COPD ablation system and control method

Abstract

The present application relates to a COPD ablation system and a control method. The COPD ablation system delivers an ablation catheter into the trachea, and an electromagnetic tracking component detects the position of the ablation catheter in real time and transmits the detection data to a controller. The controller controls the ablation catheter in combination with the detection data of the electromagnetic tracking component to complete ablation of the ablation site. In the present application, the controller cooperates with the electromagnetic tracking component to accurately determine the ablation range of the ablation catheter, thereby minimizing the number of ablations while avoiding the occurrence of ablation leaks.

Description

Technical Field

[0001] The present application relates to the technical field of medical equipment, and in particular to a COPD ablation system and a control method. Background Art

[0002] Chronic obstructive pulmonary disease (COPD) is a heterogeneous lung condition characterized by chronic respiratory symptoms (dyspnea, cough, sputum production) related to abnormalities of the airways (bronchitis, bronchiolitis) and / or alveoli (emphysema), usually manifested by persistent, progressive airflow obstruction.

[0003] Pulsed electric field therapy is the world's leading new respiratory interventional technology for the treatment of COPD. Pulsed electric field therapy releases specific pulsed electric field non-thermal energy to ablate the superficial airway mucosa, which can cause irreversible electroporation of cells and necrosis of mucus-producing goblet cells, thereby improving clinical symptoms such as cough and sputum. It has unique non-thermal and tissue-selective damage.

[0004] Pulsed electric field therapy for COPD relies on the balloon electrode to expand in the bronchial airway, fully contact the airway surface to release the electric field for ablation, but it cannot be expanded too much to avoid causing physical damage to the airway. Although the balloon electrode is expanded under direct vision of the bronchoscope, the field of view is limited, and only the rear end of the balloon can be observed, and the degree of expansion cannot be determined. In addition, the ablation position of the balloon electrode is difficult to determine. If the overlap rate of multiple ablation positions of the balloon electrode is too high, it is easy to lead to overtreatment and increase the risk of injuring the patient. If the overlap rate of multiple ablation positions of the balloon electrode is too low, it is difficult to reach the treatment depth and the diseased tissue cannot be completely ablated. Summary of the invention

[0005] Based on this, it is necessary to provide a COPD ablation system and control method to address the problem that although the balloon electrode is expanded under direct vision of the bronchoscope, the field of view is limited, and only the rear end of the balloon can be observed, and the degree of expansion cannot be determined. In addition, the ablation position of the balloon electrode is difficult to determine. If the overlap rate of multiple ablation positions of the balloon electrode is too high, it may easily lead to overtreatment and increase the risk of injuring the patient. If the overlap rate of multiple ablation positions of the balloon electrode is too low, it is difficult to reach the treatment depth, and the diseased tissue cannot be completely ablated.

[0006] On the one hand, the present application provides a COPD ablation system, comprising:

[0007] Controller;

[0008] an ablation catheter, the ablation catheter being electrically connected to the controller;

[0009] The electromagnetic tracking component is electrically connected to the ablation catheter, and the electromagnetic tracking component is communicatively connected to the controller.

[0010] On the other hand, the present application also provides a COPD ablation system control method, comprising:

[0011] Acquire tracking data of the electromagnetic tracking assembly; the tracking data includes the spatial coordinates of the first sensor and the spatial coordinates of the second sensor;

[0012] Combining the tracking data of the electromagnetic tracking component with the ablation parameters of the ablation catheter to generate an ablation range model; recording the ablation range model as a first ablation range model;

[0013] Setting the ablation parameters and step distance of the ablation catheter, and generating a second ablation range model by combining the first ablation range model, the ablation parameters and step distance of the ablation catheter;

[0014] Determining whether the actual ablation depth formed by the first ablation range model and the second ablation range model is within a preset ablation depth range;

[0015] If the actual ablation depth formed by the first ablation range model and the second ablation range model is not within the preset ablation depth range, return to setting the ablation parameters and step distance of the ablation catheter, and generate a second ablation range model by combining the first ablation range model, the ablation parameters and step distance of the ablation catheter, until the actual ablation depth formed by the first ablation range model and the second ablation range model is within the preset ablation depth range.

