System for performing radiofrequency ablation surgery

Abstract

This application provides a system for performing radiofrequency ablation surgery, relating to the field of medical device technology. The system includes a puncture surgery navigation and positioning subsystem for puncture positioning and navigation, and a radiofrequency ablation device electrically connected to the puncture surgery navigation and positioning subsystem. The puncture surgery navigation and positioning subsystem includes a positioning manipulator with a restraint at its front end. The radiofrequency ablation device includes a radiofrequency electrode needle and a radiofrequency generator electrically connected to each other. The puncture surgery navigation and positioning subsystem is configured to send a first trigger signal to the radiofrequency generator when it detects that the radiofrequency electrode needle, inserted through the restraint, has reached the puncture target point. This causes the radiofrequency generator to output radiofrequency current through the radiofrequency electrode needle based on the first trigger signal, acting on the ablation target. This technical solution improves the overall efficiency of radiofrequency ablation surgery.

Description

Technical Field

[0001] This application relates to the field of medical device technology, specifically to a system for performing radiofrequency ablation surgery. Background Technology

[0002] Radiofrequency ablation is a minimally invasive treatment technique that involves inserting a radiofrequency needle into the tumor tissue through percutaneous puncture. The high-frequency alternating current generates a thermal effect, causing coagulative necrosis of the tumor tissue, thus achieving the therapeutic goal. Compared to traditional surgical resection, radiofrequency ablation is less invasive, has fewer complications, and allows for faster recovery, making it an important treatment method for lung cancer.

[0003] During ablation surgery, multiple CT scans are typically performed to ensure accurate puncture of the target without damaging surrounding vital tissues, resulting in complex surgical procedures and significantly increased operation time. To address this, relevant technologies have developed positioning and navigation systems for this scenario (such as the "puncture surgery navigation and positioning system" mentioned in prior patent 201710170939.6). These systems utilize CT scanning devices and specifically designed puncture positioning devices to construct the system, effectively reducing the need for multiple CT scans in ablation surgery and shortening operation time. However, in developing this invention, the inventors discovered at least the following problems with the existing technology: the navigation and positioning system only implements puncture positioning and navigation functions, lacking sufficient integration with the radiofrequency ablation equipment in the scenario, leading to low overall efficiency in radiofrequency ablation surgery. Summary of the Invention

[0004] To at least partially overcome the problems existing in the related technologies, embodiments of this application provide a system for performing radiofrequency ablation surgery, which is an improvement on existing related technologies to further solve the problem of low overall efficiency of radiofrequency ablation surgery in the prior art.

[0005] This application provides a system for performing radiofrequency ablation surgery. The system includes: a puncture surgery navigation and positioning subsystem for performing puncture positioning and navigation functions, and a radiofrequency ablation device electrically connected to the puncture surgery navigation and positioning subsystem.

[0006] The puncture surgery navigation and positioning subsystem includes a positioning manipulator with a restraint at its front end; the radiofrequency ablation device includes a radiofrequency electrode needle and a radiofrequency generator that are electrically connected to each other.

[0007] The puncture surgery navigation and positioning subsystem is configured to send a first trigger signal to the radio frequency generator when it detects that the radio frequency electrode needle inserted through the restraint has reached the puncture target point, so that the radio frequency generator outputs radio frequency current through the radio frequency electrode needle based on the first trigger signal and acts on the ablation object.

[0008] In one possible implementation, the radio frequency generator is further configured to detect and judge the ablation dose parameter in real time after outputting the radio frequency current, and when the value of the ablation dose parameter meets the target value, control the electrode to stop outputting and send a second trigger signal.

[0009] The ablation dose parameters include ablation power parameters and ablation time parameters.

[0010] In one possible implementation, an electric actuator is installed on the constraint of the positioning manipulator to drive the movement of the radio frequency electrode needle;

[0011] The puncture surgery navigation and positioning subsystem is also configured to drive the electric actuator to move based on the second trigger signal obtained from the radio frequency generator, thereby realizing the removal of the radio frequency electrode needle.

[0012] In one possible implementation, the electric actuator is implemented using a stepper motor drive mechanism.

