Temperature sensor implantation data processing method and system based on electromagnetic navigation

Abstract

The present invention provides a temperature sensor implantation data processing method and system based on electromagnetic navigation, wherein the method comprises: performing three-dimensional imaging acquisition on the patient's diseased part to obtain a three-dimensional imaging image; performing image recognition on the three-dimensional imaging image to determine the tumor tissue located in the three-dimensional imaging image, and dividing the tissue contour of the tumor tissue into points to obtain each contour point; obtaining the tissue center point corresponding to the tumor tissue, determining each point distance between each contour point and the tissue center point, and grouping each contour point based on the change trend between each point distance corresponding to each other and located at adjacent positions to obtain each ablation point group; dividing the tumor tissue based on each ablation point group to obtain each directional ablation tissue, and determining the position indication data of the corresponding temperature sensor implantation. The present invention at least improves the data processing efficiency.

Description

Technical Field

[0001] The present invention relates to data processing technology, and in particular to a temperature sensor implantation data processing method and system based on electromagnetic navigation. Background Art

[0002] Ablation of tumors is usually achieved through medical devices such as radiofrequency ablation or microwave ablation. These technologies use high-frequency energy delivered directly into the tumor through a catheter, causing the tumor tissue to heat and eventually destroy it. This treatment method is widely used in medical practice, usually to treat small tumors that are not suitable for surgery or to relieve symptoms caused by the tumor.

[0003] The inventors found in their research that in the prior art, temperature sensors are usually implanted near the treatment area or directly into the tumor. These temperature sensors can help medical personnel monitor temperature changes in the treatment area to ensure that the tumor tissue can reach the required high temperature level for effective ablation during treatment. Such monitoring and control can improve the accuracy and safety of treatment and ensure that the expected therapeutic effect is achieved; however, the current location of the temperature sensor is often determined manually, which is more subjective and may not fully understand the temperature changes in the corresponding treatment area. Summary of the invention

[0004] Based on the above problems, the present invention is proposed to provide a temperature sensor implantation data processing method and system based on electromagnetic navigation to overcome the above problems or at least partially solve the above problems.

[0005] According to one aspect of the present invention, a method for processing temperature sensor implantation data based on electromagnetic navigation is provided, comprising the following steps:

[0006] Performing three-dimensional imaging acquisition on the patient's diseased part to obtain a three-dimensional imaging image corresponding to the diseased part;

[0007] Performing image recognition on the three-dimensional imaging image to determine the tumor tissue located in the three-dimensional imaging image, and performing point division on the tissue contour of the tumor tissue based on a preset point division strategy to obtain each contour point;

[0008] Acquire the tissue center point corresponding to the tumor tissue, determine the distances between each contour point and the tissue center point, and group each contour point based on the change trend between the distances between each point corresponding to each contour point at an adjacent position to obtain each ablation point group;

[0009] The tumor tissue is divided based on each ablation point group to obtain each directional ablation tissue corresponding to each ablation point group, and the position indication data of the corresponding temperature sensor implantation is determined based on each directional ablation data corresponding to each directional ablation tissue.

[0010] Optionally, in the method according to the present invention, dividing the tissue contour of the tumor tissue into points based on a preset point division strategy to obtain each contour point includes:

[0011] Inputting the three-dimensional imaging image into a trained image recognition model to determine an organ tissue with an attachment property located in the three-dimensional imaging image, wherein the organ tissue has a tumor tissue attached thereto;

[0012] Determining a tissue connection surface to which the tumor tissue is attached in the organ tissue, segmenting the organ tissue based on the tissue connection surface, and determining the obtained tumor tissue and organ tissue as having independent attributes respectively;

[0013] Performing coordinate processing on the three-dimensional imaging image to obtain an image coordinate system corresponding to the three-dimensional imaging image, wherein a coordinate plane formed by any two quadrant axes in the image coordinate system is parallel to the tissue connection surface;

[0014] Determining each contour coordinate point constituting the tissue contour of the tumor tissue in the three-dimensional imaging image after coordinate processing;

[0015] Determine the coordinate points corresponding to the X-axis coordinate extreme value, the Y-axis coordinate extreme value, and the Z-axis coordinate extreme value in each contour coordinate point as the X-axis extreme value coordinate point, the Y-axis extreme value coordinate point, and the Z-axis extreme value coordinate point, respectively;

[0016] Generate a tumor region surrounding the tumor tissue based on the X-axis extreme value coordinate point, the Y-axis extreme value coordinate point, and the Z-axis extreme value coordinate point, and obtain contour surfaces of each region constituting the tumor region;

[0017] Each regional contour surface is arrayed to obtain array points located on each regional contour surface, and each array point is mapped onto the tissue contour of the tumor tissue in a direction perpendicular to each regional contour surface to obtain each contour point.

