Magnetic resonance guided laser ablation therapy system

Abstract

This invention provides a magnetic resonance-guided laser ablation therapy system, comprising an optical fiber cooling assembly that houses and cools an ablation optical fiber; a laser ablation device containing a laser generator and a cooling device; a stereotactic system that houses and controls the position and rotation angle of the ablation optical fiber; and a workstation configured to control the movement of the stereotactic device and to generate and display ablation information of the target site during the operation of the magnetic resonance-guided laser ablation therapy system using magnetic resonance temperature imaging technology.

Description

[0001] This invention claims priority to patent application number 202011640255.6, filed on December 31, 2020, entitled "Magnetic Resonance Guided Laser Ablation Therapy System", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This invention relates to the field of medical device technology, specifically to a magnetic resonance-guided laser ablation treatment system. Background Technology

[0003] Laser interstitial hyperthermia is a promising treatment method for focal epilepsy, malignant tumors, and post-radiotherapy gangrene in the brain. It ablates tissue by applying energy to the affected area with a laser. However, several issues remain unresolved. First, some manufacturers design mechanisms for controlling the movement of the fiber optic ends; however, the head-mounted structure for guiding and controlling the fiber optics into the skull is complex and heavy, requiring multiple bone screws for fixation and structural reinforcement. Patients, especially children, find the trauma of implanted bone screws unacceptable, leading to poor compliance. Second, due to the limited range of laser ablation, there is a need for implanting multiple fibers for ablation. Furthermore, existing head-mounted... The structure occupies too much space, hindering or severely limiting the implantation distance of different optical fibers, restricting the planning of implantation sites, and making it impossible to implement schemes with too small implantation site distances; secondly, in order to ablate target tissue with irregular volume, precise control of the angle and time of optical fiber emission direction is required, i.e., precise control of rotation, especially when using cooling sleeves for cooling. The cooling sleeve assembly will provide non-rigid fixation for the optical fiber passing through it, causing uncontrolled rotation of the fiber end and causing the laser emission to deviate from the designed expected position; finally, the rotation of the ablation component in the human body will cause damage to the surrounding tissues (especially brain tissue).

[0004] To address one or more of the above problems, this invention proposes a magnetic resonance-guided laser ablation treatment system. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a magnetic resonance-guided laser ablation treatment system that can effectively ablate both regular and irregular tissues.

[0006] In a first aspect, embodiments of the present invention provide a first magnetic resonance-guided laser ablation treatment system, comprising:

[0007] Ablation of optical fibers;

[0008] Laser ablation equipment, which includes a laser generator and a cooling device;

[0009] A stereotactic system that accommodates and controls the position and rotation angle of the ablation fiber;

[0010] The workstation is configured to: control the movement of the stereotactic device and generate and display ablation information of the target area during the operation of the magnetic resonance-guided laser ablation treatment system using magnetic resonance temperature imaging technology.

[0011] Optionally, the ablation fiber can emit light from the side.

[0012] Stereoscopic systems include:

[0013] Guiding devices, sleeves, connectors, and rotary drive devices;

[0014] The proximal end of the sleeve is connected to the connector, and the distal end of the sleeve can extend from the distal end of the guide device.

[0015] In use, the ablation fiber is placed inside the sleeve, and the rotation drive device drives the ablation fiber to rotate.

[0016] Optionally, the rotary drive device includes a first driver;

[0017] The first driver is connected to the ablation fiber, and the first driver drives the ablation fiber to rotate around its own axis.

[0018] Optionally, the stereotactic system described above further includes a controller, and the first driver is communicatively connected to the controller;

[0019] In use, the controller sends motion control commands to the first driver;

[0020] The first driver drives the ablation fiber to rotate around its own axis according to the motion control command.

[0021] Optionally, the rotation drive device further includes a first angle sensor, which is communicatively connected to the controller;

[0022] The first angle sensor detects the rotation angle of the ablation fiber or the rotation angle of other components that have the same rotation angle as the ablation fiber, and sends the detected rotation angle to the controller.

[0023] Optionally, the stereotactic system described above may also include a forward and backward translation drive device;

[0024] The rotary drive device is slidably connected to the forward and backward translation drive device.

[0025] Optionally, the forward and backward translation drive device is communicatively connected to the controller;

[0026] The controller sends forward and backward translation commands to the forward and backward translation drive device;

[0027] The forward and backward translation drive device drives the rotation drive device to translate forward and backward according to the forward and backward translation command, thereby driving the ablation fiber to translate forward and backward.

[0028] Optionally, the rotary drive device further includes a rotary device base;

[0029] The first driver is mounted on the base of the rotating device.

[0030] Optionally, the rotary drive device further includes an ablation fiber optic adapter;

[0031] In use, the first driver drives the ablation fiber optic adapter to rotate, and the far end of the ablation fiber optic adapter is connected to the ablation fiber.

[0032] Optionally, the guiding device includes a hollow elongated structural guide and a clamping assembly, the distal end of which is connected to the proximal end of the hollow elongated structural guide, and the clamping assembly is used to fix the relative position of the sleeve and the hollow elongated structural guide after the sleeve extends out of the distal end of the hollow elongated structural guide.

[0033] Optionally, the clamping assembly includes an elastic plug, a clamping adapter, a set screw, and a tightening element;

[0034] The tightening member is threadedly connected to the set screw. The distal end of the set screw is inserted into the clamping adapter and contacts the elastic plug. The distal end of the tightening member can be threadedly connected to the proximal end of the clamping adapter. The distal end of the clamping adapter is connected to the proximal end of the hollow slender structure guide. The elastic plug is disposed in the proximal cavity of the hollow slender structure guide.

[0035] In use, the tightening member is tightened to the set screw and the clamping adapter, the set screw presses against the elastic plug, the sleeve passes through the set screw, the elastic plug and the hollow slender structure guide, the distal end of the sleeve can extend from the distal end of the hollow slender structure guide, and the elastic plug fixes the position of the sleeve.

[0036] Optionally, the connector is a hollow shell, and the proximal end of the sleeve is connected to the hollow shell.

[0037] Optionally, the connector includes a sealing plug, an ablation fiber optic connector, and a sealing nut, a Luer connector, a water inlet adapter, and a water outlet adapter connected sequentially from the proximal end to the distal end.

[0038] The ablation fiber optic connector is connected to the transmission component of the rotary drive device, the sealing plug is disposed inside the Luer connector, and the internal boss of the sealing nut contacts the sealing plug;

[0039] In use, the sealing nut is tightened onto the Luer connector, the internal boss of the sealing nut presses against the sealing plug, and the ablation fiber passes through the ablation fiber connector, the sealing nut, the sealing plug, and the water inlet adapter to enter the sleeve.

[0040] Optionally, the connector further includes a first water pipe and a second water pipe, and the sleeve includes an inner water circulation pipe and an outer water circulation pipe;

[0041] The inner water circulation pipe is disposed inside the outer water circulation pipe and there is a gap between the two. The first water pipe passes through the water inlet adapter and communicates with the inner water circulation pipe. The second water pipe passes through the water outlet adapter and communicates with the outer water circulation pipe.

[0042] In use, the ablation fiber passes through the ablation fiber connector, the sealing nut, and the sealing plug into the inner water circulation pipe.

[0043] Optionally, a first strength enhancement structure is provided between the external water circulation pipe and the internal water circulation pipe, and a second strength enhancement structure is provided between the internal water circulation pipe and the ablation optical fiber.

[0044] Optionally, at least a first portion of the ablation fiber is provided with a rigid structure, or at least a first portion of the ablation fiber has a reinforced outer surface structure, wherein the first portion includes the portion of the ablation fiber from its proximal end to the portion located within the sealing plug and the portion extending beyond the sealing plug, and when the distal end of the ablation fiber is located at the farthest end of the system, the length of the portion extending beyond the sealing plug is greater than the movement distance of the ablation fiber.

[0045] Optionally, the forward and backward translation drive device includes a forward and backward translation drive device base, at least one slide rail, a lead screw, a sliding block, and a second driver.

[0046] The at least one slide rail and the lead screw are arranged in parallel and both pass through the sliding block. The two ends of the at least one slide rail are fixedly installed on the base of the front-to-back translation drive device. The lead screw is rotatably connected to the base of the front-to-back translation drive device. The second driver drives the lead screw to rotate. The second driver is installed on the base of the front-to-back translation drive device. The rotation drive device is installed on the sliding block.

[0047] Optionally, the workstation can communicate with the laser ablation equipment and the stereotactic system, adjust the parameters of the laser generator and cooling device, control the position and rotation angle of the ablation fiber, perform ablation under magnetic resonance detection, and perform feedback control on the laser ablation equipment and the stereotactic system based on the temperature and ablation information fed back from the magnetic resonance image.

[0048] Secondly, embodiments of the present invention provide another magnetic resonance-guided laser ablation treatment system, comprising:

[0049] Fiber optic cooling assembly that houses and cools ablation fiber optics;

[0050] Laser ablation equipment, which includes a laser generator and a cooling device;

[0051] A stereotactic system that accommodates and controls the position and rotation angle of the ablation fiber;

[0052] The workstation is configured to: control the movement of the stereotactic device and generate and display ablation information of the target area during the operation of the magnetic resonance-guided laser ablation treatment system using magnetic resonance temperature imaging technology.

[0053] Furthermore, the workstation is connected to the hospital's image archiving and communication system to acquire digital images before surgery, generate a surgical plan based on the digital images, send the surgical plan to the laser ablation device, and use magnetic resonance thermal imaging technology to generate a real-time temperature image of the lesion area during surgery. Based on the real-time temperature image, control information is generated and sent to the laser ablation device to adjust the laser power and cooling power of the laser ablation device in real time.

[0054] The laser ablation device is connected to the workstation and is used to generate and adjust the laser according to the surgical plan and the control information, drive and control the circulation of the cooling medium. The laser ablation device includes a medical switching device, a laser generator, a cooling device, a sensor module, an interaction module and a main control module.

[0055] The sensor module, connected to the main control module, is used to collect the operating parameter information of the laser thermotherapy device and send the operating parameter information to the main control module;

[0056] An interactive module, connected to the main control module, is used to acquire operation instruction information, send the operation instruction information to the main control module, and display the working status of the laser thermotherapy device.

[0057] The main control module, connected to the workstation, is used to control the cooling device and the laser generator according to the surgical plan, the working parameter information, the operation instruction information and the control information. The control information includes first control information and second control information. The main control module is also used to monitor the safe operating parameters of the laser generator and the cooling device, and to cause the laser thermotherapy device to stop urgently and / or adjust the cooling device when the safe operating parameters exceed the safe threshold.

[0058] A laser generator, connected to the main control module, is used to generate and adjust a first laser for ablation and a second laser for auxiliary positioning according to the first control information.

[0059] A cooling device, connected to the main control module, is used to drive and control the circulation of the cooling medium according to the second control information.

[0060] A medical switching device, connected to the main control module, is used to convert AC power to DC power.

[0061] The cooling device includes a peristaltic pump, a cooling medium and a cooling medium delivery pipe, and may also include a constant temperature chamber.

[0062] Optionally, the ablation fiber includes an ablation probe capable of directional light emission, and the fiber cooling assembly includes a coolant delivery pipe, a cooling sleeve, a water circulation adapter assembly, and a sealing plug.

[0063] Stereoscopic systems include:

[0064] The guiding device includes a cooling sleeve guide and a guiding device housing;

[0065] At least two sets of sensor assemblies, the sensor assemblies including angle sensors;

[0066] A rotation drive device that drives the ablation fiber to rotate;

[0067] The controller is communicatively connected to the sensor assembly and the rotary drive device, receives angle information from the sensor assembly, controls the movement of the rotary drive device, and can also receive control information input.