[0013] In one possible implementation, the puncture surgery navigation and positioning subsystem includes a CT scanning device and a navigation image workstation; to determine the target value, the navigation image workstation is configured as follows:

[0014] Receive axial image information of the patient acquired by the CT scanning device;

[0015] Image reconstruction is performed based on the patient's axial image information, and image segmentation is performed based on the reconstructed image. Then, the spatial size information of the ablation object is calculated and determined based on image size recognition technology.

[0016] According to the user's operation instructions, the heat conduction model is invoked to perform ablation simulation based on the spatial size information to determine the target value, and the target value is sent to the radio frequency generator.

[0017] In one possible implementation, the navigation image workstation is further configured as follows:

[0018] The ablation dose parameter is obtained from the radio frequency generator in real time, and the heat conduction model is called to calculate and generate an ablation status image based on the real time value. The ablation status image is then dynamically superimposed on the reconstructed result image for display.

[0019] In one possible implementation, the process of calling the heat conduction model to perform ablation simulation based on the spatial size information to determine the target value includes:

[0020] Pre-determine the needle type information of the radiofrequency electrode needle, as well as the tissue property description information of the ablation target;

[0021] Based on the needle type information and the tissue property description information, adapt the basic parameter information of the model required for simulation;

[0022] The heat conduction model is invoked to perform ablation simulation calculations based on the model's basic parameter information and the spatial dimension information.

[0023] In one possible implementation, the radiofrequency ablation device contains multiple radiofrequency electrode needles, and the radiofrequency generator is a multi-channel controlled radiofrequency generator;

[0024] Correspondingly, the puncture surgery navigation and positioning subsystem has multiple positioning robotic arms, which are used to locate multiple puncture points on the body surface for the same ablation object and limit the corresponding puncture angle, thereby cooperating with the radiofrequency ablation device to achieve multi-needle synchronous ablation of the ablation object.

[0025] One possible implementation also includes an electromagnetic tracking subsystem for tracking and detecting the radiofrequency electrode needle during the puncture process.

[0026] One possible implementation also includes a communication relay device for enabling telemedicine functions, wherein the communication relay device is electrically connected to the puncture surgery navigation and positioning subsystem and the radiofrequency ablation device, respectively.

[0027] The system for performing radiofrequency ablation surgery provided in this application includes a puncture surgery navigation and positioning subsystem for puncture positioning and navigation, and a radiofrequency ablation device electrically connected to the puncture surgery navigation and positioning subsystem. The puncture surgery navigation and positioning subsystem includes a positioning manipulator with a restraint at its front end. The radiofrequency ablation device includes a radiofrequency electrode needle and a radiofrequency generator electrically connected to each other. The puncture surgery navigation and positioning subsystem is configured to send a first trigger signal to the radiofrequency generator when it detects that the radiofrequency electrode needle, inserted through the restraint, has reached the puncture target point. This causes the radiofrequency generator to output radiofrequency current through the radiofrequency electrode needle based on the first trigger signal, acting on the ablation target. In the technical solution of this application, the system for performing radiofrequency ablation surgery consists of two parts: a puncture surgery navigation and positioning subsystem and a radiofrequency ablation device. Based on the specific system configuration, the two are linked, and the radiofrequency current output is automatically triggered when the pre-positioned puncture target is reached, enabling rapid switching and connection of different operation steps in the ablation surgery, thereby improving the overall efficiency of the radiofrequency ablation surgery.

[0028] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained by means of the structures particularly pointed out in the following description, claims, and drawings. Attached Figure Description

[0029] The accompanying drawings are used to provide a further understanding of the technical solutions of this application or the prior art, and constitute a part of the specification. The drawings illustrating embodiments of this application, together with the embodiments of this application, are used to explain the technical solutions of this application, but do not constitute a limitation on the technical solutions of this application.

[0030] Figure 1 A schematic diagram illustrating the configuration of a system for performing radiofrequency ablation surgery according to one embodiment of this application;

[0031] Figure 2 This is a schematic diagram illustrating the structure of a puncture surgery navigation and positioning subsystem in one embodiment of this application;

[0032] Figure 3 for Figure 2 The diagram illustrates the structure of the puncture positioning device in the puncture surgery navigation and positioning subsystem shown.

