Scalable and adjustable radiofrequency ablation method and system

Abstract

The present invention relates to the field of medical devices, and discloses a retractable and adjustable radiofrequency ablation method and system, the method comprising: measuring the object size of an object to be ablated and the depth of the object to be ablated relative to the skin, and using radiofrequency ablation parameters to calculate the single ablation size of the radiofrequency ablation pen; simulating the ablation morphology when the radiofrequency ablation pen performs radiofrequency ablation on the safe area of ​​the object to be ablated; calculating the number of ablations performed by the radiofrequency ablation pen on the object to be ablated under the ablation angle, selecting the target ablation angle from the ablation angle and selecting the target ablation parameter from the radiofrequency ablation parameter; measuring the object distance between each object to be ablated in the object to be ablated, and calculating the extension length of the telescopic rod for the object to be ablated according to the depth of the object to be ablated relative to the skin, and constructing the ablation sequence of the radiofrequency ablation pen performing radiofrequency ablation on the object to be ablated according to the object distance and the extension length. The present invention can control the ablation angle and the number of extensions of the radiofrequency ablation pen.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to a scalable and adjustable radiofrequency ablation method and system. Background Art

[0002] The retractable pen is a pen with a retractable function. The ablation electrode is an accessory of high-frequency surgical equipment required in high-frequency surgery. It is mainly used in conjunction with high-frequency surgical equipment or suction products to perform ablation, hemostasis, electrocute, electrocoagulation, suction and stripping on related tissues during surgery. The radiofrequency ablation pen, which combines the ablation electrode with the retractable pen, has replaced the traditional scalpel and is widely used in surgery.

[0003] At present, there has been extensive research on retractable and adjustable radiofrequency ablation electrodes at home and abroad, generally involving factors such as radiofrequency temperature, retractable function and high-frequency electromagnetic waves. For example, the patent publication number is: CN113796954A, the publication date is: December 17, 2021, and the name of the invention is: an ablation needle with a variable heating angle. The application discloses an ablation needle with a variable heating angle, which belongs to the field of medical devices. The application includes a cooling device, a main control rod, a hole expansion device, a blocking device, a connecting device, and a power cord arranged on the main control rod and connected to an external power supply device. The main control rod A shielding rod is slidably provided at one end, and a microwave needle is provided at the end of the shielding rod away from the main control rod. When the microwave needle is energized, it emits high-frequency electromagnetic waves in all directions. The cooling device is fixedly provided at the end of the main control rod away from the shielding rod through a supporting rod. The cooling device is used to cool down the human tissue in contact with the blocking device. The invention can kill cancer cells in the patient's body with high temperature. At the same time, by setting a device to block the divergence of high-frequency electromagnetic waves at a certain angle, the high-frequency electromagnetic waves will not diverge in the direction of the patient's normal tissue cells, so that the temperature of the normal tissue cells will not rise, thereby effectively protecting the safety of the normal tissue cells in the patient's body.

[0004] However, the above application requires an additional blocking device to control the ablation angle of the ablation needle, which causes device redundancy of the RF ablation electrode pen. Secondly, the ablation angle controlled by the blocking device cannot be changed according to specific RF ablation parameters and RF ablation objects. In addition, in the telescopically adjustable RF ablation electrode schemes involved in other applications, the number of telescopic adjustments is not controlled, but elastic expansion and contraction under normal conditions requires a certain amount of energy, which may lead to reduced system efficiency.

[0005] Therefore, a solution is urgently needed to control the ablation angle and extension and retraction times of the radiofrequency ablation pen. Summary of the invention

[0006] In order to solve the above problems, the present invention provides a retractable and adjustable radiofrequency ablation method and system, which can control the ablation angle and retractable times of the radiofrequency ablation pen.

[0007] In a first aspect, the present invention provides a scalable and adjustable radiofrequency ablation method, comprising:

[0008] Measure the size of the object to be ablated and the depth of the object to be ablated relative to the skin, set the radiofrequency ablation parameters of the radiofrequency ablation pen, and use the radiofrequency ablation parameters to calculate the single ablation size of the radiofrequency ablation pen, wherein the radiofrequency ablation pen includes an ablation electrode, an ablation pen head and a telescopic rod, and the radiofrequency ablation parameters include contact angle, contact force, ablation time, ablation voltage, tissue impedance and electrode temperature;

[0009] Based on the object size and the single ablation size, simulating the ablation form when the radiofrequency ablation pen performs radiofrequency ablation in the safety area of ​​the object to be ablated, and identifying the ablation angle of the radiofrequency ablation pen corresponding to the ablation form;

[0010] Calculating the number of times the radiofrequency ablation pen performs radiofrequency ablation on the object to be ablated at the ablation angle, and selecting a target ablation angle from the ablation angles and a target ablation parameter from the radiofrequency ablation parameters using the ablation number;

[0011] Measuring the object distance between each of the objects to be ablated, calculating the extension length of the telescopic rod relative to the objects to be ablated according to the depth of the objects to be ablated relative to the skin, and constructing an ablation sequence for the radio frequency ablation pen to perform radio frequency ablation on the objects to be ablated according to the object distance and the extension length;

[0012] According to the target ablation angle, the target ablation parameters and the ablation sequence, the radiofrequency ablation pen is used to perform radiofrequency ablation on the object to be ablated to obtain a radiofrequency ablation result of the object to be ablated.

[0013] In a possible implementation manner of the first aspect, measuring the size of the object to be ablated and the depth of the object to be ablated relative to the skin includes:

[0014] Collecting frontal medical images and lateral medical images of the object to be ablated;

[0015] Identifying three-dimensional point cloud data of the object to be ablated from the frontal medical image;

[0016] constructing a three-dimensional point cloud model of the object to be ablated using the three-dimensional point cloud data;

[0017] According to the three-dimensional point cloud model;

[0018] constructing a three-dimensional position model of the object to be ablated relative to the skin using the lateral medical image;

[0019] When the cut plane on the surface of the three-dimensional position model is parallel to the skin, the shortest distance from the skin perpendicular to the cut plane on the surface of the three-dimensional position model is taken as the depth of the object to be ablated relative to the skin.