[0068] In use, the distal end of the ablation fiber passes through the fiber cooling assembly, the angle sensor is fixedly connected to a device or structure that does not rotate with the ablation fiber, and the stereotactic system can keep the rotation angle of the ablation fiber at different sensors the same or basically the same.

[0069] In some embodiments, in the magnetic resonance-guided laser ablation therapy system of the present invention, the sensor assembly further includes a rotation positioning device, which allows the ablation fiber to move along the longitudinal axis while the rotation angle is being measured. In use, the rotation positioning device clamps the ablation fiber with a preset pressure, and the ablation fiber drives the rotation positioning device to rotate. The angle sensor detects the rotation angle of the rotation positioning device and sends the rotation angle to the controller.

[0070] Furthermore, the stereotactic system also includes a sleeve that keeps the length of the ablation fiber between the first set of sensor assemblies and the second set of sensor assemblies fixed, allowing the ablation fiber to rotate about and move along the long axis therein.

[0071] Optionally, the stereotactic system further includes a longitudinal motion device, the rotation drive device being movable relative to the longitudinal motion device, and the controller sending control information to the longitudinal motion device to cause the ablation fiber to move along its long axis; further, the longitudinal motion device is connected to the second sensor assembly.

[0072] Optionally, in the stereotactic system, the guide device housing includes a bone screw cap, a guide device housing body, and a guide device housing rear cover; the proximal end of the cooling sleeve guide is threadedly connected to the distal end of the bone screw cap, the proximal end of the bone screw cap is connected to the distal end of the guide device housing body, the guide device housing rear cover is fitted onto the proximal end of the guide device housing body, and the guide device housing rear cover is connected to the distal end of the sleeve; the fiber cooling assembly is disposed within the guide device housing body; in use, the ablation fiber passes through the guide device housing rear cover, the guide device housing body, the bone screw cap, and the cooling sleeve guide.

[0073] Furthermore, the guide device housing body includes a guide device housing body fixing part and a guide device housing body sliding part. The proximal end of the bone nail cap is connected to the distal end of the guide device housing body fixing part, the proximal end of the guide device housing body fixing part is connected to the distal end of the guide device housing body sliding part, and the guide device rear cover is fitted onto the proximal end of the guide device housing body sliding part.

[0074] In other embodiments of the present invention, the stereotactic system of the magnetic resonance-guided laser ablation therapy system includes: a guide device, a cannula, a plug, a rotation drive device, and a longitudinal movement drive device;

[0075] The guiding device includes a cooling sleeve guide and a guiding device housing. The guiding device housing includes a bone screw cap, a guiding device housing body, and a guiding device housing rear cover. The guiding device housing body includes a guiding device housing body fixing part and a guiding device housing body sliding part. The proximal end of the bone screw cap is connected to the distal end of the guiding device housing body fixing part, and the proximal end of the guiding device housing body fixing part is connected to the distal end of the guiding device housing body sliding part. The guiding device rear cover covers the proximal end of the guiding device housing body sliding part. The guiding device housing body fixing part and / or the guiding device housing body sliding part are provided with a scale. The guiding device housing body fixing part and the guiding device housing body sliding part can move relative to each other. The scale displays the distance of the relative movement. A first set of sensor components is provided in the guiding device, and the angle sensor of the first set of sensor components is connected to the guiding device housing body.

[0076] The plug-in is provided with a second set of sensor components. The angle sensor of the second set of sensor components is connected to the housing of the plug-in. The plug-in is connected to the longitudinal movement drive device, so that the relative position of the plug-in and the longitudinal movement drive device remains unchanged.

[0077] The proximal end of the sleeve is connected to the rear cover of the guide device, and the distal end of the sleeve is connected to the plug-in, so that the length of the ablation fiber between the rear cover of the guide device and the plug-in remains unchanged.

[0078] The rotary drive device is slidably connected to the longitudinal movement drive device;

[0079] In use, the optical fiber cooling assembly is disposed within the housing body of the guide device.

[0080] In another aspect of the present invention, in the magnetic resonance-guided laser ablation therapy system of the present invention, the host or controller may be loaded with a program for precisely adjusting the rotation angle of the ablation fiber;

[0081] One method for precisely adjusting the rotation angle of the ablation fiber includes the following steps:

[0082] The controller causes the ablation fiber to rotate in one direction via a rotation drive device. When the rotation of the ablation fiber measured by the first set of sensor components reaches a preset angle, the controller receives and records the rotation of the ablation fiber measured by the second set of sensor components at this time. At the same time, the controller controls the rotation drive device to stop rotating and rotate in the opposite direction, causing the ablation fiber near the second set of sensor components to rotate in the opposite direction by an angle. This angle is the absolute value of the difference between the second angle and the first angle.

[0083] The second method for precisely adjusting the rotation angle of the ablation fiber includes the following steps:

[0084] The controller causes the ablation fiber to rotate in one direction via a rotation drive device. When the first set of sensor components detects that the ablation fiber has started to rotate, it records the rotation angle measured by the second set of sensor components at this time as the base rotation angle. When the rotation of the ablation fiber measured by the first set of sensor components reaches the preset angle, the controller controls the rotation drive device to stop rotating and rotate in the opposite direction, causing the ablation fiber near the second set of sensor components to rotate in the opposite direction by the base rotation angle.

[0085] It is understandable that ablation can be divided into multiple steps, which may require multiple rotations, staying at different positions for different times, monitoring the ablation progress through magnetic resonance thermography, and then continuing to rotate. The above method can be performed multiple times continuously or intermittently.

[0086] The magnetic resonance-guided laser ablation treatment system of the present invention utilizes magnetic resonance temperature imaging technology to generate real-time temperature images of the lesion area during the operation. By using the temperature values ​​of the lesion and the surrounding healthy tissue, the laser power and cooling power are adjusted in real time, achieving effective ablation of regular and irregular lesions. Furthermore, the ablation is predicted during the operation, and the ablation boundary is adjusted in real time to achieve the purpose of conformal ablation.

[0087] The magnetic resonance-guided laser ablation treatment system of the present invention can generate a surgical plan, wherein the surgical plan includes laser-related information, including but not limited to: planned ablation volume, laser power, light emission time, light emission mode, coolant flow rate, and fiber optic catheter insertion path planning;

[0088] Real-time control is achieved by calculating the temperature based on the magnetic resonance image and correcting the temperature image using the temperature measurement structure. The working parameters of the ablation fiber optic assembly, the treatment light source module, and the cooling device are adjusted in real time to monitor ablation in real time.

[0089] The comparative analysis compares the information in the surgical plan corresponding to each laser device with the information of the laser device after the operation. Based on the comparison results, ablation result information is generated and displayed in the human-computer interaction module. The comparison content includes the following: the planned ablation area or volume, and the actual ablation area or volume after the operation. The ablation result information includes at least, but is not limited to: ablation area percentage, ablation volume percentage, and a comparison image before and after ablation.

[0090] The innovative aspects of the first aspect of the invention include:

[0091] 1. The rotation drive device drives the ablation fiber to rotate, thereby controlling the rotation of the ablation fiber. The direction of the ablation fiber implantation can be guided by the guide device. The ablation fiber can be directionally controlled without the need for additional support structures installed in the skull, reducing patient pain and simplifying installation.

[0092] 2. By setting a first angle sensor, the rotation angle of the drive shaft or the rotation angle of the ablation fiber can be detected and fed back to the controller; when the rotation drive device includes a first angle sensor, the rotation angle of the ablation fiber with a rigid structure or a reinforced outer surface structure can be detected and sent to the controller, thereby realizing the rotation control of the ablation fiber.

[0093] 3. By setting up a controller, the controller can control the forward and backward translational drive device to drive the rotational drive device to translate forward and backward, so that the ablation fiber moves with the movement of the rotational drive device, thereby realizing the control of the forward and backward translation of the ablation fiber.

[0094] 4. By setting a hollow, slender guide and a clamping assembly, the relative position of the sleeve and the hollow, slender guide can be fixed; by setting the distal end of the set screw to be inserted into the clamping adapter and in contact with the elastic plug, when the tightening part is tightened to the set screw and the clamping adapter, the set screw can press the elastic plug, causing the elastic plug to squeeze the sleeve inside, thereby achieving the purpose of fixing the sleeve.

[0095] 5. By setting a sealing plug and configuring the connector to include a first water pipe and a second water pipe, and by setting a sleeve to include an inner water circulation pipe and an outer water circulation pipe, the cooling and sealing of the ablation optical fiber is achieved.

[0096] 6. By setting at least a first portion of the ablation fiber to have a rigid structure or a reinforced outer surface structure, the strength of the ablation fiber is enhanced. Furthermore, by setting the first portion to include the portion of the ablation fiber from its proximal end to the portion located inside the sealing plug and the portion extending beyond the sealing plug, and by ensuring that the length of the portion extending beyond the sealing plug is greater than the movement distance of the ablation fiber when the distal end of the ablation fiber is located at the farthest end of the system, it is guaranteed that even after the ablation fiber has moved, the ablation fiber located inside the sealing plug still has a rigid structure or a reinforced outer surface structure, thus eliminating the influence of friction between the sealing plug and the ablation fiber on the rotation of the ablation fiber.

[0097] 7. By setting up a first strength enhancement structure and a second strength enhancement structure, the strength and puncture resistance of the sleeve are increased, preventing deformation under external pressure and blocking the circulation of cooling fluid.

[0098] The second aspect of the invention has at least the following advantages:

[0099] 1. The guide device has a simple structure, is lightweight, and has high reliability. It only requires a cooling sleeve guide (such as a hollow bone screw) to support the weight of the guide device. There is no need to install other auxiliary structures, which reduces the number of bone screws required, reduces patient pain, and increases compliance.

[0100] 2. Existing technologies often use excessively large head-mounting structures, hindering or severely limiting the implantation distance of different optical fibers and restricting the planning of implantation sites. This makes it impossible to implement solutions with excessively small implantation site distances. This invention, by avoiding other structures in the auxiliary guiding device, allows for very close proximity of the cooling sleeve guide components, providing more options for situations requiring dense implantation of ablation fibers for large-area tissue ablation.

[0101] 3. After implantation, the cooling sleeve does not move relative to the brain tissue; only the ablation fiber inside rotates. Adjusting the rotation of the ablation fiber will not increase the damage to the brain tissue.

[0102] 4. When cooling the ablation fiber with a cooling medium, the sealing plug at the end will cause the ablation fiber to continue rotating after reaching the predetermined angle, resulting in orientation error. This seriously affects the expected and planned operation and makes accurate ablation impossible.

[0103] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0104] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0105] Figure 1 This is a schematic diagram of a magnetic resonance-guided laser ablation treatment system provided in an embodiment of the present invention;

[0106] Figure 2 This is a schematic diagram of the assembly structure of the first stereotactic system provided in an embodiment of the present invention;

[0107] Figure 3 This is an exploded structural diagram of the first stereotactic system provided in an embodiment of the present invention;

[0108] Figure 4 This is a schematic diagram of the rotary drive device.

[0109] Figure 5 for Figure 4 A sectional view of part of the structure;

[0110] Figure 6 A cross-sectional view of the assembly structure of the guiding device provided in an embodiment of the present invention;

[0111] Figure 7 This is an exploded cross-sectional view of the guiding device provided in an embodiment of the present invention;

[0112] Figure 8 This is a schematic diagram of the assembly structure of the connector provided in an embodiment of the present invention;

[0113] Figure 9 This is an exploded structural diagram of the connector provided in an embodiment of the present invention;

[0114] Figure 10 This is a schematic diagram of the sleeve structure provided in an embodiment of the present invention;

[0115] Figure 11 This is a schematic diagram of the structure of the forward and backward translation drive device provided in an embodiment of the present invention;

[0116] Figure 12 This is a schematic diagram of the structure of the second stereotactic system provided in an embodiment of the present invention;

[0117] Figure 13 A schematic diagram of a guiding device provided in an embodiment of the present invention;

[0118] Figure 14 An exploded view of an angle of the second rotary positioning device and the second angle sensor provided in an embodiment of the present invention;

[0119] Figure 15 An exploded view of the second rotation positioning device and the second angle sensor provided in the embodiments of the present invention from another angle;

[0120] Figure 16 for Figure 13 A sectional view;

[0121] Figure 17 This is a schematic diagram of a plugin structure;

[0122] Figure 18 This is a schematic diagram of another plugin structure.