[0033] in,

[0034] 100-Puncture Surgery Navigation and Positioning Subsystem;

[0035] 110-Puncture positioning device; 111-Positioning robot; 112-Main unit; 113-Range measuring instrument; 114-Range measuring instrument; 115-Display screen; 116-Constraint;

[0036] 120 - CT scanning device; 130 - Navigation image workstation; 140 - Respiratory gating sensor; 150 - Initialization positioning baseboard;

[0037] 200 - Radiofrequency ablation device; 210 - Radiofrequency electrode needle; 220 - Radiofrequency generator. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be described in detail below. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0039] As described in the background section, radiofrequency ablation is a minimally invasive treatment technique. It involves inserting a radiofrequency needle into the tumor tissue through percutaneous puncture, utilizing a high-frequency alternating current to generate a thermal effect that causes coagulative necrosis of the tumor tissue, thereby achieving the therapeutic goal. Compared to traditional surgical resection, radiofrequency ablation is less invasive, has fewer complications, and allows for faster recovery, making it one of the important methods for treating lung cancer.

[0040] In radiofrequency ablation surgery, multiple CT scans are typically performed to ensure accurate puncture of the target without damaging surrounding vital tissues for positioning and navigation. This complicates the surgical procedure and significantly increases the operation time. To address this, positioning and navigation systems for this scenario have emerged (such as the "puncture surgery navigation and positioning system" mentioned in prior patent 201710170939.6). These systems utilize CT scanning equipment and specifically designed puncture positioning devices to construct the system. Applying this system to the surgical procedure effectively reduces the need for multiple CT scans in ablation surgery, thus shortening the operation time.

[0041] However, in the process of realizing this invention, the inventors discovered that the prior art has at least the following problems: the navigation and positioning system only realizes the puncture positioning and navigation function, and the linkage with the radiofrequency ablation equipment in the scene is insufficient, resulting in low overall efficiency of radiofrequency ablation surgery.

[0042] In response to this, this application proposes a system for performing radiofrequency ablation surgery, which improves upon existing related technologies to further address the problem of low overall efficiency in existing radiofrequency ablation surgeries.

[0043] like Figures 1 to 3 As shown, in one embodiment, the system for performing radiofrequency ablation surgery proposed in this application includes: a puncture surgery navigation and positioning subsystem 100 for realizing puncture positioning and navigation functions, and a radiofrequency ablation device 200 electrically connected to the puncture surgery navigation and positioning subsystem;

[0044] The puncture surgery navigation and positioning subsystem 100 includes a positioning robot 111, with a restraint 116 at the front end of the positioning robot 111; the radiofrequency ablation device 200 includes a radiofrequency electrode needle 210 and a radiofrequency generator 220 that are electrically connected to each other.

[0045] The puncture surgery navigation and positioning subsystem 100 is configured to send a first trigger signal to the radiofrequency generator when it detects that the radiofrequency electrode needle 210 inserted through the restraint device 116 has reached the puncture target point (such as the end point of the puncture path planned based on the tumor CT image in lung tumor ablation surgery), so that the radiofrequency generator generates radiofrequency current based on the first trigger signal and outputs the corresponding radiofrequency current through the radiofrequency electrode needle to act on the ablation object.

[0046] In the above process, the detection of the radiofrequency electrode needle can be achieved by using the existing technology of detecting the puncture distance through a grating distance sensor.

[0047] As a specific implementation method, the detection of the radiofrequency electrode needle can also be achieved by electromagnetic tracking. For example, the system is equipped with an electromagnetic tracking subsystem, which is used to track and detect the radiofrequency electrode needle during the puncture process. The electromagnetic tracking subsystem includes an electromagnetic tracking sensor (not shown in the figure) disposed on the radiofrequency electrode needle, and a magnetic field positioning and tracking device (not shown in the figure) disposed at the tip of the positioning robot. The magnetic field positioning and tracking device can generate a magnetic field, and the movement tracking of the radiofrequency electrode needle is achieved by detecting the parameter changes caused by the movement of the electromagnetic tracking sensor in the magnetic field.