[0018] Optionally, in the method according to the present invention, each array point is mapped onto the tissue contour of the tumor tissue in a direction perpendicular to the contour surface of each region to obtain each contour point, including:

[0019] Determine two regional contour surfaces parallel to the tissue connection surface as reference contour surfaces, and map each array point located on each reference contour surface onto the tissue contour of the tumor tissue in a direction perpendicular to each reference contour surface;

[0020] Determine all remaining regional contour surfaces except the reference contour surface as supplementary contour surfaces, and determine contour parts having a mapping relationship with the supplementary contour surfaces based on the tissue contour of the tumor tissue;

[0021] Performing region division on each contour part to obtain a point region including the contour points and a blank region except the point region;

[0022] A surface shape portion having a mapping relationship with the blank area is determined in the supplementary contour surface, and each array point located in the surface shape portion is mapped to the blank area to obtain each contour point.

[0023] Optionally, in the method according to the present invention, each contour part is divided into regions to obtain a point region including contour points and a blank region except the point region, including:

[0024] Obtain each contour point located on each contour part, and obtain each point distance between each contour point located at adjacent positions;

[0025] Determine each contour point whose corresponding point distance is greater than a preset distance as a target point, and connect each target point located at an adjacent position to form a blank area located at the contour part;

[0026] An area of ​​the contour portion excluding the blank area is determined as a point area including contour points.

[0027] Optionally, in the method according to the present invention, the contour points are grouped based on the change trend between the distances of the points respectively corresponding to the contour points at adjacent positions to obtain the ablation point groups, including:

[0028] Calculate the difference of the distances between the corresponding points of the contour at adjacent positions to obtain the distance differences, and compare the distance differences with the preset differences respectively;

[0029] When the comparison result shows that any distance difference is less than or equal to the preset difference, the corresponding contour points are divided into the same ablation point group;

[0030] When the comparison result shows that any distance difference is greater than the preset difference, corresponding contour points are connected on the tissue contour of the tumor tissue to obtain a corresponding contour connection line;

[0031] Determine the contour points at both ends of the line segment of the contour connection line as the first point and the second point respectively, and generate a new point at the center of the contour connection line;

[0032] The first point, the second point and the newly added point are respectively divided into different ablation point groups to obtain ablation point groups corresponding to the tumor tissue.

[0033] Optionally, in the method according to the present invention, the tumor tissue is divided into tissues based on each ablation point group to obtain each directional ablation tissue corresponding to each ablation point group, and the position indication data of the corresponding temperature sensor implantation is determined based on each directional ablation data corresponding to each directional ablation tissue, including:

[0034] The shortest point distance among the point distances is determined as the target distance, and a preset omnidirectional ablation coefficient corresponding to the target distance is retrieved, and the omnidirectional ablation distance is obtained by multiplying the target distance and the preset omnidirectional ablation coefficient;

[0035] Performing a tissue division on the tumor tissue based on the omnidirectional ablation distance to obtain an omnidirectional ablation tissue and remaining ablation tissue surrounding the omnidirectional ablation tissue;

[0036] Performing secondary tissue division on the remaining ablation tissue based on each ablation point group to obtain each directional ablation tissue corresponding to each ablation point group;

[0037] Acquire omnidirectional ablation data corresponding to the omnidirectional ablation tissue, and instruct the medical terminal to implant a temperature sensor in the omnidirectional ablation tissue based on the omnidirectional ablation data;

[0038] The directional ablation data corresponding to each of the directional ablation tissues are acquired, and the position indication data of the corresponding temperature sensor is determined based on each of the directional ablation data.

[0039] Optionally, in the method according to the present invention, the tumor tissue is divided once based on the omnidirectional ablation distance to obtain the omnidirectional ablation tissue and the remaining ablation tissue surrounding the omnidirectional ablation tissue, including:

[0040] Generating a divided sphere in the tumor tissue with the center point of the tissue as the center and the omnidirectional ablation distance as the radius;

[0041] The tumor tissue is divided once based on the divided sphere, the tissue portion located within the divided sphere is determined as omnidirectional ablation tissue, and the tissue portion located outside the divided sphere is determined as remaining ablation tissue.

[0042] Optionally, in the method according to the present invention, acquiring omnidirectional ablation data corresponding to the omnidirectional ablation tissue, and determining position indication data of a corresponding temperature sensor based on the omnidirectional ablation data, comprises:

[0043] Taking the center point of the tissue as the origin, establishing a tissue coordinate system corresponding to the tumor tissue;

[0044] Determine the division coordinate points constituting the division sphere based on the tissue coordinate system, and determine the division coordinate points intersecting with the X-axis, Y-axis and Z-axis of the tissue coordinate system as first omnidirectional embedding points respectively;

[0045] The tissue center point is determined as a second omnidirectional embedding point, and each of the first omnidirectional embedding point and the second omnidirectional embedding point is determined as position indication data of a corresponding temperature sensor.