[0123] Figures 1-18The system includes: 100 workstations, 200 laser ablation devices, 300 stereotactic systems, 400 fiber optic cooling components or ablation fibers, 1 guiding device, 11 hollow slender structure guide components, 12 clamping components, 121 elastic plugs, 122 clamping adapters, 123 set screws, 124 tightening components, 2 sleeves, 21 internal water circulation pipes, 22 external water circulation pipes, 23 first strength reinforcement structure, 24 second strength reinforcement structure, 3 connectors, 31 sealing plugs, 32... 33. Ablation fiber optic connector, 34. Sealing nut, 35. Luer connector, 36. Water inlet adapter, 37. Water outlet adapter, 38. First water pipe, 4. Second water pipe, 5. Rotary drive device, 61. First actuator, 72. Rotary device base, 83. Ablation fiber optic adapter, 9. Ablation fiber optic cable, 10. Forward and backward translation drive device, 11. Forward and backward translation drive device base, 12. Slide rail, 13. Lead screw, 14. Sliding block, 15. Second actuator, 16. Passive wheel, 17. Actuating wheel, 18. Plug-in connector 8. Connector, 8. Guide device, 81. Hollow slender structure guide, 82. Second bone nail cap, 83. Transmission sleeve mounting base, 84. Guide device housing body fixing part, 85. Guide device housing body sliding part, 86. Scale, 87. Bone nail adapter bolt, 871. Bolt protrusion, 88. Second angle sensor, 89. Second rotary positioning device, 9. Transmission sleeve, 51. Body, 511. Protrusion, 52. Adjustable top pressure device, 53. Bearing, 54. First shaft, 55. Second shaft, 56. First hole, 10. Insert, 101. Insert housing, 1011. Insert upper housing, 1012. Insert lower housing, 10121. Extension, 10122. Lower connection, 102. Insert transmission sleeve mounting base, 103. Third angle sensor, 104. Third rotary positioning device, 44. Patch cable fiber optic connector, 45. Patch cable fiber optic sleeve, 501. Ablation fiber optic plug, 50. Clip hole, 60. Cooling sleeve, 70. Cooling circulation assembly, 90. Cooling circulation assembly cap. Detailed Implementation

[0124] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0125] In this invention, "proximal end" refers to the end of the structure away from the ablation site along the axial direction of the ablation fiber; conversely, "proximal end" refers to the end of the structure away from the target site along the axial direction of the ablation fiber.

[0126] The magnetic resonance-guided laser ablation therapy system of the present invention, see [link to original text]. Figure 1It includes a workstation 100, a laser ablation device 200, a stereotactic system 300, and an optical fiber cooling assembly 400 (or ablation fiber 400). The positional relationship is not a true physical structural relationship, but is only for illustration. The laser ablation device 200 is communicatively connected to the workstation 100 and can be located within it or exist independently. The laser ablation device 200 and the stereotactic system 300 are communicatively connected to the workstation 100, but they are not necessarily directly connected in structure, and there are no restrictions on the structural relationship.

[0127] Workstation 100 is configured to receive medical image information (such as CT, MRI, etc.), build a three-dimensional model based on one or more types of medical image information, extract image point clouds based on the three-dimensional model, control the laser ablation device 200 and stereotactic system 300, calculate and display the ablation progress, and contains an ablation estimation module. The ablation module is loaded with a program that can execute ablation prediction methods.

[0128] The workstation can generate a surgical plan, which includes laser-related information, including but not limited to: planned ablation volume, laser power, light emission time, light emission mode, coolant flow rate, and fiber optic catheter insertion path planning.

[0129] Real-time control is achieved by calculating the temperature based on the magnetic resonance image and correcting the temperature image using the temperature measurement structure. The working parameters of the ablation fiber optic assembly, the treatment light source module, and the cooling device are adjusted in real time to monitor ablation in real time.

[0130] The comparative analysis compares the information in the surgical plan corresponding to each laser device with the information of the laser device after the operation. Based on the comparison results, ablation result information is generated and displayed in the human-computer interaction module. The comparison content includes the following: the planned ablation area or volume, and the actual ablation area or volume after the operation. The ablation result information includes at least, but is not limited to: ablation area percentage, ablation volume percentage, and a comparison image before and after ablation.

[0131] The laser ablation device 200 communicates with the workstation 100. Its actual spatial location is not critical; it can be integrated with the workstation or be a separate unit. It includes a laser generator and a cooling device. The device can control the laser generator and cooling device independently or by receiving information from the workstation, adjusting the laser generator's operating power and the cooling medium flow rate of the cooling device. Optionally, the laser ablation device 200 also includes a sensor module, an interaction module, and a main control module. The sensor module receives information from the fiber optic end, such as a temperature sensor installed at the fiber optic end or in the cooling sleeve, to monitor the laser output power and cooling status. The interaction module communicates with the workstation, and the main control module sends commands to the laser generator and cooling device. The laser ablation device 200 comprises the following six parts:

[0132] (1) Medical switch device, used to convert 110-220V AC power into DC power for each module.

[0133] (2) Laser generator, used to generate lasers for ablation and for auxiliary positioning. The laser type can be gas, solid-state, semiconductor, or fiber laser. The laser type can be infrared, ultraviolet, or visible light. Ablation primarily uses wavelengths around 980nm and 1064nm, with adjustable power, a maximum of 30W, continuous laser, and can be modulated into pulsed lasers with pulse widths ranging from 10ms to 100,000ms and pulse frequencies from 0.01Hz to 100Hz. The laser used for auxiliary positioning mainly operates around 640nm, with a power not exceeding 2W, and is a continuous laser.

[0134] (3) Cooling device, used to drive and control the circulation of cooling medium to achieve cooling of the laser ablation probe and the surrounding tissue.

[0135] The cooling system mainly consists of a thermostatic chamber, a peristaltic pump, a cooling medium, and cooling medium delivery tubing. Pressure sensors are installed on the inlet and outlet loops of the cooling tubing; temperature sensors are located at the connection points between the cooling tubing and the inlet and outlet of the thermostatic chamber. The thermostatic chamber maintains the temperature of the cooling medium within the cooling tubing at a set temperature, which can range from 5 to 30 degrees Celsius, typically set to room temperature. The peristaltic pump provides the circulation power for the cooling medium, offering a circulation rate of 0–60 ml / min. The cooling medium can be physiological saline or other transparent liquids. The cooling tubing can be made of medical-grade rubber materials such as polycarbonate, polyurethane, polyethylene, polypropylene, silicone, nylon, PVC, PET, PTFE, ABS, PES, PEEK, and FEP.

[0136] (4) Sensor Module: Used to collect necessary operating parameter information within the equipment. Collecting the pipe wall pressure at the inlet and outlet loops of the cooling pipes can determine if there are leaks in the cooling loop; collecting the temperature of the cooling medium inside the inlet and outlet cooling pipes of the constant temperature chamber can determine if the temperature setting of the constant temperature chamber is reasonable; collecting the temperature near the laser chip of the laser generator can determine the operating status of the laser generator. Temperature measurement can use thermocouples, Pt resistors, etc.; pressure measurement uses ceramic or thin-film pressure sensors.

[0137] The data collected by the sensor module is transmitted to the main control module through the data interface.

[0138] (5) Interaction Module: The interaction module is the input / output module of the laser ablation device. It consists of buttons and a display screen, and is electrically connected to the main control module. It receives operation command information from the user side and sends the operation command information to the main control module. It is used to display the working status of the laser ablation device, such as peristaltic pump speed, laser power, pulse frequency, and sensor parameters. At the same time, it can input parameter setting commands and on / off status commands.

[0139] (6) Main control module:

[0140] The main control module is responsible for data collection, transmission, storage, and calculation for the laser ablation equipment. It is electrically connected to the interaction module, sensor module, cooling device, laser generator, and medical switching device. It handles the storage, display, and transmission of various data during the procedure. It controls the laser generator and cooling device to operate according to input parameters, transmitting the operating status of the laser and cooling device, as well as sensor parameters, to the workstation and interaction module. Simultaneously, the main control module can set and monitor safe operating parameters for the laser and cooling device. When these parameters exceed the set safety thresholds, the main control module will quickly and urgently stop the equipment.

[0141] Example 1

[0142] The first magnetic resonance-guided laser ablation therapy system of the present invention includes: a workstation 100, a laser ablation device 200, a stereotactic component 300, and an ablation fiber 400. A cooling component is included in the stereotactic component 300, and a cooling device is disposed in the laser ablation device 200.

[0143] The structure of the first stereotactic system 300 of this magnetic resonance-guided laser ablation therapy system is described in detail below with reference to the accompanying drawings:

[0144] Figure 2 This is a schematic diagram of the assembly structure of the first stereotactic system provided in an embodiment of the present invention. Figure 3 This is an exploded structural diagram of the first stereotactic system provided in an embodiment of the present invention. See also... Figure 2 and Figure 3The first stereotactic system provided in this embodiment of the invention includes: a guide device 1, a sleeve 2, a connector 3, and a rotation drive device 4.

[0145] The proximal end of the sleeve 2 is connected to the connector 3, and the distal end of the sleeve 2 can extend from the distal end of the guide device 1. The distal end of the sleeve 2 can be a blind end.

[0146] In use, the ablation fiber 5 is placed inside the sleeve 2, and the rotation drive device 4 drives the ablation fiber 5 to rotate.

[0147] The connector 3 can be fixed to any structure, as long as the proximal end of the connector 3 is opposite the distal end of the rotary drive device 4 after fixing, so that the rotary drive device 4 can drive the ablation fiber 5 to rotate. The ablation fiber 5 can rotate around its own axis and / or move along its own axial direction within the connector 3. For example, the connector 3 can be fixed to a special bracket, or the connector 3 can be connected to the rotary drive device 4, or the connector 3 can be connected to the forward and backward translational drive device 6 through the connector 7.

[0148] In summary, the stereotactic system provided in this embodiment of the invention includes a guiding device 1, a sleeve 2, a connector 3, and a rotation drive device 4. The proximal end of the sleeve 2 is connected to the connector 3, and the distal end of the sleeve 2 can extend from the distal end of the guiding device 1. In use, the ablation fiber 5 is disposed inside the sleeve 2, and the rotation drive device 4 drives the ablation fiber 5 to rotate. In this embodiment of the invention, the rotation drive device drives the rotation of the ablation fiber to achieve rotational control of the ablation fiber. The direction of ablation fiber implantation can be guided by the guiding device, eliminating the need for additional support structures installed at the skull to achieve directional control of the ablation fiber, reducing patient discomfort, and simplifying installation.

[0149] The following is a detailed introduction to each component of the stereotactic system:

[0150] Figure 4 See the schematic diagram of the rotary drive device 4. Figure 4 The rotary drive device 4 includes a first driver 41, which is connected to the ablation fiber 5 and drives the ablation fiber 5 to rotate around its own axis.

[0151] The first driver 41 can have various structural forms, including but not limited to motor, hydraulic and pneumatic forms, and the embodiments of the present invention do not limit it in any way.