[0048] It should be noted that the positioning and navigation function of the puncture surgery navigation and positioning subsystem 100 here can be implemented by adopting the related system or similar system mentioned in the prior patent 201710170939.6. The technical solution in this embodiment can be realized by the linkage modification of the subsystem and the radiofrequency ablation device (such as the linkage interaction in this embodiment, which can be realized by the configuration setting of the control program of the host 115 in the puncture surgery navigation and positioning subsystem 100).

[0049] The system used to perform radiofrequency ablation surgery in this embodiment consists of two parts: a puncture surgery navigation and positioning subsystem and a radiofrequency ablation device. Based on the specific system configuration, the two are linked together. When the pre-positioned puncture target is punctured, the radiofrequency current output is automatically triggered, enabling rapid switching and connection of different operation steps in the ablation surgery, which is conducive to improving the overall efficiency of radiofrequency ablation surgery.

[0050] In another embodiment, such as Figures 1 to 3 As shown, the system for performing radiofrequency ablation surgery includes: a puncture surgery navigation and positioning subsystem 100 for performing puncture positioning and navigation functions, and a radiofrequency ablation device 200 electrically connected to the puncture surgery navigation and positioning subsystem.

[0051] The puncture surgery navigation and positioning subsystem 100 includes a positioning robot 111, with a restraint 116 at the front end of the positioning robot 111; the radiofrequency ablation device 200 includes a radiofrequency electrode needle 210 and a radiofrequency generator 220 that are electrically connected to each other.

[0052] The puncture surgery navigation and positioning subsystem 100 is configured to send a first trigger signal to the radiofrequency generator when it detects that the radiofrequency electrode needle 210 inserted through the restraint device 116 has reached the puncture target point, so that the radiofrequency generator generates a radiofrequency current based on the first trigger signal and outputs a corresponding radiofrequency current through the radiofrequency electrode needle to act on the ablation target.

[0053] In this embodiment, the radio frequency generator 220 is also configured to detect and judge the ablation dose parameter in real time after outputting the radio frequency current, and when the value of the ablation dose parameter meets the target value, control the electrode to stop outputting and send a second trigger signal.

[0054] The ablation dose parameters include ablation power parameters and ablation time parameters.

[0055] As can be easily understood by those skilled in the art, the therapeutic mechanism of radiofrequency ablation is mainly thermal. When radiofrequency current flows through human tissue, the rapid change of the electromagnetic field causes polar water molecules in the tissue to move at high speed, generating heat (i.e., endogenous thermal effect). Therefore, real-time detection and judgment of ablation dose parameters are used here to control the thermal effect achieved by radiofrequency ablation.

[0056] Based on the specific control program configuration, when the control target is achieved, the control stops outputting and generates a second trigger signal;

[0057] In the technical scenario of this application, the second trigger signal can be used as a linkage connection signal or as an alarm signal.

[0058] Specifically, in this embodiment, to further improve surgical efficiency, the aforementioned second trigger signal is used as a linkage and continuation signal;

[0059] Specifically, an electric actuator (not shown in the figure) is installed on the constraint 116 of the positioning robot 111 to drive the radio frequency electrode needle 210 to move. For example, the electric actuator can be implemented by a stepper motor drive mechanism.

[0060] The puncture surgery navigation and positioning subsystem 100 is also configured to drive the electric actuator to actuate based on a second trigger signal obtained from the radio frequency generator 220, thereby realizing the removal of the radio frequency electrode needle.

[0061] In addition, it should be noted that the control of the ablation thermal effect in the above process involves the target value of the relevant ablation dose parameter. In the existing technology, such target value is generally determined based on the surgeon's experience. This method of determination limits the actual ablation effect to the individual surgeon's experience, which can easily lead to poor actual surgical results and problems such as repeated operations.