[0020] The method of calculating the single ablation size of the radiofrequency ablation pen by using the radiofrequency ablation parameters includes:

[0021] According to the radiofrequency ablation parameters, construct an input sequence of a preset size analysis model using the following format;

[0022] After the input sequence is input into the size analysis model, the single ablation size corresponding to the radiofrequency ablation parameter is calculated in the size analysis model according to the input sequence using the following formula.

[0023] The simulating the ablation form when the radiofrequency ablation pen performs radiofrequency ablation in the safety area of ​​the object to be ablated based on the object size and the single ablation size includes:

[0024] Starting from the ablation pen tip of the radiofrequency ablation pen and ending at the outer curved surface of the single ablation size, constructing an intersection line between the ablation pen tip and the single ablation size;

[0025] Using the intersection line to identify the surface distance between the inner curved surface and the outer curved surface in the single ablation size;

[0026] According to the curved surface distance, the single ablation speed of the radiofrequency ablation pen on the intersection line is calculated using the following formula;

[0027] Identify a size region of the object size that is on the intersection line;

[0028] In the size area, the average ablation speed of the single ablation speed is calculated using the following formula;

[0029] The average ablation speed of the radiofrequency ablation pen on the intersection line is used to determine the ablation form when the radiofrequency ablation pen performs radiofrequency ablation in the safety area of ​​the object to be ablated.

[0030] The calculating the number of times the radio frequency ablation pen performs radio frequency ablation on the object to be ablated at the ablation angle comprises:

[0031] Randomly arranging the ablation angles to obtain an angle sequence;

[0032] Acquiring an ablation morphology corresponding to the ablation angle;

[0033] using the ablation morphology to identify an ablation area where the radiofrequency ablation pen performs radiofrequency ablation on the object to be ablated at the ablation angle;

[0034] extracting an area to be ablated outside the ablation area from the object to be ablated;

[0035] Acquiring a safety boundary of the ablation area contacted by the radiofrequency ablation pen when performing radiofrequency ablation on the object to be ablated;

[0036] When the boundary distance between the boundary of the area to be ablated and the safety boundary is the shortest, marking the ablation position of the radiofrequency ablation pen on the area to be ablated;

[0037] According to the angle sequence, after the object to be ablated is subjected to radio frequency ablation by the radio frequency ablation pen at the ablation position, the number of times the radio frequency ablation pen performs radio frequency ablation on the object to be ablated is recorded.

[0038] The measuring the object distance between each of the objects to be ablated includes:

[0039] Acquiring a frontal object image between each of the objects to be ablated;

[0040] constructing a front object model of each of the objects to be ablated using the front object image;

[0041] constructing a connecting line segment between every two front object models in the front object model based on the surface position of the front object model;

[0042] When the connecting line segment is parallel to the skin, selecting the shortest connecting line segment from the connecting line segments;

[0043] The shortest connecting line segment is used as the object distance.

[0044] The step of calculating the extension length of the telescopic rod relative to the object to be ablated according to the depth of the object to be ablated relative to the skin comprises:

[0045] Acquiring the telescopic length of the telescopic rod and collecting the tip length of the ablation pen tip;

[0046] According to the telescopic length, the non-telescopic length of the telescopic rod is calculated using the following formula;

[0047] Based on the length of the pen tip, the non-retractable length and the depth of the object to be ablated relative to the skin, the extended length of the telescopic rod relative to the object to be ablated is calculated using the following formula.

[0048] The step of constructing an ablation sequence for the radio frequency ablation pen to perform radio frequency ablation on the object to be ablated according to the object distance and the elongated length comprises:

[0049] Calculating the path cost between every two objects to be ablated among the objects to be ablated using the following formula according to the object distance and the elongated length;

[0050] identifying the shortest path between every two objects to be ablated among the objects to be ablated using the path cost;

[0051] Randomly arranging the order of the objects to be ablated to obtain an object order;

[0052] Based on the shortest path, the total path cost under the object sequence is calculated using the following formula;

[0053] When the total path cost is minimum, the object sequence is used as the ablation sequence.

[0054] The method of performing radiofrequency ablation on the object to be ablated by using the radiofrequency ablation pen according to the target ablation angle, the target ablation parameter and the ablation sequence to obtain the radiofrequency ablation result of the object to be ablated includes:

[0055] After the target ablation parameters are set in the radiofrequency ablation pen, the radiofrequency ablation pen is used to perform radiofrequency ablation on the object to be ablated at the target ablation angle according to the ablation sequence to obtain the radiofrequency ablation result of the object to be ablated.

[0056] In a second aspect, the present invention provides a telescopically adjustable radiofrequency ablation system, the system comprising:

[0057] A size calculation module, used to measure the size of the object to be ablated and the depth of the object to be ablated relative to the skin, set the radiofrequency ablation parameters of the radiofrequency ablation pen, and use the radiofrequency ablation parameters to calculate the single ablation size of the radiofrequency ablation pen, wherein the radiofrequency ablation pen includes an ablation electrode, an ablation pen head and a telescopic rod, and the radiofrequency ablation parameters include contact angle, contact force, ablation time, ablation voltage, tissue impedance and electrode temperature;

[0058] An angle recognition module, used to simulate the ablation form when the radiofrequency ablation pen performs radiofrequency ablation in the safety area of ​​the object to be ablated based on the object size and the single ablation size, and identify the ablation angle of the radiofrequency ablation pen corresponding to the ablation form;

[0059] A parameter selection module, used to calculate the number of ablations performed by the radiofrequency ablation pen on the object to be ablated at the ablation angle, and select a target ablation angle from the ablation angles and a target ablation parameter from the radiofrequency ablation parameters using the ablation number;

[0060] A sequence construction module, used for measuring the object distance between each of the objects to be ablated, calculating the extension length of the telescopic rod relative to the objects to be ablated according to the depth of the objects to be ablated relative to the skin, and constructing an ablation sequence for the radio frequency ablation pen to perform radio frequency ablation on the objects to be ablated according to the object distance and the extension length;

[0061] The radiofrequency ablation module is used to perform radiofrequency ablation on the object to be ablated using the radiofrequency ablation pen according to the target ablation angle, the target ablation parameters and the ablation sequence, so as to obtain the radiofrequency ablation result of the object to be ablated.