[0152] There are multiple ways to connect the first driver 41 to the ablation fiber 5. For example, the rotary drive device 4 may also include a first transmission mechanism. The first driver 41 is connected to the first transmission mechanism, and the first transmission mechanism is connected to the ablation fiber 5, so that the first driver 41 drives the ablation fiber 5 to rotate around its own axis through the first transmission mechanism.

[0153] The first transmission mechanism has various structural forms, including but not limited to gear form and belt form.

[0154] Thus, the first driver 41 drives the ablation fiber 5 to rotate around its own axis.

[0155] See also Figure 4 The rotary drive device 4 may also include a rotary device base 42, on which the first driver 41 is mounted.

[0156] Because the ablation fiber 5 requires an adapter to be used in practice. Figure 5 for Figure 4 See partial structural cross-sectional view. Figure 5 The rotary drive device 4 may also include an ablation fiber optic adapter 43. In use, the first driver 41 drives the ablation fiber optic adapter 43 to rotate, and the distal end of the ablation fiber optic adapter 43 is connected to the ablation fiber 5.

[0157] Since the far end of the ablation fiber adapter 43 is connected to the ablation fiber 5, when the first driver 41 drives the ablation fiber adapter 43 to rotate, the ablation fiber adapter 43 drives the ablation fiber 5 to rotate accordingly.

[0158] In the case where the rotation drive device 4 includes a first driver 41, the stereo orientation system provided in this embodiment of the invention also includes a controller, and the first driver 41 is communicatively connected to the controller.

[0159] In operation, the controller sends motion control commands to the first driver 41, which then drives the ablation fiber 5 to rotate around its own axis according to the motion control commands. In other words, the rotation of the ablation fiber 5 around its own axis is controlled by the controller. The controller can be an autonomous controller or a signal receiver. When the controller is an autonomous controller, the motion control commands are determined by the stereotactic motion system itself. When the controller is a signal receiver, it can receive control signals from outside the stereotactic motion system, such as from a workstation, and thus determine the motion control commands based on the received control signals.

[0160] The first driver 41 can be of various types. When the first driver 41 is a stepper driver, the first driver 41 can directly drive the ablation fiber 5 to rotate around its own axis.

[0161] The motion control commands can include the number of target rotations, the endpoint angle or relative rotation angle of each rotation, and the dwell time after each rotation. The first driver 41 can drive the ablation fiber 5 to rotate around its own axis according to the motion control commands.

[0162] The first driver 41 drives the ablation fiber 5 to rotate around its own axis a number of times, and pauses for a certain duration after each rotation when it reaches the end angle position or relative rotation angle of each rotation.

[0163] The endpoint angle position of each rotation is determined based on the initial angle position, which can be calibrated.

[0164] For example: Assuming the target rotates twice, with an initial angle position corresponding to 0°, an ending angle position corresponding to 30° after the first rotation, and an ending angle position corresponding to 60° after the second rotation, and a dwell time of 5 seconds after each rotation; then the first actuator 41 drives the ablation fiber 5 to rotate around its own axis to the ending angle position corresponding to 30° and dwell for 5 seconds, and then drives the ablation fiber 5 to rotate around its own axis to the ending angle position corresponding to 60° and dwell for 5 seconds. It is understood that the angles and dwell positions of the multiple rotations can be the same or different, and there can be various combinations of angles and dwell times, all of which are included within the scope of this invention.

[0165] Therefore, by setting up a controller, the controller can control the first driver to drive the ablation fiber 5 to rotate.

[0166] When the first driver 41 is not a stepper motor, a sensor is needed to detect the rotation angle. Therefore, in the case where the stereotactic system provided in this embodiment of the invention also includes a controller, the rotation drive device 4 also includes a first angle sensor, which is communicatively connected to the controller. For example, the first driver 41 is an ultrasonic motor.

[0167] The first angle sensor is connected to the drive shaft of the first driver 41 or the ablation fiber 5.

[0168] The first angle sensor detects the rotation angle of the ablation fiber 5 or the rotation angle of other components that are the same as the rotation angle of the ablation fiber 5, and sends the detected rotation angle to the controller.

[0169] Since the first driver 41 can only rotate or stop rotating when it is not a stepper motor, it is necessary to use the first angle sensor to ablate the rotation angle of the optical fiber 5 or the rotation angle of other components that are the same as the rotation angle of the ablated optical fiber 5, and send the detected rotation angle to the controller. The controller receives the detected rotation angle in order to know the rotation angle of the ablated optical fiber 5.

[0170] Among them, there are various other components with the same rotation angle as the ablation fiber 5, including but not limited to the following two:

[0171] The first type:

[0172] Other components may be the drive shaft of the first driver 41.

[0173] The second type:

[0174] In the case where the rotary drive device 4 includes an ablation fiber optic adapter 43, other components may be the ablation fiber optic adapter 43.

[0175] Therefore, by setting a first angle sensor, the rotation angle of the drive shaft or the rotation angle of the ablation fiber 5 can be detected and fed back to the controller.

[0176] See also Figure 2 and Figure 3 In the case where the stereoscopic orientation system provided in this embodiment of the invention includes a controller, the stereoscopic orientation system provided in this embodiment of the invention also includes a forward and backward translation drive device 6, and a rotation drive device 4 is slidably connected to the forward and backward translation drive device 6. There are various ways in which the rotation drive device 4 is slidably connected to the forward and backward translation drive device 6, and this embodiment of the invention does not limit this in any way.

[0177] Since the rotary drive device 4 is slidably connected to the front-to-back translation drive device 6, the front-to-back translation drive device 6 can drive the rotary drive device 4 to translate back and forth, thereby causing the ablation fiber 5 to move along with the rotary drive device 4.

[0178] In one implementation, the connector 3 can be fixed to the forward and backward translation drive device 6. There are various ways in which the connector 3 and the forward and backward translation drive device 6 can be fixedly connected; for example, please refer to [link to relevant documentation]. Figure 2 and Figure 3 The stereotactic system provided in this embodiment of the invention may further include a plug-in connector 7. One end of the plug-in connector 7 is fixedly connected to the front and rear translation drive device 6, and the other end is fixedly connected to the plug-in 3. Thus, the plug-in 3 is fixedly connected to the front and rear translation drive device 6 through the plug-in connector 7.

[0179] Therefore, by sliding the rotary drive device 4 to the front-to-back translation drive device 6, the front-to-back translation drive device 6 can drive the rotary drive device 4 to translate back and forth, thereby causing the ablation fiber 5 to move with the rotary drive device 4. Thus, the front-to-back translation control of the ablation fiber 5 is achieved through the front-to-back translation drive device 6.

[0180] Among them, the forward and backward translation drive device 6 is communicatively connected to the controller, and the forward and backward translation drive device 6 can control the forward and backward translation of the ablation fiber 5 in the following way:

[0181] The controller sends forward and backward translation commands to the forward and backward translation drive device 6;

[0182] The forward and backward translation drive device 6 drives the rotation drive device 4 to translate forward and backward according to the forward and backward translation command, which in turn drives the ablation fiber 5 to translate forward and backward.

[0183] Specifically, the forward and backward translation command can include the translation direction and translation distance. The forward and backward translation drive device 6 drives the rotation drive device 4 to translate forward and backward according to the forward and backward translation command, which can be as follows:

[0184] The forward and backward translation drive device 6 drives the rotation drive device 4 to move the translation distance along the translation direction.

[0185] The translation direction includes front and back, which are preset. For example, the far end is set as front and the near end as back.

[0186] Therefore, by setting up a controller, the controller can control the forward and backward translation drive device 6 to drive the rotation drive device 4 to translate forward and backward, so that the ablation fiber 5 moves with the movement of the rotation drive device 4, thereby realizing the control of the forward and backward translation of the ablation fiber 5.

[0187] The structure of the guide device 1 is described below:

[0188] Figure 6 This is a cross-sectional view of the assembly structure of the guide device 1 provided in an embodiment of the present invention. Figure 7 This is an exploded cross-sectional view of the guiding device 1 provided in an embodiment of the present invention. See also... Figure 6 and Figure 7 The guiding device 1 includes a hollow elongated structure guide 11 and a clamping assembly 12. The distal end of the clamping assembly 12 is connected to the proximal end of the hollow elongated structure guide 11. The clamping assembly 12 is used to fix the relative position of the sleeve 2 and the hollow elongated structure guide 11 after the sleeve 2 extends out of the distal end of the hollow elongated structure guide 11.

[0189] The hollow, slender guide component 11 is hollow and can guide and orient the ablation fiber 5. The clamping assembly 12 is a component that can perform a clamping function.

[0190] Therefore, by setting the hollow slender structure guide 11 and the clamping assembly 12, the relative position of the sleeve 2 and the hollow slender structure guide 11 can be fixed.

[0191] See also Figure 6 and Figure 7 The clamping assembly 12 may include an elastic plug 121, a clamping adapter 122, a set screw 123, and a tightening member 124.

[0192] The tightening member 124 is threadedly connected to the set screw member 123. The distal end of the set screw member 123 is inserted into the clamping adapter 122 and contacts the elastic plug 121. The distal end of the tightening member 124 can be threadedly connected to the clamping adapter 122. The distal end of the clamping adapter 122 is connected to the proximal end of the hollow elongated structural guide member 11. The elastic plug 121 is disposed in the proximal cavity of the hollow elongated structural guide member 11. The connection between the distal end of the clamping adapter 122 and the proximal end of the hollow elongated structural guide member 11 can be achieved in various ways, such as by threading or welding. This embodiment of the invention does not impose any limitations on this method.

[0193] Furthermore, the tightening member 124 and the set screw member 123 can be an integral structure, and this integral structure is threadedly connected to the clamping adapter 122.

[0194] In use state, that is Figure 6 In the shown state, the tightening member 124 is tightened onto the set screw member 123 and the clamping adapter 122. The set screw member 123 presses against the elastic plug 121. The sleeve 2 passes through the set screw member 123, the elastic plug 121, and the hollow elongated structure guide member 11. The distal end of the sleeve 2 extends from the distal end of the hollow elongated structure guide member 11. Because the set screw member 123 presses against the elastic plug 121, the elastic plug 121 compresses the sleeve 2 inside, further fixing the position of the sleeve 2. For example, the elastic plug 121 can be a rubber plug.

[0195] Therefore, by setting the distal end of the set screw 123 to be inserted into the clamping adapter 122 and in contact with the elastic plug 121, when the tightening member 124 is tightened to the set screw 123 and the clamping adapter 122, the set screw 123 can press the elastic plug 121, causing the elastic plug 121 to squeeze the inner sleeve 2, thereby achieving the purpose of fixing the sleeve 2.

[0196] The structure of connector 3 is described below:

[0197] Figure 8 This is a schematic diagram of the assembly structure of the connector 3 provided in an embodiment of the present invention. Figure 9 This is an exploded structural diagram of the connector 3 provided in an embodiment of the present invention. See also... Figure 6 and Figure 7 The connector 3 may include a sealing plug 31, an ablation fiber optic connector 32, and a sealing nut 33, a Luer connector 34, an inlet adapter 35, and an outlet adapter 36 connected sequentially from the proximal end to the distal end.

[0198] The sealing plug 31 is disposed inside the Luer joint 34, and the internal boss 331 of the sealing nut 33 contacts the sealing plug 31.

[0199] In use, the sealing nut 33 is tightened onto the Luer connector 34, and the internal boss 331 of the sealing nut 33 presses against the sealing plug 31. The ablation fiber 5 passes through the ablation fiber connector 32, the sealing nut 33, the sealing plug 31, and the water inlet adapter 35 and enters the sleeve 2.

