding to the needle placement scheme is the minimum.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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