[0062] Compared with the prior art, the technical principle and beneficial effects of this solution are:

[0063] The embodiment of the present invention measures the object size of the object to be ablated and the depth of the object to be ablated relative to the skin, so as to observe the morphological changes of the object size under different radiofrequency ablation parameters, and uses the depth of the object to be ablated relative to the skin to pave the way for the subsequent calculation of the telescopic cost of the telescopic rod. Furthermore, the embodiment of the present invention calculates the single ablation size of the radiofrequency ablation pen by using the radiofrequency ablation parameters, so as to observe the morphological changes of the object size under different radiofrequency ablation parameters. The embodiment of the present invention simulates the ablation morphology of the radiofrequency ablation pen when performing radiofrequency ablation on the safe area of ​​the object to be ablated based on the object size and the single ablation size, so as to determine the ablation trajectory of each point coordinate by using the moving speed of the point coordinate in different directions. The embodiment of the present invention calculates the speed of the radiofrequency ablation pen on the object under the ablation angle. The number of times the object to be ablated is subjected to radiofrequency ablation is used to treat the ablation at each ablation angle as a single time to identify the number of times the ablation angle needs to be changed. Furthermore, the embodiment of the present invention selects the target ablation angle from the ablation angle and the target ablation parameter from the radiofrequency ablation parameter by using the number of ablation times, so as to use the number of ablation times to control the ablation angle and the radiofrequency ablation parameter. The embodiment of the present invention measures the object distance between each object to be ablated in the objects to be ablated, so as to use the movement of the radiofrequency ablation pen between different objects to be ablated as an influencing factor for the subsequent control of the number of retractable adjustments. Furthermore, the embodiment of the present invention constructs the ablation sequence of the radiofrequency ablation pen for performing radiofrequency ablation on the object to be ablated according to the object distance and the extension length, so as to control the number of retractable adjustments. Therefore, the embodiment of the present invention proposes a retractable and adjustable radiofrequency ablation method and system, which can control the ablation angle and the number of retractable times of the radiofrequency ablation pen. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0065] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0066] Figure 1 A schematic diagram of a process flow of a scalable and adjustable radiofrequency ablation method provided by an embodiment of the present invention;

[0067] Figure 2A schematic diagram of an ablation configuration of a telescopically adjustable radiofrequency ablation system provided by an embodiment of the present invention;

[0068] Figure 3 A schematic diagram of a module of a scalable and adjustable radiofrequency ablation system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0069] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0070] The embodiment of the present invention provides a scalable and adjustable radiofrequency ablation method, and the execution subject of the scalable and adjustable radiofrequency ablation method includes but is not limited to at least one of the electronic devices such as a server and a terminal that can be configured to execute the method provided by the embodiment of the present invention. In other words, the scalable and adjustable radiofrequency ablation method can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, etc. The server can be an independent server, or it can be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (Content Delivery Network, CDN), and big data and artificial intelligence platforms.

[0071] See also Figure 1 FIG. 1 is a flowchart of a scalable and adjustable radiofrequency ablation method provided by an embodiment of the present invention. Figure 1 The scalable and adjustable radiofrequency ablation method described in the invention includes:

[0072] S1. Measure the size of the object to be ablated and the depth of the object to be ablated relative to the skin, set the radiofrequency ablation parameters of the radiofrequency ablation pen, and use the radiofrequency ablation parameters to calculate the single ablation size of the radiofrequency ablation pen, wherein the radiofrequency ablation pen includes an ablation electrode, an ablation pen head and a telescopic rod, and the radiofrequency ablation parameters include contact angle, contact force, ablation time, ablation voltage, tissue impedance and electrode temperature.

[0073] In the embodiment of the present invention, the object to be ablated refers to a diseased tissue, organ or cell to be ablated in a living body, and the object size refers to the object volume of the object to be ablated.

[0074] Furthermore, the embodiments of the present invention measure the size of the object to be ablated and the depth of the object to be ablated relative to the skin to observe the morphological changes of the object size under different radiofrequency ablation parameters, and use the depth of the object to be ablated relative to the skin to pave the way for the subsequent calculation of the telescopic cost of the telescopic rod.

[0075] In one embodiment of the present invention, the measuring of the object size of the object to be ablated and the depth of the object to be ablated relative to the skin includes: collecting a front medical image and a side medical image of the object to be ablated; identifying three-dimensional point cloud data of the object to be ablated from the front medical image; constructing a three-dimensional point cloud model of the object to be ablated using the three-dimensional point cloud data; and calculating the object size of the object to be ablated using the following formula according to the three-dimensional point cloud model:

[0076] z=f(x)

[0077]

[0078]

[0079] Wherein, V represents the size of the object, z=f(x) represents the function of the x-axis about the z-axis, x1~x2 represents the range of the 3D point cloud model on the x-axis, y1~y2 represents the range of the 3D point cloud model on the y-axis, and S represents the area of ​​the 3D point cloud model on the plane formed by the x-axis and the z-axis;

[0080] The lateral medical image is used to construct a three-dimensional position model of the object to be ablated relative to the skin; when the section on the surface of the three-dimensional position model is parallel to the skin, the shortest distance from the skin perpendicular to the section on the surface of the three-dimensional position model is used as the depth of the object to be ablated relative to the skin.