[0200] The ablation fiber connector 32 is connected to the transmission component of the rotary drive device 4, so that the ablation fiber 5 and the ablation fiber connector 32 move together. The transmission component of the rotary drive device 4 can be an ablation fiber adapter 43. The sealing nut 33 is threadedly connected to the Luer connector 34. The Luer connector 34 is threadedly connected to the water inlet adapter 35. The connection between the water inlet adapter 35 and the water outlet adapter 36 can be threaded, welded, or bonded. This embodiment of the invention does not limit the connection in any way.

[0201] When in use, the sealing nut 33 is tightened onto the Luer connector 34, causing the internal boss 331 of the sealing nut 33 to press against the sealing plug 31. The sealing plug 31 squeezes the internal ablation fiber 5 to prevent the cooling fluid from flowing out, but this squeezing does not affect the rotation and movement of the ablation fiber 5.

[0202] Thus, the ablation fiber 5 is sealed by setting a sealing plug 31, an ablation fiber connector 32, and a sealing nut 33, a Luer connector 34, a water inlet adapter 35, and a water outlet adapter 36 connected sequentially from the near end to the far end.

[0203] Since the ablation fiber 5 requires cooling and sealing during use, in order to achieve cooling and sealing of the ablation fiber 5, please refer to [link to relevant documentation]. Figure 8 and Figure 9 The connector 3 may also include a first water pipe 37 and a second water pipe 38. The sleeve 2 may include an internal water circulation pipe 21 and an external water circulation pipe 22. The first water pipe 37 can be either an inlet pipe or an outlet pipe. Similarly, the second water pipe 38 can be either an inlet pipe or an outlet pipe, but if one is an outlet pipe, the other is an inlet pipe. The functions of the inlet adapter 35 and the outlet adapter 36 can also be interchanged. That is, the inlet adapter 35 can be used for both inlet and outlet water, and the outlet adapter 36 can be used for both inlet and outlet water, but if one is used for inlet water, the other is used for outlet water.

[0204] The inner water circulation pipe 21 is installed inside the outer water circulation pipe 22 with a gap between them. The first water pipe 37 is connected to the inner water circulation pipe 21 via the water inlet adapter 35, and the second water pipe 38 is connected to the outer water circulation pipe 22 via the water outlet adapter 36.

[0205] In use, the ablation fiber 5 passes through the ablation fiber connector 32, the sealing nut 33 and the sealing plug 31 and enters the inner water circulation pipe 21.

[0206] In use, coolant is supplied through one of the first water pipe 37 and the second water pipe 38, so that the coolant is output from the other of the first water pipe 37 and the second water pipe 38 through the gap between the inner water circulation pipe 21 and the outer water circulation pipe 22. Thus, the coolant can cool the ablation optical fiber 5 in the inner water circulation pipe 21, and due to the presence of the sealing plug 31, it can cool and seal the ablation optical fiber 5.

[0207] Thus, by setting a sealing plug 31 and configuring the connector 3 to include a first water pipe 37 and a second water pipe 38, and configuring the sleeve 2 to include an inner water circulation pipe 21 and an outer water circulation pipe 22, the cooling and sealing of the ablation optical fiber 5 is achieved.

[0208] Since friction may exist between the sealing plug 31 and the ablation fiber 5, affecting the rotation of the ablation fiber 5, in order to avoid this situation, at least a rigid structure can be provided outside the ablation fiber 5 at least a first part, or the ablation fiber 5 at least a first part can have a reinforced outer surface structure. The first part includes the portion of the ablation fiber 5 from the proximal end to the portion located inside the sealing plug 31 and the portion extending beyond the sealing plug 31. When the distal end of the ablation fiber 5 is located at the farthest end of the system, the length of the portion extending beyond the sealing plug 31 is greater than the moving distance of the ablation fiber 5.

[0209] During use, the ablation fiber 5 is not fixed and can be moved back and forth. When the ablation fiber 5 moves forward, the distance it moves is the forward distance; when the ablation fiber 5 moves backward, the distance it moves is the backward distance. The forward and backward directions can be calibrated, for example: the direction where the far end is located is the forward direction, and the direction where the near end is located is the backward direction.

[0210] When the far end of the ablation fiber 5 is located at the farthest end of the system, the length of the part extending beyond the sealing plug 31 is set to be greater than the moving distance of the ablation fiber 5. This ensures that the sealing plug 31 can always contact the first part of the ablation fiber 5 during the back-and-forth movement of the ablation fiber 5.

[0211] Therefore, by setting at least a first portion of the ablation fiber 5 to have a rigid structure or a reinforced outer surface structure, the strength of the ablation fiber 5 is enhanced. Furthermore, by setting the first portion to include the portion of the ablation fiber 5 from its proximal end to the portion located within the sealing plug 31 and the portion extending beyond the sealing plug 31, and by ensuring that the length of the portion extending beyond the sealing plug 31 is greater than the moving distance of the ablation fiber 5 when the distal end of the ablation fiber is located at the farthest end of the system, it is ensured that even after the ablation fiber 5 has moved, the ablation fiber 5 located within the sealing plug 31 still has a rigid structure or a reinforced outer surface structure, thus eliminating the influence of friction between the sealing plug 31 and the ablation fiber 5 on the rotation of the ablation fiber 5.

[0212] Furthermore, when the rotation drive device 4 includes a first angle sensor, the rotation angle of the ablation fiber 5, which has a rigid structure or a reinforced outer surface structure, can be detected and sent to the controller, thereby accurately monitoring the rotation angle of the ablation fiber 5 and realizing rotation control of the ablation fiber 5.

[0213] Figure 10 This is a schematic diagram of the structure of the sleeve 2 provided in an embodiment of the present invention. See also Figure 10 In order to increase the strength of the sleeve 2, a first strength enhancement structure 23 can be provided between the outer water circulation pipe 22 and the inner water circulation pipe 21, and a second strength enhancement structure 24 can be provided between the inner water circulation pipe 21 and the ablation optical fiber 5.

[0214] The first strength enhancement structure 23 can be multiple reinforcement frames, which can be evenly distributed between the external water circulation pipe 22 and the internal water circulation pipe 21. Similarly, the second strength enhancement structure 24 can also be multiple reinforcement frames, which can be evenly distributed between the internal water circulation pipe 21 and the ablation optical fiber 5.

[0215] To prevent the second strength enhancement structure 24 from affecting the rotation of the ablation fiber 5, a gap is provided between the second strength enhancement structure 24 and the ablation fiber 5, and the surface of the reinforcement frame that may come into contact with the ablation fiber 5 is set as a convex surface.

[0216] Therefore, by setting the first strength enhancement structure 23 and the second strength enhancement structure 24, the strength and puncture capability of the sleeve 2 are increased, preventing deformation when squeezed by external force and blocking the circulation of cooling fluid.

[0217] The following is a description of the forward and backward translation drive device 6:

[0218] Figure 11 This is a schematic diagram of the structure of the forward and backward translational driving device 6 provided in an embodiment of the present invention. See also: Figure 11 The forward and backward translation drive device 6 may include a forward and backward translation drive device base 61, at least one slide rail 62, a lead screw 63, a sliding block 64, and a second driver 65.

[0219] At least one slide rail 62 and lead screw 63 are arranged in parallel and both pass through the sliding block 64. The two ends of at least one slide rail 62 are fixedly installed on the front and rear translation drive device base 61. The lead screw 63 is rotatably connected to the front and rear translation drive device base 61. The second driver 65 drives the lead screw 63 to rotate. The second driver 65 is installed on the front and rear translation drive device base 61. The rotary drive device 4 is installed on the sliding block 64.

[0220] In use, the second driver 65 drives the lead screw 63 to rotate, and the lead screw 63 drives the sliding block 64 to move along the slide rail. Since the rotary drive device 4 is installed on the sliding block 64, the sliding block 64 can drive the rotary drive device 4 to move back and forth.

[0221] The second actuator 65 can have various structural forms, including but not limited to motor, hydraulic and pneumatic forms, and the embodiments of the present invention do not limit it in any way.

[0222] There are various ways to connect the second driver 65 to the lead screw 63. For example, the forward and backward translation drive device 6 may also include a second transmission mechanism. The second driver 65 is connected to the second transmission mechanism, and the second transmission mechanism is connected to the other end of the lead screw 63, so that the second driver 65 drives the lead screw 63 to rotate through the second transmission mechanism.

[0223] The second transmission mechanism has various structural forms, including but not limited to gear form and belt form.

[0224] For example, see [link to example]. Figure 11 The second transmission mechanism includes a driven wheel 66, an actuating wheel 67 and a belt. The second driver 65 drives the actuating wheel 67 to rotate. The actuating wheel 67 is connected to the driven wheel 66 via the belt. The actuating wheel 67 drives the driven wheel 66 to rotate. The driven wheel 66 is connected to the other end of the lead screw 63. The driven wheel 66 drives the lead screw 63 to rotate.

[0225] Thus, by setting up a slide rail 62, a lead screw 63, a sliding block 64, and a second driver 65, the sliding block 64 can drive the rotary drive device 4 to move back and forth.

[0226] It should be noted that the above embodiments can be combined arbitrarily.

[0227] Example 2

[0228] The second magnetic resonance-guided laser ablation therapy system of the present invention includes: a workstation 100, a laser ablation device 200, a stereotactic component 300, and an optical fiber cooling component 400. The optical fiber cooling component 400 is described separately and is not part of the stereotactic component 300. In use, the ablation fiber is disposed in the optical fiber cooling component 400.

[0229] The following describes another structure of the stereotactic system in this embodiment:

[0230] Figure 12 This is a schematic diagram of the structure of a second stereotactic system provided in an embodiment of the present invention. See also... Figure 12 The stereotactic system provided in this embodiment of the invention includes: a guide device 8, a transmission sleeve 9, a plug 10, and a rotation drive device 4.

[0231] The guide device 8 is connected to the far end of the transmission sleeve 9, and the near end of the transmission sleeve 9 is connected to the far end of the plug-in 10.

[0232] In use, the ablation fiber passes through the plug 10, the transmission sleeve 9 and the guide device 8. The distal end of the ablation fiber can extend from the distal end of the guide device 8. The rotation drive device 4 drives the ablation fiber to rotate.

[0233] The plug 10 can be fixed to any structure, as long as the proximal end of the plug 10 is opposite the distal end of the rotary drive device 4 after fixing, allowing the rotary drive device 4 to drive the ablation fiber to rotate, and the ablation fiber 5 can move along its own axial direction and rotate around its own axis within the plug 10. For example, the plug 10 can be fixed to a dedicated bracket.

[0234] In summary, the stereotactic system provided in this embodiment of the invention includes a guiding device 8, a transmission sleeve 9, an insert 10, and a rotation drive device 4. The guiding device 8 is connected to the distal end of the transmission sleeve 9, and the proximal end of the transmission sleeve 9 is connected to the distal end of the insert 10. In use, the ablation fiber 5 passes through the insert 10, the transmission sleeve 9, and the guiding device 8, with the distal end of the ablation fiber extending from the distal end of the guiding device 8. The rotation drive device 4 drives the ablation fiber to rotate. In this embodiment of the invention, the rotation drive device drives the ablation fiber to rotate, thereby achieving rotational control of the ablation fiber. The guiding device can guide the direction of ablation fiber implantation, eliminating the need for additional support structures at the skull to achieve directional control of the ablation fiber, reducing patient discomfort, and simplifying installation.

[0235] See also Figure 12 The stereotactic system provided in this embodiment of the invention may further include a forward and backward translational drive device 6, and a rotational drive device 4 slidably connected to the forward and backward translational drive device 6. There are various ways in which the rotational drive device 4 is slidably connected to the forward and backward translational drive device 6, and this embodiment of the invention does not limit this in any way. Since the rotational drive device 4 is slidably connected to the forward and backward translational drive device 6, the forward and backward translational drive device 6 can drive the rotational drive device 4 to move along the length direction of the ablation fiber, thereby causing the ablation fiber to move along with the rotational drive device 4.