[0046] Optionally, in the method according to the present invention, the remaining ablation tissue is secondary divided based on each ablation point group to obtain each directional ablation tissue corresponding to each ablation point group, including:

[0047] Determine each contour point located in the same ablation point group, and determine the corresponding longest point distance located in each contour point as the reference distance;

[0048] Connecting each contour point with the tissue center point to obtain each center connection line, and extending each center connection line in a direction away from the tissue center point to a line segment distance having the same length as the reference distance;

[0049] The end points of the extended center connection lines away from the tissue center point are respectively determined as updated contour points, and the contour points are peripherally connected to obtain a contour connection surface;

[0050] The contour connection area is determined based on the contour connection surface and each center connection line, and the remaining ablation tissue is secondary divided based on the contour connection area corresponding to each ablation point group to obtain each directional ablation tissue corresponding to each ablation point group.

[0051] Optionally, in the method according to the present invention, acquiring each directional ablation data corresponding to each directional ablation tissue, and instructing the medical end to implant a temperature sensor in each directional ablation tissue based on each directional ablation data, comprises:

[0052] Determine each intersection point where each center connection line corresponding to each contour point intersects with the divided sphere, and intercept each center connection line based on each intersection point to obtain each intercepted line segment having each intersection point as a starting point and each contour point as an end point;

[0053] Acquire spherical line segments corresponding to the divided spheres at adjacent intersection points, and determine tissue contour surfaces corresponding to each directional ablation tissue based on the spherical line segments, center connection lines and contour connection lines corresponding to the intersection points;

[0054] Determine the center points of each surface shape located on each tissue contour surface, and determine the center points of each surface shape as first directional embedding points, and determine the intersection points as second directional embedding points;

[0055] Each of the first directional buried points and each of the second directional buried points are determined as position indication data of the corresponding temperature sensor.

[0056] According to another aspect of the present invention, there is provided a temperature sensor implantation data processing system based on electromagnetic navigation, comprising:

[0057] An imaging acquisition module is configured to perform three-dimensional imaging acquisition on the patient's diseased part to obtain a three-dimensional imaging image corresponding to the diseased part;

[0058] a point division module, configured to perform image recognition on the three-dimensional imaging image, determine the tumor tissue located in the three-dimensional imaging image, and divide the tissue contour of the tumor tissue into points based on a preset point division strategy to obtain each contour point;

[0059] an ablation grouping module, configured to obtain a tissue center point corresponding to the tumor tissue, determine the distances between each contour point and the tissue center point, and group each contour point based on a change trend between the distances between each point corresponding to each contour point at an adjacent position, to obtain each ablation point group;

[0060] The data indication module is configured to divide the tumor tissue based on each ablation point group, obtain each directional ablation tissue corresponding to each ablation point group, and determine the position indication data of the corresponding temperature sensor implantation based on each directional ablation data corresponding to each directional ablation tissue.

[0061] According to the solution of the present invention, after three-dimensional imaging of the diseased part is acquired, a corresponding three-dimensional imaging image including the tumor tissue can be obtained, so that the tumor tissue can be located, so that the corresponding tissue division can be performed based on the tumor tissue in the subsequent process, and each directional ablation tissue can be obtained, so that the corresponding electromagnetic ablation needle can be used to perform ablation operations on each directional ablation tissue respectively, thereby improving the corresponding ablation effect and medical assistance. In order to monitor the ablation temperature, the position indication data of the corresponding temperature sensor can also be determined based on the corresponding directional ablation data to realize the temperature monitoring process of each directional ablation tissue; in addition, the acquisition of each directional ablation tissue is based on the contour points on the tumor contour, that is, by determining the changing trend of the distance between the points in adjacent positions and corresponding to each other, accurate tissue division can be performed without complicated data processing, and the corresponding data processing efficiency can also be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 A flow chart showing a method for processing temperature sensor implantation data based on electromagnetic navigation according to an embodiment of the present invention is shown;

[0063] FIG2 shows a tissue structure diagram of tumor tissue including omnidirectional ablation tissue and directional ablation tissue in this embodiment;

[0064] Figure 3 A structural block diagram of a temperature sensor implantation data processing system based on electromagnetic navigation according to another embodiment of the present invention is shown. DETAILED DESCRIPTION

[0065] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0066] Ablation of tumors is usually achieved through medical devices such as radiofrequency ablation or microwave ablation. These technologies use high-frequency energy delivered directly into the tumor through a catheter, causing the tumor tissue to heat and eventually destroy it. This treatment method is widely used in medical practice, usually to treat small tumors that are not suitable for surgery or to relieve symptoms caused by the tumor.