[0081] The front medical image refers to a CT image taken from a direction in which the shooting surface faces the skin surface, and the lateral medical image refers to a CT image taken from a direction in which the shooting surface is perpendicular to the skin surface.

[0082] Optionally, the process of constructing the three-dimensional point cloud model of the object to be ablated using the three-dimensional point cloud data may be implemented by a three-dimensional reconstruction algorithm, such as a Monte Carlo algorithm.

[0083] Furthermore, in an embodiment of the present invention, the radiofrequency ablation pen refers to a radiofrequency ablation pen structure composed of an ablation electrode and a retractable pen, the ablation electrode refers to an electrode that contacts the lesion of the object to be ablated and ablates the object to be ablated, the ablation pen tip refers to the tip of the radiofrequency ablation pen, and the ablation electrode is installed at one end of the tip of the radiofrequency ablation pen, and the ablation pen tip mainly serves as an intermediate substance (mediator) between the ablation electrode and the retractable rod.

[0084] Optionally, the process of setting the radiofrequency ablation parameters of the radiofrequency ablation pen refers to the process of setting different numerical samples under the same type of parameters.

[0085] Furthermore, in an embodiment of the present invention, the contact angle refers to the angle at which the radio frequency ablation pen contacts the object to be ablated, such as vertical contact with the object to be ablated or oblique contact with the object to be ablated, the contact force refers to the force of pressure exerted by the radio frequency ablation pen when it contacts the object to be ablated, the ablation time refers to the time required for a single radio frequency ablation, and the definition of a single time refers to a time during which other radio frequency ablation parameters remain unchanged, the ablation voltage refers to the voltage of the ablation electrode, the tissue impedance refers to the impedance of the radio frequency ablation pen when it punctures the skin and contacts the object to be ablated, and the electrode temperature refers to the temperature of the ablation electrode.

[0086] Furthermore, the embodiment of the present invention calculates the single ablation size of the radiofrequency ablation pen by using the radiofrequency ablation parameters, so as to observe the morphological changes of the size of the object under different radiofrequency ablation parameters.

[0087] The single ablation size refers to the volume of a single ablation performed by the radiofrequency ablation pen under the radiofrequency ablation parameters.

[0088] In one embodiment of the present invention, the method of calculating the single ablation size of the radiofrequency ablation pen by using the radiofrequency ablation parameters includes: constructing an input sequence of a preset size analysis model according to the radiofrequency ablation parameters using the following format:

[0089] u1=(v1,v2,...,v6) T

[0090] U=(u1,u2,...,u m )

[0091] Wherein, U represents the input sequence, u1 represents the radiofrequency ablation parameter at the first moment, u2 represents the radiofrequency ablation parameter at the second moment, and u mrepresents the radiofrequency ablation parameters at the mth moment, m represents the number of moments, v1 represents the contact angle in the radiofrequency ablation parameters, v2 represents the contact force in the radiofrequency ablation parameters, and v6 represents the electrode temperature in the radiofrequency ablation parameters;

[0092] After the input sequence is input into the size analysis model, the size analysis model calculates the single ablation size corresponding to the radiofrequency ablation parameter according to the input sequence using the following formula:

[0093]

[0094] c t =f t *c t-1 +i t *g t

[0095] h t =Schur(o t ,tanh(c t ))

[0096] Among them, h t represents the single ablation size, h t-1 represents the single ablation size at the previous moment, σ represents the activation function, o t Represents the output result of the output gate, f t Represents the output result of the forget gate, i t Represents the output result of the input gate, g t Indicates the candidate cell information updated at the current moment, Indicates that the output gate controls x t 、h t-1 、c t The weight of Indicates that the forget gate controls x respectively t 、h t-1 、c t-1 The weight of Indicates that the input gate controls x t 、h t-1 、c t-1 The weight of Indicates that the memory gate controls x respectively t 、h t-1 、c t-1 The weight of b o represents the bias in the output gate, b f represents the bias in the forget gate, b i represents the bias in the input gate, b g represents the bias in the memory gate, x trepresents the input sequence, Schur represents the Schur product function, c t-1 Represents the memory cell information of the previous moment, c t Represents the memory cell information at the current moment.

[0097] The preset size analysis model refers to a model composed of a long short-term memory neural network for analyzing a single ablation volume of the radiofrequency ablation pen.

[0098] S2. Based on the size of the object and the size of a single ablation, simulate the ablation pattern of the radiofrequency ablation pen when performing radiofrequency ablation in the safe area of ​​the object to be ablated, and identify the ablation angle of the radiofrequency ablation pen corresponding to the ablation pattern.

[0099] The embodiment of the present invention simulates the ablation form of the radiofrequency ablation pen when performing radiofrequency ablation in the safe area of ​​the object to be ablated based on the object size and the single ablation size, so as to determine the ablation trajectory of each point coordinate by using the moving speed of the point coordinate in different directions.

[0100] Among them, the safety area refers to an area that will not damage non-lesion objects, that is, the safety area only includes the area to be ablated. For example, since the range of the area ablated by radiofrequency ablation involves randomness, the position 1 mm away from the boundary of the object to be ablated is used as the safety boundary of the safety area. The ablation morphology refers to the range of the area ablated by the radiofrequency ablation pen.