[0016] The present application relates to a COPD ablation system and a control method. The COPD ablation system delivers an ablation catheter into the trachea, and an electromagnetic tracking component detects the position of the ablation catheter in real time and transmits the detection data to a controller. The controller controls the ablation catheter in combination with the detection data of the electromagnetic tracking component to complete ablation of the ablation site. In the present application, the controller cooperates with the electromagnetic tracking component to accurately determine the ablation range of the ablation catheter, thereby minimizing the number of ablations while avoiding the occurrence of ablation leaks. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the structure of a COPD ablation system provided in one embodiment of the present application.

[0018] Figure 2 A schematic diagram of the structure of an ablation catheter of a COPD ablation system provided in one embodiment of the present application.

[0019] Figure 3 A schematic diagram of the connection between a traction wire and a third sensor of a COPD ablation system provided in one embodiment of the present application.

[0020] Figure 4A schematic diagram of the structure of a balloon electrode of a COPD ablation system provided in one embodiment of the present application.

[0021] Figure 5 A schematic diagram of the connection between a first sensor, a second sensor and a balloon electrode of a COPD ablation system provided in one embodiment of the present application.

[0022] Figure 6 A flowchart of a COPD ablation system control method provided in one embodiment of the present application.

[0023] Figure 7 A schematic diagram of an ablation range of a first ablation range model and an initial ablation range of a second ablation range model in a COPD ablation system control method provided in an embodiment of the present application.

[0024] Figure 8 A schematic diagram of an ablation range of a first ablation range model and an ablation range after optimization of a second ablation range model in a COPD ablation system control method provided in an embodiment of the present application.

[0025] Reference numerals:

[0026] 100, controller; 200, ablation catheter; 201, handle; 202, rotating block; 203, push tube;

[0027] 204, balloon electrode; 204a, balloon body; 204b, distal fixing portion; 204c, proximal fixing portion;

[0028] 204d, traction wire; 205, tail wire; 206, magnetic block;

[0029] 300, electromagnetic tracking component; 301, first sensor; 302, second sensor;

[0030] 303. Magnetic field generator; 400. Third sensor. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0032] The present application provides a COPD ablation system and a control method.

[0033] like Figure 1 and Figure 5 As shown, in one embodiment of the present application, a COPD ablation system is provided, and the COPD ablation system includes a controller 100 , an ablation catheter 200 , and an electromagnetic tracking assembly 300 .

[0034] The ablation catheter 200 is electrically connected to the controller 100. The electromagnetic tracking assembly 300 is electrically connected to the ablation catheter 200, and the electromagnetic tracking assembly 300 is communicatively connected to the controller 100.

[0035] In this embodiment, the ablation catheter 200 is delivered into the trachea, the electromagnetic tracking component 300 detects the position of the ablation catheter 200 in real time, and transmits the detection data to the controller 100. The controller 100 controls the ablation catheter 200 to complete the ablation of the ablation site in combination with the detection data of the electromagnetic tracking component 300. In this application, the controller 100 cooperates with the electromagnetic tracking component 300 to accurately determine the ablation range of the ablation catheter 200, thereby minimizing the number of ablations while avoiding the occurrence of ablation leaks.

[0036] like Figure 2 As shown, in one embodiment of the present application, the ablation catheter 200 includes a handle 201, a rotating block 202, a pushing tube 203, a balloon electrode 204 and a tail wire 205, the distal end of the rotating block 202 is rotatably connected to the proximal end of the handle 201, the distal end of the pushing tube 203 is fixedly connected to the proximal end of the rotating block 202, the balloon electrode 204 is fixedly connected to the proximal end of the pushing tube 203, and the tail wire 205 is fixedly connected to the distal end of the handle 201.

[0037] Specifically, the pushing tube 203 is configured as a hollow tube to facilitate the pulling wire 204d to pass through the hollow tube.

[0038] Optionally, a magnetic block is provided between the rotating block 202 and the handle 201 , and the rotating angle of the rotating block 202 is fixed by the magnetic block.

[0039] In this embodiment, the balloon electrode 204 is delivered to the ablation position by the push tube 203, and then the rotating block 202 is rotated to expand the balloon electrode 204, and the tail wire 205 is electrically connected to the external power supply device.

[0040] When the rotating block 202 is rotated clockwise, the balloon electrode 204 can be expanded, and when the rotating block 202 is rotated counterclockwise, the balloon electrode 204 can be contracted.