[0062] In response to this, in some embodiments, such as Figure 2 As shown, the puncture surgery navigation and positioning subsystem 100 includes a CT scanning device 120 and a navigation image workstation 130; to determine the target value in the above process, the navigation image workstation 120 is configured as follows:

[0063] Receives axial image information of the patient acquired by the CT scanning device;

[0064] Image reconstruction is performed based on the patient's axial image information (the specific implementation method is described in the existing related technologies), and image segmentation is performed based on the reconstructed image. Then, the spatial size information of the ablation object is calculated and determined based on image size recognition technology. For example, if the object is a lung tumor, this step uses medical imaging technology combined with image processing and recognition technology to obtain the spatial size of the lung tumor.

[0065] Then, based on the user's operation instructions, the heat conduction model is invoked to perform ablation simulation based on the spatial size information to determine the target value, and the target value is sent to the radio frequency generator 220. It is easy to understand that the user operation instructions in this process are configured based on the needs of the specific scenario. For example, the user operation instructions here can be instructions for the user to click and input to perform simulation, instructions to determine the target value obtained from the simulation, instructions to send the target value, etc.

[0066] Specifically, the process of using the heat conduction model to perform ablation simulation based on spatial size information to determine the target value includes:

[0067] Pre-determine the needle type information of the radiofrequency electrode needle, as well as the tissue property description information of the ablation target (e.g., if the ablation target is a lung tumor, the tissue property description information includes information such as the specific heat capacity and thermal conductivity of the tumor cells and stromal tissue).

[0068] The basic parameter information of the model required for simulation is adapted based on the needle type information and tissue property description information;

[0069] The heat conduction model is invoked to perform ablation simulation calculations based on the model's basic parameter information and the spatial dimension information. In actual implementation, this simulation calculation can be achieved based on finite element analysis technology.

[0070] To enhance the intuitiveness of the interaction, the navigation image workstation 130 is further configured as follows:

[0071] The ablation dose parameter is obtained from the radiofrequency generator 220 in real time. The heat conduction model is called to calculate and generate an ablation status image based on the real time value. The ablation status image and the reconstruction result image are dynamically superimposed and displayed to show the ablation status of the surgery to relevant users intuitively.

[0072] Easy to understand, such as Figure 2 and Figure 3As shown and in conjunction with the description of the prior art, the puncture surgery navigation and positioning subsystem 100 also includes a display screen 115. Depending on specific scenario requirements (such as the viewing needs of assistive medical personnel on the patient's side), the content that is dynamically overlaid can be displayed on the display screen of the navigation image processing unit 130 itself, and simultaneously displayed on the display screen 115.

[0073] In the technical scenario of this application, a single radiofrequency needle can generally only be used to ablate smaller tumors. For larger tumors, if a single needle ablation operation is used, multiple puncture ablation operations are required, which will also lead to an excessively long overall operation time.

[0074] Therefore, in view of this situation, based on the above embodiments, in some embodiments, the radiofrequency ablation device 200 has multiple radiofrequency electrode needles 210 and the radiofrequency generator 220 is a multi-channel controlled radiofrequency generator.

[0075] Correspondingly, the puncture surgery navigation and positioning subsystem 100 has multiple positioning robotic arms 115, which are used to locate multiple puncture points on the body surface for the same ablation object and limit the corresponding puncture angle, so as to cooperate with the radiofrequency ablation device to achieve multi-needle synchronous ablation of the ablation object.

[0076] It is easy to understand that, based on the description of the single-needle device linkage implementation method above, group pairing can be adopted, and each channel and the corresponding paired robot can be independently controlled to achieve the above-mentioned multi-needle synchronous ablation. In this process, the motion control implementation of multiple robots in the positioning process (e.g., how to avoid motion interference) can be found in the publicly available information on existing related robot control technologies, and will not be elaborated here.

[0077] Furthermore, it should be noted that regarding Figure 2 , Figure 3 Other unmentioned illustrations, such as rangefinders and initialization positioning base plates, pertain to the implementation of navigation and positioning in puncture surgery in the prior art. Their purpose and implementation methods can be found in existing publicly available technical documents, and will not be described again here.

[0078] In some embodiments, the system also includes a communication relay device (not shown in the figure) for realizing remote medical functions. The communication relay device is electrically connected to the puncture surgery navigation and positioning subsystem and the radiofrequency ablation device, respectively. The communication relay device can be implemented using relevant network communication technologies such as Ethernet and 5G, and combined with relevant software configuration to realize the remote medical functions of the system in order to meet the needs of specific scenarios.