[0101] In one embodiment of the present invention, the object size and the single ablation size are used to simulate the ablation morphology when the radiofrequency ablation pen performs radiofrequency ablation in the safe area of ​​the object to be ablated, including: starting from the ablation pen tip of the radiofrequency ablation pen and ending at the outer curved surface of the single ablation size, constructing an intersection line between the ablation pen tip and the single ablation size; using the intersection line to identify the surface distance between the inner curved surface and the outer curved surface on the single ablation size; and according to the surface distance, calculating the single ablation speed of the radiofrequency ablation pen on the intersection line using the following formula:

[0102]

[0103] Among them, v q represents the single ablation speed of the radiofrequency ablation pen on the intersection line, L represents the curved surface distance, t represents the duration of the radiofrequency ablation pen ablating the single ablation size, and q represents the sequence number of the intersection line;

[0104] Identify a size region of the object size that is on the intersection line; within the size region, calculate the average ablation speed of the single ablation speed using the following formula:

[0105]

[0106] in, represents the average ablation speed, represents the rth single ablation speed on the qth intersection line, and R represents the number of single ablation speeds on the qth intersection line;

[0107] The average ablation speed of the radiofrequency ablation pen on the intersection line is used to determine the ablation form when the radiofrequency ablation pen performs radiofrequency ablation in the safety area of ​​the object to be ablated.

[0108] See also Figure 2 FIG. 1 is a schematic diagram of an ablation form of a telescopically adjustable radiofrequency ablation system provided by an embodiment of the present invention. Figure 2 In the figure, 4 represents the outer curved surface, 5 represents the inner curved surface, 1 represents the curved surface distance on the intersection line a, 2 represents the curved surface distance on the intersection line b, 3 represents the curved surface distance on the intersection line c, and d represents the radiofrequency ablation pen.

[0109] Furthermore, in an embodiment of the present invention, the ablation angle refers to the contact angle.

[0110] S3. Calculate the number of times the radiofrequency ablation pen performs radiofrequency ablation on the object to be ablated at the ablation angle, and select a target ablation angle from the ablation angles and a target ablation parameter from the radiofrequency ablation parameters using the number of ablation times.

[0111] The embodiment of the present invention calculates the number of times the radiofrequency ablation pen performs radiofrequency ablation on the object to be ablated at the ablation angle, so as to regard the ablation at each ablation angle as a single time, thereby identifying the number of times the ablation angle needs to be changed.

[0112] The number of ablations refers to the number of times different ablation angles are used.

[0113] In one embodiment of the present invention, the calculation of the number of times the radiofrequency ablation pen performs radiofrequency ablation on the object to be ablated at the ablation angle includes: randomly arranging the ablation angles to obtain an angle sequence; obtaining the ablation morphology corresponding to the ablation angle; using the ablation morphology to identify the ablation area where the radiofrequency ablation pen performs radiofrequency ablation on the object to be ablated at the ablation angle; extracting the area to be ablated outside the ablation area from the object to be ablated; obtaining the safety boundary of the ablation area contacted by the radiofrequency ablation pen when performing radiofrequency ablation on the object to be ablated; marking the ablation position of the radiofrequency ablation pen on the area to be ablated when the boundary distance between the boundary of the area to be ablated and the safety boundary is the shortest; according to the angle sequence, after performing radiofrequency ablation on the object to be ablated at the ablation position using the radiofrequency ablation pen, recording the number of times the radiofrequency ablation pen performs radiofrequency ablation on the object to be ablated.

[0114] Among them, the ablation area and the ablation form are in a one-to-one correspondence, that is, the volume range involved in a single ablation form is taken as a single ablation area, the safety boundary refers to the boundary where the radiofrequency ablation pen moves forward towards a certain ablation angle until it stops when it touches the boundary of the ablation area, the boundary distance refers to the distance between a point on the boundary of the area to be ablated and a point on the safety boundary, and the ablation position refers to the position of a point on the boundary of the area to be ablated when the boundary distance is the shortest.

[0115] Exemplarily, the process of recording the number of times the radiofrequency ablation pen performs radiofrequency ablation on the object to be ablated after performing radiofrequency ablation on the object to be ablated at the ablation position using the radiofrequency ablation pen according to the angle sequence refers to: for example, if the angle sequences are respectively the front, the left front and the right front, then the first ablation process of the safety boundary of the ablation area that the radiofrequency ablation pen contacts when performing radiofrequency ablation on the object to be ablated is performed according to the angle in front (that is, before the process of recording the number of times the radiofrequency ablation pen performs radiofrequency ablation on the object to be ablated after performing radiofrequency ablation on the object to be ablated at the ablation position according to the angle sequence, the angle in front has been used to perform the aforementioned process of ablating the ablation area), and then the left front angle is used to ablate the ablation area. If the ablation is completed, the right front angle continues to be used to ablate the remaining area in the ablation area.

[0116] Furthermore, the embodiment of the present invention selects a target ablation angle from the ablation angles and a target ablation parameter from the radiofrequency ablation parameters by utilizing the ablation number, so as to control the ablation angle and the radiofrequency ablation parameters by utilizing the ablation number.

[0117] Optionally, the process of selecting a target ablation angle from the ablation angles and a target ablation parameter from the radiofrequency ablation parameters by utilizing the number of ablations refers to determining the order of occurrence of the ablation angles and a single numerical value under the same type parameter in the sample of the radiofrequency ablation parameters when the number of ablations is the least.

[0118] S4. Measure the object distance between each object to be ablated, calculate the extension length of the telescopic rod relative to the object to be ablated according to the depth of the object to be ablated relative to the skin, and construct an ablation sequence for the radio frequency ablation pen to perform radio frequency ablation on the object to be ablated according to the object distance and the extension length.

[0119] The embodiment of the present invention measures the object distance between each of the objects to be ablated, so as to use the movement of the radio frequency ablation pen between different objects to be ablated as an influencing factor for subsequently controlling the number of telescopic adjustments.