[0236] Plug 10 can also be fixed to the forward and backward translation drive device 6. There are various ways to fix plug 10 and forward and backward translation drive device 6, for example, see below. Figure 12 The stereotactic system provided in this embodiment of the invention may further include a plug-in connector 7. One end of the plug-in connector 7 is fixedly connected to the front and rear translation drive device 6, and the other end is fixedly connected to the plug-in 10. Thus, the plug-in 10 is fixedly connected to the front and rear translation drive device 6 through the plug-in connector 7.

[0237] Therefore, by sliding the rotary drive device 4 to the forward and backward translation drive device 6, the forward and backward translation drive device 6 can drive the rotary drive device 4 to move forward and backward along the length direction of the ablation fiber, so that the ablation fiber moves with the rotation drive device 4. Thus, the forward and backward translation drive device can control the movement of the ablation fiber along the length direction.

[0238] The following is a detailed introduction to each component of the stereotactic system:

[0239] Figure 13 This is a schematic diagram of a guide device 8 provided in an embodiment of the present invention. See also: Figure 3 The guide device 8 includes a hollow, slender structure guide member 81 and a guide device housing. The proximal end of the hollow, slender structure guide member 81 is connected to the distal end of the guide device housing, and the proximal end of the guide device housing is connected to the distal end of the transmission sleeve 9.

[0240] The ablation fiber passes through the housing of the guiding device and the hollow slender structure guide 81, and the distal end of the ablation fiber 5 can extend from the distal end of the hollow slender structure guide 81.

[0241] Among them, the hollow slender structure guide 81 is hollow and can guide and orient the ablation fiber. For example, the hollow slender structure guide 81 can be a hollow bone nail.

[0242] There are various structures for the housing of the guide device, including but not limited to the following:

[0243] The first type:

[0244] The housing of the guide device is the first bone nail cap. The proximal end of the hollow, slender guide 81 is threadedly connected to the distal end of the first bone nail cap, and the proximal end of the first bone nail cap is connected to the distal end of the transmission sleeve 9.

[0245] When the guide device housing is the first bone nail cap, the guide device 8 may also include a second angle sensor and a second rotation positioning device. The second angle sensor and the second rotation positioning device are both installed inside the guide device housing, which is the first bone nail cap. The ablation fiber passes through the second rotation positioning device and the second angle sensor.

[0246] Specifically, the second angle sensor and the second rotary positioning device are detachably connected. The ablation fiber passes through the second rotary positioning device and the second angle sensor and can move axially and rotate around its own axis. In use, the second rotary positioning device clamps the ablation fiber with a preset pressure, allowing the ablation fiber to move along its own length, while simultaneously causing the ablation fiber to rotate the second rotary positioning device. The second angle sensor detects the rotation angle of the second rotary positioning device. Since the ablation fiber drives the second rotary positioning device to rotate, the rotation angle of the second rotary positioning device detected by the second angle sensor is also the rotation angle of the ablation fiber. The second angle sensor sends the detected rotation angle to the control device.

[0247] Therefore, by setting a second rotation positioning device and a second angle sensor, the rotation angle of the ablation fiber located inside the guide device housing can be detected.

[0248] The structure of the second rotary positioning device is described below:

[0249] Figure 14 An exploded view of one angle of the second rotation positioning device and the second angle sensor provided in an embodiment of the present invention. Figure 15 An exploded view of the second rotary positioning device and the second angle sensor provided in an embodiment of the present invention from another angle. See also Figures 14-15 The second rotary positioning device may include a main body 51, at least one adjustable top pressurer 52, two bearings 53, a first shaft 54 ​​and a second shaft 55.

[0250] The main body 51 has two holes on its side and a groove at one end, which divides the two holes into two parts. The bottom of the groove has a through hole. One end face of the main body 51 has a first hole 56 that is adapted to the adjustable pressure device 52. The one of the two holes closer to the first hole 56 is connected to the first hole 56. Two bearings 53 are set in the groove. The first shaft 54 ​​passes through one of the bearings 53 and is set in one of the holes. The second shaft 55 passes through the other bearing 53 and is set in the other hole. The adjustable pressure device 52 is set in the first hole 56. The ablation fiber 5 is set between the two bearings 53 and passes through the through hole at the bottom of the groove.

[0251] For example, the center lines of the two holes are parallel to each other.

[0252] In use, tightening the adjustable pressure device 52 causes the two bearings 53 to clamp the ablation fiber 5, and the pressure between the two bearings 53 and the ablation fiber 5 reaches a predetermined value. That is, the position of the shaft in the hole communicating with the first hole 56 can be adjusted by tightening the adjustable pressure device 52, so that the shaft in the hole communicating with the first hole 56 drives the bearing 53 through which it passes to apply pressure to the ablation fiber 5. At the same time, the shaft in the hole not communicating with the first hole 56 also applies pressure to the ablation fiber 5 through the bearing 53 through which it passes. Thus, by tightening the adjustable pressure device 52, the pressure between the two bearings 53 and the ablation fiber 5 is adjusted to a predetermined value.

[0253] In order to adjust the position of the shaft in the hole that communicates with the first hole 56 by tightening the adjustable top pressure device 52, the size of the hole that communicates with the first hole 56 needs to be larger than the size of the shaft set in it.

[0254] The shaft in the hole that is not connected to the first hole 56 can be fixedly installed in the hole. This embodiment of the invention does not impose any limitations on this, as long as the shaft in the hole can apply pressure to the ablation fiber 5 through the bearing 53 it passes through.

[0255] Furthermore, the type of bearing 53 is not limited in this embodiment of the invention. For example, bearing 53 can be a bushing.

[0256] For example, there can be two adjustable pressure devices 52 and two first holes 56. The two first holes 56 can be located on opposite sides of the groove.

[0257] See also Figures 14-15 In the case where the second rotary positioning device includes a main body 51, at least one adjustable top pressurer 52, two bearings 53, a first shaft 54 ​​and a second shaft 55, a protrusion 511 is provided at the other end of the main body 51. The protrusion 511 is provided with a through hole, which communicates with the through hole at the bottom of the groove. The ablation fiber 5 passes through the through hole of the protrusion 511. The second angle sensor is provided with a locking hole 50, and the protrusion 511 is engaged with the locking hole 50.

[0258] The second angle sensor and the second rotary positioning device can be detachably connected by providing a protrusion 511 at the other end of the main body 51 and a locking hole 50 on the second angle sensor. The protrusion 511 and the locking hole 50 can be engaged to connect the second angle sensor and the second rotary positioning device together.

[0259] In one implementation, the left and right sides of the protrusion 511 are arc-shaped, and the locking hole 50 of the second angle sensor is horseshoe-shaped. The protrusion 511 is engaged with the horseshoe-shaped locking hole 50. Of course, the specific shapes of the protrusion 511 and the locking hole 50 are not limited in the embodiments of the present invention, as long as the two can be engaged.

[0260] Thus, by providing a protrusion 511 at the other end of the main body 51 and a slot 50 at the second angle sensor, a detachable connection between the second angle sensor and the second rotation positioning device is achieved.

[0261] The second type:

[0262] See also Figure 13 The guide device housing may include a second bone nail cap 82, a guide device housing body, and a transmission sleeve mounting base 83.

[0263] The proximal end of the hollow, slender guide 81 is threadedly connected to the distal end of the second bone nail cap 82. The proximal end of the second bone nail cap 82 is connected to the distal end of the guide device housing body. The transmission sleeve mounting base 83 is located at the proximal end of the guide device housing body and is connected to the distal end of the transmission sleeve 9. The ablation fiber 5 passes through the transmission sleeve mounting base 83, the guide device housing body, and the second bone nail cap 82.

[0264] In use, first connect the proximal end of the second bone nail cap 82 to the distal end of the guide device housing body, set the transmission sleeve mounting base 83 at the proximal end of the guide device housing body, connect the transmission sleeve mounting base 83 to the distal end of the transmission sleeve 9, and then thread the distal end of the second bone nail cap 82 to the proximal end of the hollow slender structure guide 81.

[0265] The guide device housing body and the transmission sleeve mounting base 83 can be an integral structure or a non-integral structure, and the embodiments of the present invention do not impose any limitations on this.

[0266] When the main body of the guide device housing is not a one-piece structure, for example, Figure 16 for Figure 13 See the sectional view. Figure 13 and Figure 16 The main body of the guide device housing may include a guide device housing main body fixing part 84 and a guide device housing main body sliding part 85. The proximal end of the second bone nail cap 82 is connected to the distal end of the guide device housing main body fixing part 84, and the proximal end of the guide device housing main body fixing part 84 is connected to the distal end of the guide device housing main body sliding part 85. The transmission sleeve mounting base 83 is disposed at the proximal end of the guide device housing main body sliding part 85. The ablation fiber 5 passes through the guide device housing main body sliding part 85 and the guide device housing main body fixing part 84.

[0267] See also Figure 16 The guide device housing body fixing part 84 and / or guide device housing body sliding part 85 are provided with a scale 86. The guide device housing body fixing part 84 and guide device housing body sliding part 85 can move relative to each other. The scale 86 displays the distance of relative movement. That is to say, in use, the guide device housing body sliding part 85 can be pulled away from the guide device housing body fixing part 84. Every time it is pulled out a certain distance, the pulling distance can be read from the scale 86. Figure 16 The guide device housing body sliding part 85 is equipped with a scale 86.

[0268] Therefore, by providing a scale 86 on the guide device housing main body fixing part 84 and / or the guide device housing main body sliding part 85, the distance of relative movement between the guide device housing main body fixing part 84 and the guide device housing main body sliding part 85 can be displayed.

[0269] See also Figure 16 Based on the guide device housing including the second bone nail cap 82, the guide device housing body and the transmission sleeve mounting base 83, the guide device housing also includes a bone nail adapter bolt 87. When the second bone nail cap 82 is tightened to the hollow slender structure guide member 81, the distal end of the bone nail adapter bolt 87 is fixed inside the second bone nail cap 82, and the proximal end of the bone nail adapter bolt 87 is threadedly connected to the distal end of the guide device housing body. The ablation optical fiber 5 passes through the bone nail adapter bolt 87.

[0270] Specifically, the bone screw adapter bolt 87 is provided with a bolt protrusion 871. The size of the bolt protrusion 871 is larger than the size of the opening at the proximal end of the second bone screw cap 82. When the second bone screw cap 82 is tightened onto the hollow slender guide 81, the opening at the proximal end of the second bone screw cap 82 locks the bolt protrusion 871, so that the distal end of the bone screw adapter bolt 87 is fixed inside the second bone screw cap 82.

[0271] In use, first insert the bone screw adapter bolt 87 into the second bone screw cap 82, then thread the proximal end of the bone screw adapter bolt 87 to the distal end of the guide device housing body, and finally tighten the second bone screw cap 82 onto the hollow slender structure guide 81, so that the opening at the proximal end of the second bone screw cap 82 and the hollow slender structure guide 81 lock the bolt protrusion 871.

[0272] See also Figure 13When the guide device housing has the second structure described above, the guide device 8 may further include a second angle sensor 88 and a second rotation positioning device 89. Both the second angle sensor 88 and the second rotation positioning device 89 are installed inside the guide device housing, and the ablation fiber 5 passes through the second rotation positioning device 89 and the second angle sensor 88. For the specific structure and connection method of the second rotation positioning device 89 and the second angle sensor 88, please refer to the corresponding description when the guide device housing has the first structure described above, and it will not be repeated here.