[0079] It is understood that the same or similar parts in the above embodiments can be referred to each other, and the contents not described in detail in some embodiments can be referred to the same or similar contents in other embodiments.

[0080] It should be noted that in the description of this application, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this application, unless otherwise stated, "a plurality of" means at least two.

[0081] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this application pertain.

[0082] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0083] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0084] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0085] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0086] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A system for performing radio frequency ablation procedures, the system comprising: The utility model relates to a kind of radiofrequency ablation device and the navigation positioning system for puncture surgery of radiofrequency ablation device, and the navigation positioning system for puncture surgery is electrically connected with radiofrequency ablation device. The navigation positioning system for puncture surgery includes positioning manipulator, and the front end of positioning manipulator is provided with restraint device;Radiofrequency ablation device includes radiofrequency electrode needle and radiofrequency generator electrically connected with each other. The navigation positioning system for puncture surgery is configured to, when detecting that radiofrequency electrode needle is sent into by restraint device and punctures to reach puncture target point, first trigger signal is sent to radiofrequency generator, so that radiofrequency generator outputs radiofrequency current based on first trigger signal, and radiofrequency current acts on ablation object by radiofrequency electrode needle. Radiofrequency generator is also configured to, after outputting radiofrequency current, ablation dose parameters are detected and judged in real time, when the value of ablation dose parameters meets target value, radiofrequency electrode needle stops outputting and sends second trigger signal, and ablation dose parameters include ablation power parameter and ablation time parameter. Electric actuating mechanism is mounted on restraint device on positioning manipulator, for driving radiofrequency electrode needle to move;The navigation positioning system for puncture surgery is also configured to, based on second trigger signal obtained from radiofrequency generator, drive electric actuating mechanism to act, and realize that radiofrequency electrode needle is separated. The navigation positioning system for puncture surgery includes CT scanning device and navigation image workstation;In order to determine target value, navigation image workstation uses the following configuration: Patient axial image information obtained by CT scanning device is received; Image reconstruction is carried out according to patient axial image information, and image segmentation is carried out based on reconstruction result image, and then spatial size information of ablation object is calculated and determined based on image size recognition technology; According to user operation instruction, call heat conduction model to determine target value based on spatial size information, and send target value to radiofrequency generator; Radiofrequency electrode needle in radiofrequency ablation device is multiple, and radiofrequency generator is multi-channel control radiofrequency generator;Correspondingly, positioning manipulator in the navigation positioning system for puncture surgery is multiple, for realizing the positioning of multiple body surface puncture points of the same ablation object, and the limitation of corresponding puncture angle, so as to realize the multi-needle synchronous ablation of ablation object with radiofrequency ablation device. Electric actuating mechanism is driven by stepping motor.

2. The system for performing radio frequency ablation procedures of claim 1, wherein, Navigation image workstation is also configured to:

3. The system for performing radio frequency ablation procedures of claim 1, wherein, Real-time value of ablation dose parameters is obtained from radiofrequency generator, heat conduction model is called to generate ablation state image based on real-time value, and ablation state image is dynamically superimposed and displayed with reconstruction result image. The process of calling heat conduction model to determine target value based on spatial size information includes:

4. The system for performing radio frequency ablation procedures of claim 1, wherein, Needle type information of radiofrequency electrode needle and tissue physical property description information of ablation object are determined in advance; Model basic parameter information required for simulation is adapted according to needle type information and tissue physical property description information. ​ The heat conduction model is called to perform ablation simulation calculation according to the model basic parameter information and the space size information.

5. The system for performing radio frequency ablation procedures of claim 1, wherein, An electromagnetic tracking implementation subsystem is further included for implementing tracking detection on the radio frequency electrode needle in the puncture process.

6. The system for performing radio frequency ablation procedures of claim 1, wherein, A communication relay device for implementing a remote medical function is further included, and the communication relay device is electrically connected with the puncture operation navigation positioning subsystem and the radio frequency ablation device respectively.

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