[0120] In one embodiment of the present invention, the measuring of the object distance between each object to be ablated among the objects to be ablated includes: acquiring frontal object images between each object to be ablated among the objects to be ablated; constructing a frontal object model of each object to be ablated among the objects to be ablated using the frontal object images; constructing a connecting line segment between every two frontal object models in the frontal object model based on the surface position of the frontal object model; when the connecting line segment is parallel to the skin, selecting the shortest connecting line segment from the connecting line segments; and using the shortest connecting line segment as the object distance.

[0121] Optionally, the process of constructing the front object model of each of the objects to be ablated using the front object image is a process of constructing a three-dimensional model using a three-dimensional point cloud converted from the front object image.

[0122] Optionally, the process of constructing a connecting line segment between every two front object models in the front object model based on the surface positions of the front object models refers to a process of interconnecting surface points of two front object models.

[0123] In one embodiment of the present invention, the calculation of the extended length of the telescopic rod relative to the object to be ablated according to the depth of the object to be ablated relative to the skin includes: obtaining the telescopic length of the telescopic rod and collecting the tip length of the ablation pen tip; and calculating the non-telescopic length of the telescopic rod according to the telescopic length using the following formula:

[0124] l3=l1-l2

[0125] Wherein, l3 represents the non-telescopic length, l1 represents the total length of the telescopic rod, and l2 represents the telescopic length;

[0126] Based on the length of the pen tip, the non-retracted length and the depth of the object to be ablated relative to the skin, the extended length of the telescopic rod relative to the object to be ablated is calculated using the following formula:

[0127] l3+l4+l5=l6

[0128] l5=l6-(l3+l4)

[0129] Among them, l5 represents the extended length, l3 represents the non-extended length, l4 represents the length of the pen tip, and l6 represents the depth of the object to be ablated relative to the skin.

[0130] Furthermore, the embodiment of the present invention constructs an ablation sequence for the radio frequency ablation pen to perform radio frequency ablation on the object to be ablated according to the object distance and the extension length, so as to control the number of retractable adjustments.

[0131] In one embodiment of the present invention, constructing the ablation sequence of the radiofrequency ablation pen for performing radiofrequency ablation on the objects to be ablated according to the object distance and the extension length includes: calculating the path cost between every two objects to be ablated among the objects to be ablated according to the object distance and the extension length using the following formula:

[0132] g0=l i +l j +k ij

[0133] g1=l i +l j +l 1 +k i1 +k 1j

[0134] g2=l i +l j +l 1 +l 2 +k i1 +k 12 +k 2j ......

[0135] g n = l i +l j +l 1 +l 2 +...+l n +k i1 +k 12+...+k (n-1)n +k nj

[0136] Among them, {g0,g1,g2,......,g n} represents the path cost, l i represents the elongation length of the i-th object to be ablated, l j represents the elongation length of the jth object to be ablated, l 1 represents the elongation length of any object to be ablated except the i-th object to be ablated and the j-th object to be ablated, l 2 Indicates that except for the i-th object to be ablated, the j-th object to be ablated and l 1 The elongated length of any of the corresponding objects to be ablated, l n Indicates that except for the i-th object to be ablated, the j-th object to be ablated, l 1 The corresponding object to be ablated, l 2 The corresponding object to be ablated, ..., l n-1 The elongation length of any of the corresponding objects to be ablated, k ij represents the object distance between the i-th object to be ablated and the j-th object to be ablated, k i1 represents the relationship between the i-th object to be ablated and l 1 The object distance between the corresponding objects to be ablated, k 1j Indicates l 1 The object distance between the corresponding object to be ablated and the jth object to be ablated, k 12 Indicates l 1 The corresponding object to be ablated and l 2 The object distance between the corresponding objects to be ablated, k 2j Indicates l 2 The object distance between the corresponding object to be ablated and the jth object to be ablated, k (n-1)n Indicates l n-1 The corresponding object to be ablated and l n The object distance between the corresponding objects to be ablated, k nj Indicates l n the object distance between the corresponding object to be ablated and the jth object to be ablated;

[0137] The shortest path between every two objects to be ablated among the objects to be ablated is identified by using the path cost; the order of the objects to be ablated is randomly arranged to obtain an object order; based on the shortest path, the total path cost under the object order is calculated by using the following formula:

[0138]

[0139] Among them, G represents the total path cost, Gi(i+1) represents the path cost corresponding to the shortest path between the i-th object to be ablated and the i+1-th object to be ablated in the object sequence;

[0140] When the total path cost is minimum, the object sequence is used as the ablation sequence.

[0141] It should be noted that when the radiofrequency ablation pen is moved from the i-th object to be ablated to the j-th object to be ablated, it is necessary to first shorten the telescopic rod at the i-th object to be ablated so that the ablation electrode leaves the i-th object to be ablated, and then stretch the telescopic rod at the j-th object to be ablated so that the ablation electrode approaches the j-th object to be ablated.

[0142] S5. Perform radiofrequency ablation on the object to be ablated using the radiofrequency ablation pen according to the target ablation angle, the target ablation parameters and the ablation sequence to obtain a radiofrequency ablation result of the object to be ablated.

[0143] In one embodiment of the present invention, the object to be ablated is subjected to radiofrequency ablation using the radiofrequency ablation pen according to the target ablation angle, the target ablation parameters and the ablation sequence to obtain the radiofrequency ablation result of the object to be ablated, including: after setting the target ablation parameters in the radiofrequency ablation pen, the object to be ablated is subjected to radiofrequency ablation using the radiofrequency ablation pen at the target ablation angle according to the ablation sequence to obtain the radiofrequency ablation result of the object to be ablated.