[0041] like Figure 5 As shown, in one embodiment of the present application, the electromagnetic tracking assembly includes a first sensor 301, a second sensor 302 and a magnetic field generator 303, the first sensor 301 is fixedly connected to the balloon electrode 204, the second sensor 302 is fixedly connected to the balloon electrode 204, and the first sensor 301 and the second sensor 302 are both electrically connected to the magnetic field generator 303.

[0042] Specifically, the principle of electromagnetic tracking mainly relies on the emission and reception of electromagnetic fields, including an emission source and a receiving sensor. Corresponding to the present application, the emission source is the magnetic field generator 303, and the receiving sensor is the first sensor 301 and the second sensor 302. The emission source generates an electromagnetic field distributed according to a certain spatiotemporal law in space, and the receiving sensor is placed at a key position of the moving body. As the moving body moves, the receiving sensor moves in the electromagnetic field and transmits the received signal to the controller 100 via a cable or wireless transmission. Based on these signals, the spatial position and direction of each sensor can be calculated, thereby achieving continuous tracking and measuring the trajectory parameters of the moving target. Its transmitting and receiving antennas usually use three-dimensional orthogonal loop antennas. The transmitting circuit sends signals to the xyz axis of the transmitting antenna, and the receiving antenna is processed by a DSP system (digital signal processor).

[0043] In this embodiment, an electromagnetic field is generated by a magnetic field generator 303, and the position of the balloon electrode 204 is detected in real time by the first sensor 301 and the second sensor 302, and the detection result is transmitted to the controller 100. The controller 100 combines the detection results of the first sensor 301 and the second sensor 302 to execute the COPD ablation system control method described in subsequent embodiments to control the balloon electrode 204 to complete the ablation of the patient.

[0044] like Figure 4 As shown, in one embodiment of the present application, the balloon electrode 204 includes a balloon body 204a, a distal fixing portion 204b, a proximal fixing portion 204c and a traction wire 204d, the balloon body 204a is configured as a metal mesh cage that can be elastically closed or expanded, the distal fixing portion 204b is fixedly connected to the distal end of the balloon body 204a, the proximal fixing portion 204c is fixedly connected to the proximal end of the balloon body 204a, the proximal end of the traction wire 204d is fixedly connected to the proximal fixing portion 204c, and the distal end of the traction wire 204d passes through the distal fixing portion 204b and extends to the outside of the balloon body 204a.

[0045] In this embodiment, the energy required for the ablation electrode is provided to the balloon electrode 204 through the tail wire 205. After the pushing tube 203 pushes the balloon electrode 204 to the airway, the rotating block 202 is rotated to pull the traction wire 204d to expand the balloon body 204a. After the balloon body 204a is expanded, the first sensor 301 and the second sensor 302 will be against the airway wall, so that the first sensor 301 and the second sensor 302 work, and the positions of the first sensor 301 and the second sensor 302 are transmitted to the controller 100 in real time.

[0046] like Figure 5As shown, in one embodiment of the present application, the first sensor 301 is fixedly connected to the proximal fixing portion 204c, and the second sensor 302 is fixedly connected to the distal fixing portion 204b.

[0047] In this embodiment, the position of the proximal fixing portion 204c is detected by the first sensor 301, and the position of the distal fixing portion 204b is detected by the second sensor 302. Since the proximal fixing portion 204c is arranged at the proximal end of the capsule 204a, and the distal fixing portion 204b is arranged at the distal end of the capsule 204a, the distance between the proximal fixing portion 204c and the distal fixing portion 204b is the diameter of the capsule 204a in the working state, that is, the working length of the balloon electrode 204.

[0048] like Figure 3 As shown, in one embodiment of the present application, the COPD ablation system further includes a third sensor 400 , which is disposed inside the handle 201 , and the distal end of the traction wire 204 d passes through the push tube 203 and is fixedly connected to the third sensor 400 .

[0049] Specifically, the third sensor 400 is connected to the controller 100 for communication, and the controller 100 is provided with a tension threshold of the third sensor 400 .

[0050] In this embodiment, since the opening and contraction of the balloon electrode 204 is adjusted by pulling the traction wire 204 d , the opening degree of the balloon electrode 204 can be reflected by detecting the pulling force of the traction wire 204 d by the third sensor 400 .