[0273] Because the ablation fiber requires cooling and sealing during use, please refer to [link to relevant documentation]. Figure 16 The guide device 8 may also include a cooling sleeve 60, a cooling circulation assembly 70, and a sealing plug 31. The cooling circulation assembly 70 and the sealing plug 31 are installed sequentially in the guide device housing in a direction from the distal end to the proximal end. The cooling sleeve 60 passes through the sealing plug 31 and the cooling circulation assembly 70 in sequence. The ablation fiber 5 is disposed inside the cooling sleeve 60.

[0274] There are various sealing methods. In one implementation, the guide device 8 may also include a cooling circulation component cap 90, which is disposed near the end of the sealing plug 31 and installed inside the guide device housing. The cooling sleeve 60 passes through the cooling circulation component cap 90.

[0275] Thus, by setting up a cooling sleeve 60, a cooling circulation assembly 70, and a sealing plug 31, the ablation fiber is cooled and sealed.

[0276] The cooling circulation assembly 70 is engaged in the sliding part 85 of the guide device housing body. The cooling sleeve 60 can be driven to move longitudinally a fixed distance by the sliding part 85 of the guide device housing body relative to the fixed part 84 of the guide device housing body.

[0277] The structure of plugin 10 is described below:

[0278] Figure 17 See the schematic diagram of a structure of plug-in 10. Figure 17 The plug-in 10 may include a plug-in housing 101 and a plug-in drive sleeve mounting base 102. The plug-in drive sleeve mounting base 102 is located at the distal end of the plug-in housing 101 and is connected to the proximal end of the drive sleeve 9. The ablation fiber 5 passes through the plug-in housing 101 and the plug-in drive sleeve mounting base 102, and the ablation fiber 5 is provided with an ablation fiber plug 501, which can extend from the proximal end of the plug-in housing 101. In one implementation, the plug-in housing 101 and the plug-in drive sleeve mounting base 102 may be an integral structure.

[0279] Figure 18 See another structural diagram of plug-in 10. Figure 18 Since the friction between the sealing plug 31 and the ablation fiber 5, and the stress accumulation in the longitudinal direction of the ablation fiber 5, occur when the guide device 8 includes the sealing plug 31, the rotation angle of the ablation fiber 5 at the second angle sensor becomes unstable after reaching the preset requirement. Therefore, when the guide device 8 also includes the cooling sleeve 60, the cooling circulation assembly 70, and the sealing plug 31, the plug 10 can also include a third angle sensor 103 and a third rotation positioning device 104. Both the third rotation positioning device 104 and the third angle sensor 103 are installed inside the plug housing 101, and the ablation fiber 5 passes through the third rotation positioning device 104 and the third angle sensor 103. The specific structure and connection method of the third rotation positioning device 104 and the third angle sensor 103 are the same as those of the second rotation positioning device and the second angle sensor, the only difference being the direction: the second angle sensor is located at the far end, and the second rotation positioning device is located at the near end; the third angle sensor 103 is located at the near end, and the third rotation positioning device 104 is located at the far end. For details, please refer to the corresponding description when the guide device housing has the first structure mentioned above, which will not be repeated here.

[0280] The third angle sensor 103 detects the rotation angle of the third rotary positioning device 104 and sends it to the control device. After receiving the rotation angle of the third rotary positioning device 104, the control device performs subsequent control operations to make the rotation angle of the second rotary positioning device the same as the rotation angle of the third rotary positioning device 104.

[0281] Therefore, by setting the third rotation positioning device 104 and the third angle sensor 103, the rotation angle of the ablation fiber located in the plug housing 83 can be detected, so that the control device can perform subsequent control operations to make the rotation angle of the ablation fiber 5 at the second angle sensor the same as the rotation angle at the third angle sensor 103.

[0282] There are various mechanisms for the plug-in housing 101, and this embodiment of the invention does not limit them in any way. For example, please refer to [link to relevant documentation]. Figure 18 The plug housing 101 may include an upper plug housing 1011 and a lower plug housing 1012. The lower plug housing 1012 includes an extension 10121 and a lower connecting portion 10122 that are connected to each other. The upper plug housing 1011 and the lower connecting portion 10122 cover each other to form a receiving cavity. The third rotation positioning device 104 and the third angle sensor 103 are installed in the receiving cavity.

[0283] The rotary drive device 4 is described below:

[0284] See Figure 4The rotary drive device 4 includes a first driver 41, which is connected to the ablation fiber 5 and drives the ablation fiber 5 to rotate around its own axis.

[0285] The first driver 41 can have various structural forms, including but not limited to motor, hydraulic and pneumatic forms, and the embodiments of the present invention do not limit it in any way.

[0286] There are multiple ways to connect the first driver 41 to the ablation fiber 5. For example, the rotary drive device 4 may also include a first transmission mechanism. The first driver 41 is connected to the first transmission mechanism, and the first transmission mechanism is connected to the ablation fiber 5, so that the first driver 41 drives the ablation fiber 5 to rotate around its own axis through the first transmission mechanism.

[0287] The first transmission mechanism has various structural forms, including but not limited to gear form and belt form.

[0288] Thus, the first driver 41 drives the ablation fiber 5 to rotate around its own axis.

[0289] See also Figure 4 The rotary drive device 4 may also include a rotary device base 42, on which the first driver 41 is mounted.

[0290] Because some types of ablation fibers require adapters to be used, for example, when the ablation fiber is fiber optic cable 5. Figure 5 for Figure 4 See the sectional view. Figure 5 The rotary drive device 4 may also include an ablation fiber optic adapter 43. In use, the first driver 41 drives the ablation fiber optic adapter 43 to rotate, and the distal end of the ablation fiber optic adapter 43 is connected to the ablation fiber 5.

[0291] Since the far end of the ablation fiber adapter 43 is connected to the ablation fiber 5, when the first driver 41 drives the ablation fiber adapter 43 to rotate, the ablation fiber adapter 43 drives the ablation fiber 5 to rotate accordingly.

[0292] See also Figure 5When the ablation fiber 5 is an optical fiber, the one connected to the distal end of the ablation fiber adapter 43 is the ablation fiber, and it also includes a transmission fiber. The distal end of the transmission fiber is connected to the proximal end of the jumper fiber connector 44, and the proximal end of the transmission fiber is connected to the laser generator. In use, the distal end of the jumper fiber connector 44 is connected to the ablation fiber adapter 43, and the jumper fiber connector 44 is fixedly connected to the rotating device base 42 through the jumper fiber sleeve 45. Then, the distal end of the jumper fiber connector 44 is disconnected from the distal end of the ablation fiber adapter 43, and the ablation fiber adapter 43 is then connected to the ablation fiber. At this time, when the first driver 41 drives the ablation fiber adapter 43 to rotate, the ablation fiber adapter 43 can drive the ablation fiber connected to it to rotate accordingly, and ablation treatment can be performed through the ablation fiber.

[0293] The following is a description of the forward and backward translation drive device 6:

[0294] See Figure 11 The forward and backward translation drive device 6 may include a forward and backward translation drive device base 61, at least one slide rail 62, a lead screw 63, a sliding block 64, and a second driver 65.

[0295] At least one slide rail 62 and lead screw 63 are arranged in parallel and both pass through the sliding block 64. The two ends of at least one slide rail 62 are fixedly installed on the front and rear translation drive device base 61. The lead screw 63 is rotatably connected to the front and rear translation drive device base 61. The second driver 65 drives the lead screw 63 to rotate. The second driver 65 is installed on the front and rear translation drive device base 61. The rotary drive device 4 is installed on the sliding block 64.

[0296] In use, the second driver 65 drives the lead screw 63 to rotate, and the lead screw 63 drives the sliding block 64 to move along the slide rail. Since the rotary drive device 4 is installed on the sliding block 64, the sliding block 64 can drive the rotary drive device 4 to move along the length direction of the ablation fiber 5.

[0297] The second actuator 65 can have various structural forms, including but not limited to motor, hydraulic and pneumatic forms, and the embodiments of the present invention do not limit it in any way.

[0298] There are various ways to connect the second driver 65 to the lead screw 63. For example, the forward and backward translation drive device 6 may also include a second transmission mechanism. The second driver 65 is connected to the second transmission mechanism, and the second transmission mechanism is connected to the other end of the lead screw 63, so that the second driver 65 drives the lead screw 63 to rotate through the second transmission mechanism.

[0299] The second transmission mechanism has various structural forms, including but not limited to gear form and belt form.

[0300] For example, see [link to example]. Figure 11The second transmission mechanism includes a driven wheel 66, an actuating wheel 67 and a belt. The second driver 65 drives the actuating wheel 67 to rotate. The actuating wheel 67 is connected to the driven wheel 66 via the belt. The actuating wheel 67 drives the driven wheel 66 to rotate. The driven wheel 66 is connected to the other end of the lead screw 63. The driven wheel 66 drives the lead screw 63 to rotate.

[0301] Thus, by setting up a slide rail 62, a lead screw 63, a sliding block 64, and a second driver 65, the sliding block 64 can drive the rotary drive device 4 to move back and forth along the length of the ablation fiber 5.

[0302] The laser thermotherapy device based on magnetic resonance guidance provided in this embodiment of the invention has the same technical features as the laser thermotherapy device based on magnetic resonance guidance provided in the above embodiments, so it can also solve the same technical problems and achieve the same technical effects.

[0303] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system and apparatus described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0304] Furthermore, in the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0305] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A magnetic resonance-guided laser ablation therapy system, characterized in that, include: Ablation of optical fibers; Laser ablation equipment, which includes a laser generator and a cooling device; A stereotactic system that accommodates and controls the position and rotation angle of the ablation fiber; The workstation is configured to: control the movement of the stereotactic system and the information of the magnetic resonance-guided laser ablation treatment system; The stereotactic system includes: a guide device, a sleeve, a connector, and a forward and backward translation drive device and / or a rotation drive device; The proximal end of the sleeve is connected to the connector, and the distal end of the sleeve can extend from the distal end of the guide device; the distal end of the sleeve is a blind end, and the guide device includes a hollow elongated structure guide and a clamping assembly, the clamping assembly being used to fix the relative position of the sleeve and the hollow elongated structure guide. In use, the ablation fiber is placed inside the sleeve, the forward and backward translation drive device drives the ablation fiber to translate forward and backward, and the rotation drive device drives the ablation fiber to rotate.

2. The magnetic resonance-guided laser ablation therapy system according to claim 1, characterized in that, The rotary drive device includes a first driver; The first driver is connected to the ablation fiber, and the first driver drives the ablation fiber to rotate around its own axis.

3. The magnetic resonance-guided laser ablation therapy system according to claim 2, characterized in that, The system also includes a controller, and the first driver is communicatively connected to the controller; In use, the controller sends motion control commands to the first driver; The first driver drives the ablation fiber to rotate around its own axis according to the motion control command.

4. The magnetic resonance-guided laser ablation therapy system according to claim 3, characterized in that, The rotation drive device further includes a first angle sensor, which is communicatively connected to the controller; the first angle sensor detects the rotation angle of the ablation fiber or the rotation angle of other components that are the same as the rotation angle of the ablation fiber, and sends the detected rotation angle to the controller.

5. The magnetic resonance-guided laser ablation therapy system according to any one of claims 1-4, characterized in that, The rotary drive device is slidably connected to the forward and backward translation drive device.

6. The magnetic resonance-guided laser ablation therapy system according to claim 1, characterized in that, The forward and backward translation drive device includes a second driver, which is connected to the ablation fiber and drives the ablation fiber to translate forward and backward along the axial direction.

7. The magnetic resonance-guided laser ablation therapy system according to claim 3, characterized in that, The forward and backward translation drive device is communicatively connected to the controller; the controller sends forward and backward translation commands to the forward and backward translation drive device; the forward and backward translation drive device drives the rotation drive device to translate forward and backward according to the forward and backward translation commands, thereby driving the ablation fiber to translate forward and backward.