[0144] It can be seen that the embodiment of the present invention measures the object size of the object to be ablated and the depth of the object to be ablated relative to the skin, so as to observe the morphological changes of the object size under different radiofrequency ablation parameters, and uses the depth of the object to be ablated relative to the skin to pave the way for the subsequent calculation of the telescopic cost of the telescopic rod. Furthermore, the embodiment of the present invention calculates the single ablation size of the radiofrequency ablation pen by using the radiofrequency ablation parameters, so as to observe the morphological changes of the object size under different radiofrequency ablation parameters. The embodiment of the present invention simulates the ablation morphology of the radiofrequency ablation pen when performing radiofrequency ablation in the safe area of ​​the object to be ablated based on the object size and the single ablation size, so as to determine the ablation trajectory of each point coordinate by using the moving speed of the point coordinate in different directions. The embodiment of the present invention calculates the speed of the radiofrequency ablation pen at the ablation angle. The number of radiofrequency ablations performed on the object to be ablated is used to identify the number of times the ablation angle needs to be changed by treating the ablation at each ablation angle as a single time. Furthermore, the embodiment of the present invention selects the target ablation angle from the ablation angle and the target ablation parameter from the radiofrequency ablation parameter by using the number of ablations, so as to control the ablation angle and the radiofrequency ablation parameter by using the number of ablations. The embodiment of the present invention measures the object distance between each object to be ablated in the objects to be ablated, so as to use the movement of the radiofrequency ablation pen between different objects to be ablated as an influencing factor for the subsequent control of the number of retractable adjustments. Furthermore, the embodiment of the present invention constructs the ablation sequence of the radiofrequency ablation pen performing radiofrequency ablation on the object to be ablated according to the object distance and the extension length, so as to control the number of retractable adjustments. Therefore, the telescopically adjustable radiofrequency ablation method and system proposed in the embodiment of the present invention can control the ablation angle and the number of retractable times of the radiofrequency ablation pen.

[0145] like Figure 3 The figure shows a functional module diagram of the scalable and adjustable radiofrequency ablation system of the present invention.

[0146] The scalable and adjustable radiofrequency ablation system 300 of the present invention can be installed in an electronic device. According to the functions to be implemented, the scalable and adjustable radiofrequency ablation system can include a size calculation module 301, an angle recognition module 302, a parameter selection module 303, a sequence construction module 304 and a radiofrequency ablation module 305. The module of the present invention can also be called a unit, which refers to a series of computer program segments that can be executed by an electronic device processor and can complete fixed functions, which are stored in the memory of the electronic device.

[0147] In the embodiment of the present invention, the functions of each module / unit are as follows:

[0148] The size calculation module 301 is used to measure the size of the object to be ablated and the depth of the object to be ablated relative to the skin, set the radiofrequency ablation parameters of the radiofrequency ablation pen, and use the radiofrequency ablation parameters to calculate the single ablation size of the radiofrequency ablation pen, wherein the radiofrequency ablation pen includes an ablation electrode, an ablation pen head and a telescopic rod, and the radiofrequency ablation parameters include contact angle, contact force, ablation time, ablation voltage, tissue impedance and electrode temperature;

[0149] The angle recognition module 302 is used to simulate the ablation form of the radiofrequency ablation pen when performing radiofrequency ablation in the safety area of ​​the object to be ablated based on the object size and the single ablation size, and identify the ablation angle of the radiofrequency ablation pen corresponding to the ablation form;

[0150] The parameter selection module 303 is used to calculate the number of ablations performed by the radiofrequency ablation pen on the object to be ablated at the ablation angle, and select a target ablation angle from the ablation angles and a target ablation parameter from the radiofrequency ablation parameters using the ablation number;

[0151] The sequence construction module 304 is used to measure the object distance between each of the objects to be ablated, calculate the extension length of the telescopic rod relative to the object to be ablated according to the depth of the object to be ablated relative to the skin, and construct the ablation sequence of the radio frequency ablation pen performing radio frequency ablation on the object to be ablated according to the object distance and the extension length;

[0152] The radiofrequency ablation module 305 is used to perform radiofrequency ablation on the object to be ablated using the radiofrequency ablation pen according to the target ablation angle, the target ablation parameters and the ablation sequence, so as to obtain the radiofrequency ablation result of the object to be ablated.

[0153] In detail, the modules in the telescopically adjustable radiofrequency ablation system 300 in the embodiment of the present invention are used in the same manner as described above. Figure 1 The same technical means as the telescopically adjustable radiofrequency ablation method described in the invention can produce the same technical effects, which will not be described in detail here.

[0154] In addition, each functional module in each embodiment of the present invention may be integrated into one processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0155] It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0156] Therefore, no matter from which point of view, the embodiments should be regarded as illustrative and non-restrictive, and the scope of the present invention is limited by the appended claims rather than the above description, so it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any attached figure mark in the claims should not be regarded as limiting the claims involved.

[0157] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0158] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features invented herein.