[0051] After the balloon electrode 204 reaches the specified position, the rotating block 202 is rotated to pull the traction wire 204d, thereby opening the balloon body 204a. In the process of pulling the traction wire 204d, the third sensor 400 detects the tension of the traction wire 204d in real time and transmits the detection data to the controller 100, so as to judge the opening degree of the balloon body 204a. When the detection tension of the third sensor 400 reaches the tension threshold of the third sensor 400, the rotation angle of the rotating block 202 can be fixed, so as to fix the position of the traction wire 204d to maintain the expansion degree of the balloon electrode 204.

[0052] like Figure 6 As shown, in one embodiment of the present application, a COPD ablation system control method is provided, and the COPD ablation catheter control method includes:

[0053] S100, obtaining tracking data of an electromagnetic tracking component, wherein the tracking data includes the spatial coordinates of a first sensor and the spatial coordinates of a second sensor.

[0054] Specifically, the spatial rectangular coordinate system is established by taking the location of the magnetic field generator as the origin of the spatial rectangular coordinate system and taking the transmitting antenna and the receiving antenna of the magnetic field generator as the three axes of the spatial rectangular coordinate system.

[0055] S200: Generate an ablation range model by combining the tracking data of the electromagnetic tracking component and the ablation parameters of the ablation catheter. The ablation range model is recorded as a first ablation range model.

[0056] S300, setting the ablation parameters and step distance of the ablation catheter, and generating a second ablation range model by combining the first ablation range model, the ablation parameters and step distance of the ablation catheter.

[0057] S400, determining whether the actual ablation depth formed by the first ablation range model and the second ablation range model is within a preset ablation depth range.

[0058] Specifically, before executing S400, it is necessary to set a preset ablation depth range. In the present application, the preset ablation depth range is set to (0.01 mm, 0.05 mm).

[0059] The distance between the initial position of the first sensor and the position of the first sensor after the movement is used as the distance between the first ablation range model and the second ablation range model, and the distance is the actual ablation distance.

[0060] S500, if the actual ablation depth formed by the first ablation range model and the second ablation range model is not within the preset ablation depth range, return to step S300 until the actual ablation depth formed by the first ablation range model and the second ablation range model is within the preset ablation depth range.

[0061] Specifically, if the actual ablation depth formed by the first ablation range model and the second ablation range model is within a preset ablation depth range, the ablation area is ablated according to the first ablation range model and the second ablation range model.

[0062] In this embodiment, the tracking data of the balloon electrode is collected by the electromagnetic tracking component, and the collected tracking data of the balloon electrode is transmitted to the controller. The controller generates an ablation range model according to the tracking data of the electromagnetic tracking component, and sets the ablation plan based on the ablation range model and the ablation parameters of the ablation catheter.

[0063] In one embodiment of the present application, the S200 includes:

[0064] S210, calculating the working length of the balloon electrode using Formula 1.

[0065]

[0066] Wherein, D1 is the working length of the balloon electrode, x1 is the horizontal coordinate of the first sensor, y1 is the vertical coordinate of the first sensor, z1 is the vertical coordinate of the first sensor, x2 is the horizontal coordinate of the second sensor, y2 is the vertical coordinate of the second sensor, and z2 is the vertical coordinate of the second sensor.

[0067] S220, calculating the working diameter of the balloon electrode according to Formula 2.

[0068] L=Wπ+2(D1-W) Formula 2.

[0069] Wherein, L is the circumference of the balloon electrode, W is the working diameter of the balloon electrode, and D1 is the working length of the balloon electrode.

[0070] Specifically, the circumference L of the balloon electrode is a known number.

[0071] S230: Generate a balloon electrode model by combining the working diameter of the balloon electrode and the working length of the balloon electrode.

[0072] S240, importing the ablation parameters of the ablation catheter into the balloon electrode model to generate an ablation range model.

[0073] Specifically, the ablation parameters of the ablation catheter include the voltage, pulse width and pulse number of the ablation catheter.

[0074] When generating the ablation range model, the working diameter of the balloon electrode, the working length of the balloon electrode and the ablation parameters of the ablation catheter are input into the model generation module to generate the balloon electrode model. Then, the ablation parameters of the ablation catheter are introduced into the balloon electrode model to generate the ablation range model. The ablation depth of this ablation can be determined through the generated ablation range model.