8. The magnetic resonance-guided laser ablation therapy system according to claim 7, characterized in that, The forward and backward translation drive device includes a forward and backward translation drive device base, at least one slide rail, a lead screw, a sliding block, and a second driver; at least one slide rail and the lead screw are arranged in parallel and both pass through the sliding block; both ends of at least one slide rail are fixedly installed on the forward and backward translation drive device base; the lead screw is rotatably connected to the forward and backward translation drive device base; the second driver is installed on the forward and backward translation drive device base; the second driver drives the lead screw to rotate, thereby causing the sliding block to translate forward and backward; and the rotation drive device is installed on the sliding block.

9. The magnetic resonance-guided laser ablation therapy system according to claim 1, characterized in that, The distal end of the clamping assembly is connected to the proximal end of the hollow elongated structural guide. The clamping assembly is used to fix the relative position of the sleeve and the hollow elongated structural guide after the sleeve extends out of the distal end of the hollow elongated structural guide.

10. The magnetic resonance-guided laser ablation therapy system according to claim 9, characterized in that, The hollow, slender guide component is a hollow bone nail.

11. The magnetic resonance-guided laser ablation therapy system according to claim 1, characterized in that, The connector is a hollow shell, and the proximal end of the sleeve is connected to the hollow shell.

12. The magnetic resonance-guided laser ablation therapy system according to claim 1, characterized in that, The connector includes a sealing plug, an ablation fiber optic connector, and a sealing nut, a Luer connector, an inlet adapter, and an outlet adapter connected sequentially from the proximal end to the distal end. The ablation fiber optic connector is connected to the transmission component of the rotary drive device, the sealing plug is disposed inside the Luer connector, and the internal boss of the sealing nut contacts the sealing plug; In use, the sealing nut is tightened onto the Luer connector, the internal boss of the sealing nut presses against the sealing plug, and the ablation fiber passes through the ablation fiber connector, the sealing nut, the sealing plug, and the water inlet adapter to enter the sleeve.

13. The magnetic resonance-guided laser ablation therapy system according to claim 12, characterized in that, At least a first portion of the ablation fiber is provided with a rigid structure, or at least a first portion of the ablation fiber has a reinforced outer surface structure, wherein the first portion includes the portion of the ablation fiber from the proximal end to the portion located inside the sealing plug and the portion extending beyond the sealing plug, and when the distal end of the ablation fiber is located at the farthest end of the system, the length of the portion extending beyond the sealing plug is greater than the movement distance of the ablation fiber.

14. The magnetic resonance-guided laser ablation therapy system according to claim 1, characterized in that, The ablation fiber can emit light from the side.

15. The magnetic resonance-guided laser ablation therapy system according to claim 1, characterized in that, The connector is configured such that the ablation fiber can rotate about its own axis and / or move along its own axial direction within the connector.

16. The magnetic resonance-guided laser ablation therapy system according to claim 15, characterized in that, The connector is fixed to a special bracket, or the connector is connected to the rotary drive device, or the connector is connected to the forward and backward translation drive device.

17. The magnetic resonance-guided laser ablation therapy system according to claim 16, characterized in that, The connector is fixedly connected to the forward and backward translation drive device via a plug-in connector.

18. The magnetic resonance-guided laser ablation therapy system according to claim 1 or 15, characterized in that, The casing includes an internal water circulation pipe and an external water circulation pipe.

19. The magnetic resonance-guided laser ablation therapy system according to claim 18, characterized in that, The sleeve is also provided with a first strength-enhancing structure and / or a second strength-enhancing structure.

20. The magnetic resonance-guided laser ablation therapy system according to claim 1, wherein the workstation can communicate with the laser ablation device and the stereotactic system, adjust the parameters of the laser generator and cooling device, control the position and rotation angle of the ablation fiber, perform ablation under magnetic resonance detection, and perform feedback control on the laser ablation device and the stereotactic system based on the temperature and ablation information fed back from the magnetic resonance image.

21. A magnetic resonance-guided laser ablation therapy system, characterized in that, include: Fiber optic cooling assembly that houses and cools ablation fiber optics; Laser ablation equipment, which includes a laser generator and a cooling device; A stereotactic system that accommodates and controls the position and rotation angle of the ablation fiber; The workstation is configured to: control the movement of the stereotactic system and generate and display ablation information of the target area during the operation of the magnetic resonance-guided laser ablation therapy system using magnetic resonance thermal imaging technology; The stereotactic system includes: The guiding device includes a cooling sleeve guide and a guiding device housing; Sensor components; A longitudinal motion device and / or a rotation drive device, wherein the longitudinal motion device drives the ablation fiber to move along its long axis, and the rotation drive device drives the ablation fiber to rotate; The controller is communicatively connected to the sensor assembly and the rotary drive device, receives position information and / or angle information from the sensor assembly, controls the movement of the rotary drive device, and can also receive control information input. In use, the distal end of the ablation fiber passes through the fiber cooling assembly, and the sensor assembly includes an angle sensor, which is fixedly connected to a device or structure that does not rotate with the ablation fiber. In the stereotactic system, the guide device housing includes a bone nail cap, a guide device housing body, and a guide device housing rear cover; The proximal end of the cooling sleeve guide is threadedly connected to the distal end of the bone nail cap, the proximal end of the bone nail cap is connected to the distal end of the guide device housing body, the rear cover of the guide device housing is connected to the proximal end of the guide device housing body, the stereotactic system also includes a transmission sleeve, the rear cover of the guide device housing is connected to the distal end of the transmission sleeve, and the fiber optic cooling assembly is disposed in the guide device housing body. In use, the ablation fiber passes through the rear cover of the guide device housing, the main body of the guide device housing, the bone nail cap, and the cooling sleeve guide.

22. The magnetic resonance-guided laser ablation therapy system according to claim 21, characterized in that, The fiber optic cooling assembly includes a coolant delivery pipe, a cooling sleeve, a water circulation adapter, and a sealing plug.

23. The magnetic resonance-guided laser ablation therapy system according to claim 21, characterized in that, The drive sleeve keeps the length of the ablation fiber disposed therein fixed, allowing the ablation fiber to rotate about and move along the long axis therein.

24. The magnetic resonance-guided laser ablation therapy system according to claim 21, characterized in that, The rotary drive device is slidably connected to the longitudinal motion device.

25. The magnetic resonance-guided laser ablation therapy system according to claim 21, characterized in that, The guiding device includes a hollow, slender guide member and a guiding device housing; The proximal end of the hollow, slender guide is connected to the distal end of the guide device housing, and the proximal end of the guide device housing is connected to the distal end of the transmission sleeve. The ablation fiber passes through the housing of the guiding device and the hollow elongated structure guide, and the distal end of the ablation fiber can extend from the distal end of the hollow elongated structure guide.

26. The magnetic resonance-guided laser ablation therapy system according to claim 25, characterized in that, The housing of the guide device is a first bone nail cap. The proximal end of the hollow, slender guide is threadedly connected to the distal end of the first bone nail cap, and the proximal end of the first bone nail cap is connected to the distal end of the transmission sleeve.

27. The magnetic resonance-guided laser ablation therapy system according to claim 25, characterized in that, The guide device housing includes a second bone nail cap, a guide device housing body, and a transmission sleeve mounting base; The proximal end of the hollow, slender guide is threadedly connected to the distal end of the second bone nail cap, the proximal end of the second bone nail cap is connected to the distal end of the guide device housing body, the transmission sleeve mounting base is disposed at the proximal end of the guide device housing body, and the transmission sleeve mounting base is connected to the distal end of the transmission sleeve. The ablation fiber passes through the transmission sleeve mounting base, the guide device housing body, and the second bone nail cap.

28. The magnetic resonance-guided laser ablation therapy system as described in claim 27, characterized in that, The guide device housing also includes a bone screw adapter bolt. When the second bone screw cap is tightened onto the hollow slender structure guide, the distal end of the bone screw adapter bolt is fixed inside the second bone screw cap. The proximal end of the bone screw adapter bolt is threadedly connected to the distal end of the guide device housing body. The ablation fiber passes through the bone screw adapter bolt.

29. The magnetic resonance-guided laser ablation therapy system as described in claim 27, characterized in that, The guide device housing body includes a guide device housing body fixing part and a guide device housing body sliding part. The proximal end of the second bone nail cap is connected to the distal end of the guide device housing body fixing part, and the proximal end of the guide device housing body fixing part is connected to the distal end of the guide device housing body sliding part. The transmission sleeve mounting base is disposed at the proximal end of the guide device housing body sliding part. The ablation optical fiber passes through the guide device housing body sliding part and the guide device housing body fixing part.

30. The magnetic resonance-guided laser ablation therapy system as described in claim 29, characterized in that, The guide device housing body fixing part and / or the guide device housing body sliding part are provided with a scale. The guide device housing body fixing part and the guide device housing body sliding part can move relative to each other, and the scale displays the distance of the relative movement.

31. The magnetic resonance-guided laser ablation therapy system according to claim 21, characterized in that, The sensor assembly also includes a rotation positioning device, which allows the ablation fiber to move along its long axis while its rotation angle is being measured. In use, the rotation positioning device clamps the ablation fiber with a preset pressure, and the ablation fiber drives the rotation positioning device to rotate. The angle sensor detects the rotation angle of the rotation positioning device and sends the rotation angle to the controller.

32. The magnetic resonance-guided laser ablation therapy system as described in claim 21, characterized in that, The controller sends control information to the longitudinal motion device, causing the ablation fiber to move along its long axis.

33. The magnetic resonance-guided laser ablation therapy system as described in claim 32, characterized in that, The longitudinal motion device is connected to a sensor assembly, which is used to measure the distance the ablation fiber moves along its long axis.

34. The magnetic resonance-guided laser ablation therapy system as described in claim 21, characterized in that, In the stereotactic system, the main body of the guide device housing includes a guide device housing main body fixing part and a guide device housing main body sliding part. The proximal end of the bone nail cap is connected to the distal end of the guide device housing main body fixing part, the proximal end of the guide device housing main body fixing part is connected to the distal end of the guide device housing main body sliding part, and the rear cover of the guide device housing is connected to the proximal end of the guide device housing main body sliding part.

35. The magnetic resonance-guided laser ablation therapy system as described in claim 21, characterized in that, The stereotactic system includes: Guide devices, sleeves, inserts, rotary drive devices, and longitudinal movement drive devices; The guiding device includes a cooling sleeve guide and a guiding device housing. The guiding device housing includes a bone screw cap, a guiding device housing body, and a guiding device housing rear cover. The guiding device housing body includes a guiding device housing body fixing part and a guiding device housing body sliding part. The proximal end of the bone screw cap is connected to the distal end of the guiding device housing body fixing part, and the proximal end of the guiding device housing body fixing part is connected to the distal end of the guiding device housing body sliding part. The guiding device rear cover covers the proximal end of the guiding device housing body sliding part. The guiding device housing body fixing part and / or the guiding device housing body sliding part are provided with a scale. The guiding device housing body fixing part and the guiding device housing body sliding part can move relative to each other. The scale displays the distance of the relative movement. A first set of sensor components is provided in the guiding device, and the angle sensor of the first set of sensor components is connected to the guiding device housing body. The plug-in is provided with a second set of sensor components. The angle sensor of the second set of sensor components is connected to the housing of the plug-in. The plug-in is connected to the longitudinal movement drive device, so that the relative position of the plug-in and the longitudinal movement drive device remains unchanged. The proximal end of the sleeve is connected to the rear cover of the guide device, and the distal end of the sleeve is connected to the plug-in, so that the length of the ablation fiber between the rear cover of the guide device and the plug-in remains unchanged. The rotary drive device is slidably connected to the longitudinal movement drive device; The optical fiber cooling assembly is disposed within the housing body of the guiding device.

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