Claims

1. A scalable and adjustable radiofrequency ablation system, characterized in that: The system comprises: A size calculation module, used to measure the size of the object to be ablated and the depth of the object to be ablated relative to the skin, set the radiofrequency ablation parameters of the radiofrequency ablation pen, and use the radiofrequency ablation parameters to calculate the single ablation size of the radiofrequency ablation pen, wherein the radiofrequency ablation pen includes an ablation electrode, an ablation pen head and a telescopic rod, and the radiofrequency ablation parameters include contact angle, contact force, ablation time, ablation voltage, tissue impedance and electrode temperature; An angle recognition module, used to simulate the ablation form when the radiofrequency ablation pen performs radiofrequency ablation in the safety area of ​​the object to be ablated based on the object size and the single ablation size, and identify the ablation angle of the radiofrequency ablation pen corresponding to the ablation form; A parameter selection module, used to calculate the number of ablations performed by the radiofrequency ablation pen on the object to be ablated at the ablation angle, and select a target ablation angle from the ablation angles and a target ablation parameter from the radiofrequency ablation parameters using the ablation number; A sequence construction module, used for measuring the object distance between each of the objects to be ablated, calculating the extension length of the telescopic rod relative to the objects to be ablated according to the depth of the objects to be ablated relative to the skin, and constructing an ablation sequence for the radio frequency ablation pen to perform radio frequency ablation on the objects to be ablated according to the object distance and the extension length; A radiofrequency ablation module, configured to perform radiofrequency ablation on the object to be ablated using the radiofrequency ablation pen according to the target ablation angle, the target ablation parameters and the ablation sequence, and obtain a radiofrequency ablation result of the object to be ablated; The simulating the ablation form when the radiofrequency ablation pen performs radiofrequency ablation in the safety area of ​​the object to be ablated based on the object size and the single ablation size includes: Starting from the ablation pen tip of the radiofrequency ablation pen and ending at the outer curved surface of the single ablation size, constructing an intersection line between the ablation pen tip and the single ablation size; Using the intersection line to identify the surface distance between the inner curved surface and the outer curved surface in the single ablation size; According to the curved surface distance, the single ablation speed of the radiofrequency ablation pen on the intersection line is calculated using the following formula: Among them, v q represents the single ablation speed of the radiofrequency ablation pen on the intersection line, L represents the curved surface distance, t represents the duration of the radiofrequency ablation pen ablating the single ablation size, and q represents the sequence number of the intersection line; Identify a size region of the object size that is on the intersection line; In the size area, the average ablation speed of the single ablation speed is calculated using the following formula: in, represents the average ablation speed, represents the rth single ablation speed on the qth intersection line, and R represents the number of single ablation speeds on the qth intersection line; Determining the ablation form when the radiofrequency ablation pen performs radiofrequency ablation in the safety area of ​​the object to be ablated by using the average ablation speed of the radiofrequency ablation pen on the intersection line; The calculating the number of times the radio frequency ablation pen performs radio frequency ablation on the object to be ablated at the ablation angle comprises: Randomly arranging the ablation angles to obtain an angle sequence; Acquiring an ablation morphology corresponding to the ablation angle; using the ablation morphology to identify an ablation area where the radiofrequency ablation pen performs radiofrequency ablation on the object to be ablated at the ablation angle; extracting an area to be ablated outside the ablation area from the object to be ablated; Acquiring a safety boundary of the ablation area contacted by the radiofrequency ablation pen when performing radiofrequency ablation on the object to be ablated; When the boundary distance between the boundary of the area to be ablated and the safety boundary is the shortest, marking the ablation position of the radiofrequency ablation pen on the area to be ablated; After the object to be ablated is subjected to radiofrequency ablation at the ablation position using the radiofrequency ablation pen according to the angle sequence, the number of times the radiofrequency ablation pen performs radiofrequency ablation on the object to be ablated is recorded; The step of calculating the extension length of the telescopic rod relative to the object to be ablated according to the depth of the object to be ablated relative to the skin comprises: Acquiring the telescopic length of the telescopic rod and collecting the tip length of the ablation pen tip; According to the telescopic length, the non-telescopic length of the telescopic rod is calculated using the following formula: l3＝l1-l2 Wherein, l3 represents the non-telescopic length, l1 represents the total length of the telescopic rod, and l2 represents the telescopic length; Based on the length of the pen tip, the non-retracted length and the depth of the object to be ablated relative to the skin, the extended length of the telescopic rod relative to the object to be ablated is calculated using the following formula: l3+l4+l5＝l6 l5＝l6-(l3+l4) Wherein, l5 represents the extended length, l3 represents the non-extended length, l4 represents the length of the pen tip, and l6 represents the depth of the object to be ablated relative to the skin; The step of constructing an ablation sequence for the radio frequency ablation pen to perform radio frequency ablation on the object to be ablated according to the object distance and the elongated length comprises: According to the object distance and the elongated length, the path cost between every two objects to be ablated in the objects to be ablated is calculated using the following formula: g0=l i +l j +k ij g1=l i +l j +l 1 +k i1 +k 1j g2=l i +l j +l 1 +l 2 +k i1 +k 12 +k 2j ...... g n =l i +l j +l 1 +l 2 +...+l n +k i1 +k 12 +...+k (n-1)n +k nj Among them, {g0,g1,g2,......,g n } represents the path cost, l i represents the elongation length of the i-th object to be ablated, l j represents the elongation length of the jth object to be ablated, l 1 represents the elongation length of any object to be ablated except the i-th object to be ablated and the j-th object to be ablated, l 2 Indicates that except for the i-th object to be ablated, the j-th object to be ablated and l 1 The elongated length of any of the corresponding objects to be ablated, l n Indicates that except for the i-th object to be ablated, the j-th object to be ablated, l 1 The corresponding object to be ablated, l 2 The corresponding object to be ablated, ..., l n-1 The elongation length of any of the corresponding objects to be ablated, k ij represents the object distance between the i-th object to be ablated and the j-th object to be ablated, k i1 represents the relationship between the i-th object to be ablated and l 1 The object distance between the corresponding objects to be ablated, k 1j Indicates l 1 The object distance between the corresponding object to be ablated and the jth object to be ablated, k 12 Indicates l 1 The corresponding object to be ablated and l 2 The object distance between the corresponding objects to be ablated, k 2j Indicates l 2 The object distance between the corresponding object to be ablated and the jth object to be ablated, k (n-1)n Indicates l n-1 The corresponding object to be ablated and l n The object distance between the corresponding objects to be ablated, k nj Indicates l n the object distance between the corresponding object to be ablated and the jth object to be ablated; identifying the shortest path between every two objects to be ablated among the objects to be ablated using the path cost; Randomly arranging the order of the objects to be ablated to obtain an object order; Based on the shortest path, the total path cost under the object sequence is calculated using the following formula: Among them, G represents the total path cost, G i(i+1) represents the path cost corresponding to the shortest path between the i-th object to be ablated and the i+1-th object to be ablated in the object sequence; When the total path cost is minimum, the object sequence is used as the ablation sequence.

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