[0075] In this embodiment, the controller includes a model generation module. After receiving the spatial coordinates of the first sensor and the second sensor, the controller calculates the working length of the balloon electrode by formula 1, calculates the working diameter of the balloon electrode by formula 2, and then combines the ablation pulse parameters of the ablation catheter to generate an ablation range model in the model generation module.

[0076] like Figure 7 As shown, D1 is the working length of the balloon electrode of the first ablation range model, W is the working diameter of the balloon electrode of the first ablation range model, a is the actual ablation depth of the second ablation range model, and D2 is the step spacing.

[0077] In one embodiment of the present application, the S300 includes:

[0078] S310, setting ablation parameters and step distance of the ablation catheter. The initially set step distance is recorded as the initial step distance.

[0079] The initial step distance is the distance that the balloon electrode moves subsequently after the balloon electrode reaches the ablation position for the first time.

[0080] When setting the ablation parameters and step distance of the ablation catheter, it is assumed that the airway diameters of all ablation positions are consistent. However, in actual situations, it is difficult to keep the airway diameters of all ablation positions consistent. Therefore, it is necessary to continuously update the ablation parameters and step distance of the ablation catheter of the ablation range model to ensure that the ablation range of the ablation range model can effectively complete ablation.

[0081] S320, moving the balloon electrode based on the initial stepping interval, and collecting tracking data of the electromagnetic tracking component after the balloon electrode moves.

[0082] Specifically, the tracking data of the electromagnetic tracking assembly after the balloon electrode moves includes the working length of the balloon electrode after the movement and the working diameter of the balloon electrode after the movement.

[0083] Since the airway diameter changes after the movement, the working length and working diameter of the balloon electrode also change. Therefore, the shape of the ablation range model after the movement generated based on the working length and working diameter of the balloon electrode after the movement is different from the shape of the initial ablation range model.

[0084] S330, generating an ablation range model after the movement based on the tracking data of the electromagnetic tracking assembly after the balloon electrode moves. The ablation range model before the movement is recorded as a first ablation range model, and the ablation range model after the movement is recorded as a second ablation range model.

[0085] Specifically, the present application is not limited to two ablations. When multiple ablations are performed, the ablation range model of the previous ablation is recorded as the first ablation range model, and the ablation range model of the current ablation is recorded as the second ablation range model, and multiple ablations can be performed.

[0086] In this embodiment, after the balloon electrode reaches the initial ablation position and completes the first ablation, the balloon electrode is contracted, the push tube is moved, and the balloon electrode is moved based on the stepping distance so that the balloon electrode reaches the second predetermined ablation position. After reaching the second predetermined ablation position, the rotating block is rotated again to open the balloon electrode so that the balloon surface of the balloon electrode is close to the airway wall. At this time, the first sensor and the second sensor transmit the position of the moved balloon electrode to the controller. The controller generates a second ablation range model based on the position data of the moved balloon electrode, and then calculates the actual ablation depth formed by the first ablation range model and the second ablation range model, and judges the actual ablation depth formed by the first ablation range model and the second ablation range model. When the actual ablation depth formed by the first ablation range model and the second ablation range model is within the preset ablation depth range, it proves that the position of the second ablation range model is qualified. At this time, a better ablation effect can be achieved, which can not only ensure that the overlap rate between the ablation range of the first ablation and the ablation range of the second ablation is small, but also avoid the occurrence of ablation leakage area, thereby ensuring the ablation effect of the operation.

[0087] like Figure 8 As shown, D1' is the working length of the balloon electrode of the second ablation range model under the ablation parameters of the reset ablation catheter, W' is the working diameter of the balloon electrode of the second ablation range model under the ablation parameters of the reset ablation catheter, D2 is the new step spacing, and a' is the actual ablation depth of the second ablation range model under the ablation parameters of the reset ablation catheter.

[0088] In one embodiment of the present application, the S500 includes:

[0089] S510, if the actual ablation depth formed by the first ablation range model and the second ablation range model is less than the minimum value of the preset ablation depth range, the ablation parameters of the ablation catheter of the second ablation range model are continuously increased until the actual ablation depth formed by the first ablation range model and the second ablation range model is within the preset ablation depth range, thereby obtaining an optimized second ablation range model and a new step spacing.

[0090] S520, if the actual ablation depth formed by the first ablation range model and the second ablation range model is greater than the maximum value of the preset ablation depth range, the ablation parameters of the ablation catheter of the second ablation range model are continuously reduced until the actual ablation depth formed by the first ablation range model and the second ablation range model is within the preset ablation depth range, thereby obtaining an optimized second ablation range model and a new step spacing.

[0091] In this embodiment, if the actual ablation depth formed by the first ablation range model and the second ablation range model is not within the preset ablation depth range, it means that the position of the second ablation range is unqualified, and the ablation parameters of the ablation catheter of the second ablation range model need to be adjusted until the actual ablation depth formed by the first ablation range model and the second ablation range model is within the preset ablation depth range before ablation can be performed. Since the ablation parameters of the second ablation range model are adjusted, the distance of the first ablation range model and the distance of the second ablation range model also change synchronously. At this time, the step distance of the first ablation range model and the second ablation range model is the new step distance. The next step of moving the ablation range model needs to move the ablation range model according to the new step distance.

[0092] When the actual ablation depth formed by the first ablation range model and the second ablation range model is not within the preset ablation depth range, there are two situations. The first is that the distance between the first ablation range model and the second ablation range model is less than the minimum value of the preset ablation depth range, and the second is that the distance between the first ablation range model and the second ablation range model is greater than the maximum value of the preset ablation depth range.

[0093] For these two situations, the optimization methods are also different. In the first case, it is necessary to increase the ablation parameters of the ablation catheter of the second ablation range model, so as to expand the ablation depth of the second ablation range model and make the first ablation range model and the second ablation range model effectively overlap. Since the ablation parameters of the ablation catheter of the second ablation range model are increased, the ablation range of the second ablation range model is increased, so the actual ablation depth formed by the first ablation range model and the second ablation range model is reduced, so that the step spacing is reduced and a new step spacing is obtained. When the balloon electrode is moved afterwards, the balloon electrode is moved according to the new step distance. The reason for adopting this optimization method is that increasing the ablation parameters of the ablation catheter is usually because the diameter of the airway becomes larger, so it is necessary to avoid the situation where the ablation parameters will not be gradually increased to affect the safety of ablation. For example, when the ablation voltage is greater than 2000V, the probability of atrial fibrillation will increase.

[0094] In the second case, it is necessary to reduce the ablation parameters of the ablation catheter of the second ablation range model, thereby reducing the ablation depth of the second ablation range model, so that the second ablation range model and the first ablation range model effectively overlap. Since the ablation parameters of the ablation catheter of the second ablation range model are reduced, the ablation range of the second ablation range model is reduced, thereby increasing the step spacing and obtaining a new step spacing. When moving the balloon electrode, the balloon electrode is moved according to the new step distance. This optimization method is used because the airway diameter has become smaller.

[0095] The technical features of the above-described embodiments may be arbitrarily combined, and the execution order of the method steps is not limited. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0096] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A COPD ablation system, characterized in that: The COPD ablation system comprises: Controller; an ablation catheter, the ablation catheter being electrically connected to the controller; An electromagnetic tracking component, the electromagnetic tracking component is electrically connected to the ablation catheter, and the electromagnetic tracking component is communicatively connected to the controller; The electromagnetic tracking assembly includes a first sensor, a second sensor and a magnetic field generator; The controller acquires tracking data of the electromagnetic tracking assembly; the tracking data includes the spatial coordinates of the first sensor and the spatial coordinates of the second sensor; The controller generates an ablation range model by combining the tracking data of the electromagnetic tracking component and the ablation parameters of the ablation catheter; and the ablation range model is recorded as a first ablation range model; The controller sets the ablation parameters and step distance of the ablation catheter, and generates a second ablation range model by combining the first ablation range model, the ablation parameters and step distance of the ablation catheter; The controller determines whether the actual ablation depth formed by the first ablation range model and the second ablation range model is within a preset ablation depth range; If the actual ablation depth formed by the first ablation range model and the second ablation range model is not within the preset ablation depth range, return to setting the ablation parameters and step distance of the ablation catheter, and generate a second ablation range model by combining the first ablation range model, the ablation parameters and step distance of the ablation catheter, until the actual ablation depth formed by the first ablation range model and the second ablation range model is within the preset ablation depth range.

2. The COPD ablation system according to claim 1, characterized in that: The ablation catheter includes a handle, a rotating block, a pushing tube, a balloon electrode and a tail wire. The distal end of the rotating block is rotatably connected to the proximal end of the handle, the distal end of the pushing tube is fixedly connected to the proximal end of the rotating block, the balloon electrode is fixedly connected to the proximal end of the pushing tube, and the tail wire is fixedly connected to the distal end of the handle.

3. The COPD ablation system according to claim 2, characterized in that: The first sensor is fixedly connected to the balloon electrode, the second sensor is fixedly connected to the balloon electrode, and both the first sensor and the second sensor are electrically connected to the magnetic field generator.

4. The COPD ablation system according to claim 3, characterized in that: The balloon electrode includes a balloon body, a distal fixing portion, a proximal fixing portion and a traction wire. The balloon body is configured as a metal mesh cage that can be elastically closed or expanded, the distal fixing portion is fixedly connected to the distal end of the balloon body, the proximal fixing portion is fixedly connected to the proximal end of the balloon body, the proximal end of the traction wire is fixedly connected to the proximal fixing portion, and the distal end of the traction wire passes through the distal fixing portion and extends out of the balloon body.

5. The COPD ablation system according to claim 4, characterized in that: The first sensor is fixedly connected to the proximal fixing part, and the second sensor is fixedly connected to the distal fixing part.

6. The COPD ablation system according to claim 5, characterized in that: The COPD ablation system further comprises: The third sensor is arranged inside the handle, and the distal end of the traction wire passes through the push tube and is fixedly connected to the third sensor.

7. The COPD ablation system according to claim 1, characterized in that: The step of combining the tracking data of the electromagnetic tracking component with the ablation parameters of the ablation catheter to generate the ablation range model includes: The working length of the balloon electrode is calculated by formula 1; Wherein, D1 is the working length of the balloon electrode, x1 is the abscissa of the first sensor, y1 is the ordinate of the first sensor, z1 is the ordinate of the first sensor, x2 is the abscissa of the second sensor, y2 is the ordinate of the second sensor, and z2 is the ordinate of the second sensor; Calculate the working diameter of the balloon electrode according to Formula 2; L=Wπ+2(D1-W) Formula 2; Wherein, L is the circumference of the balloon electrode, W is the working diameter of the balloon electrode, and D1 is the working length of the balloon electrode; Generate a balloon electrode model by combining the working diameter of the balloon electrode and the working length of the balloon electrode; The ablation parameters of the ablation catheter are imported into the balloon electrode model to generate an ablation range model.

8. The COPD ablation system according to claim 7, characterized in that: The step of setting the ablation parameters and step distance of the ablation catheter, and generating the second ablation range model by combining the first ablation range model, the ablation parameters and step distance of the ablation catheter, comprises: Setting the ablation parameters and step distance of the ablation catheter; the initially set step distance is recorded as the initial step distance; Moving the balloon electrode based on the initial stepping interval, and collecting tracking data of the electromagnetic tracking component after the balloon electrode moves; The ablation range model after the movement is generated based on the tracking data of the electromagnetic tracking component after the balloon electrode moves; the ablation range model before the movement is recorded as the first ablation range model, and the ablation range model after the movement is recorded as the second ablation range model.

9. The COPD ablation system according to claim 8, characterized in that: If the actual ablation depth formed by the first ablation range model and the second ablation range model is not within the preset ablation depth range, returning to set the ablation parameter and step distance of the ablation catheter, and generating the second ablation range model in combination with the first ablation range model, the ablation parameter and step distance of the ablation catheter, until the actual ablation depth formed by the first ablation range model and the second ablation range model is within the preset ablation depth range, including: If the actual ablation depth formed by the first ablation range model and the second ablation range model is less than the minimum value of the preset ablation depth range, the ablation parameter of the ablation catheter of the second ablation range model is continuously increased until the actual ablation depth formed by the first ablation range model and the second ablation range model is within the preset ablation depth range, thereby obtaining an optimized second ablation range model and a new step spacing; If the actual ablation depth formed by the first ablation range model and the second ablation range model is greater than the maximum value of the preset ablation depth range, the ablation parameters of the ablation catheter of the second ablation range model are continuously reduced until the actual ablation depth formed by the first ablation range model and the second ablation range model is within the preset ablation depth range, thereby obtaining an optimized second ablation range model and a new step spacing.

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