[0067] The inventors found in their research that in the prior art, temperature sensors are usually implanted near the treatment area or directly into the tumor. These temperature sensors can help medical personnel monitor temperature changes in the treatment area to ensure that the tumor tissue can reach the required high temperature level for effective ablation during treatment. Such monitoring and control can improve the accuracy and safety of treatment and ensure that the expected therapeutic effect is achieved; however, the current location of the temperature sensor is often determined manually, which is more subjective and may not fully understand the temperature changes in the corresponding treatment area.

[0068] To solve the problems existing in the above-mentioned prior art, the inventor proposes the solution of the present invention. One embodiment of the present invention provides a temperature sensor implantation data processing method based on electromagnetic navigation, which can be executed in a computing device, wherein the computing device can be understood as a terminal with data processing function, such as a mobile phone or a computer.

[0069] Figure 1 FIG. 4 is a flow chart showing a method for processing temperature sensor implantation data based on electromagnetic navigation according to an embodiment of the present invention. Figure 1 As shown, the method starts at step S102, and in step S102, the following contents are included:

[0070] A three-dimensional imaging acquisition is performed on the patient's diseased part to obtain a three-dimensional imaging image corresponding to the diseased part.

[0071] For example, in this embodiment, for example, in this embodiment, in order to be able to determine the tumor tissue located in the patient's body, the patient's diseased part can be imaged and collected accordingly based on the three-dimensional imaging technology existing in existing medicine, so as to obtain a three-dimensional imaging image corresponding to the diseased part; here, the diseased part can be understood as a part of the human body corresponding to the tumor tissue, such as the chest, leg or hand, and the corresponding three-dimensional imaging technology can include CT scanning technology, MRI scanning technology and PET-CT scanning technology, etc.; by performing three-dimensional imaging acquisition of the diseased part by any of the above three-dimensional imaging technologies, a three-dimensional imaging image can be obtained, wherein the three-dimensional imaging image includes the organ tissue corresponding to the diseased part and the corresponding tumor tissue, and the organ tissue may include blood vessels, organs, etc.

[0072] In step S104, the following contents are included:

[0073] Image recognition is performed on the three-dimensional imaging image to determine the tumor tissue located in the three-dimensional imaging image, and point division is performed on the tissue contour of the tumor tissue based on a preset point division strategy to obtain each contour point.

[0074] It should be noted that after obtaining the three-dimensional imaging image corresponding to the diseased part, corresponding image recognition can be performed on the three-dimensional imaging image to determine the tumor tissue located in the three-dimensional imaging image. Since the corresponding ablation operation needs to be performed on the tumor tissue in the subsequent steps, that is, the electromagnetic ablation needle of the corresponding ablation equipment needs to be inserted into the tumor tissue, and the electromagnetic ablation needle is further heated to kill the tumor cells located near the electromagnetic ablation needle at high temperature. The temperature range emitted by the electromagnetic ablation needle is usually a circular structure or a fan-shaped structure, and the corresponding tumor tissue often presents an irregular shape. Therefore, in order to ensure that when performing the corresponding ablation operation on the tumor cells, the ablation effect on other organ tissues in normal state except the tumor tissue is reduced, it is necessary to first determine the overall shape of the tumor tissue accordingly, so as to formulate a customized ablation plan based on the overall shape of the tumor tissue.

[0075] For example, in this embodiment, since the shape of the tumor tissue is often irregular, in order to determine the shape of the tumor tissue, the tissue contour of the tumor tissue can be divided into points based on a preset point division strategy to obtain corresponding contour points, so that in subsequent steps, the shape of the tumor tissue can be determined based on each contour point, which not only ensures the accuracy of the shape determination, but also can reduce the amount of data processing accordingly.

[0076] Furthermore, in this embodiment, the above-mentioned “dividing the tissue contour of the tumor tissue into points based on a preset point division strategy to obtain each contour point” may also include the following steps:

[0077] Inputting the three-dimensional imaging image into a trained image recognition model to determine an organ tissue with an attachment property located in the three-dimensional imaging image, wherein the organ tissue has a tumor tissue attached thereto;

[0078] Determining a tissue connection surface to which the tumor tissue is attached in the organ tissue, segmenting the organ tissue based on the tissue connection surface, and determining the obtained tumor tissue and organ tissue as having independent attributes respectively;

[0079] Performing coordinate processing on the three-dimensional imaging image to obtain an image coordinate system corresponding to the three-dimensional imaging image, wherein a coordinate plane formed by any two quadrant axes in the image coordinate system is parallel to the tissue connection surface;

[0080] Determining each contour coordinate point constituting the tissue contour of the tumor tissue in the three-dimensional imaging image after coordinate processing;

[0081] Determine the coordinate points corresponding to the X-axis coordinate extreme value, the Y-axis coordinate extreme value, and the Z-axis coordinate extreme value in each contour coordinate point as the X-axis extreme value coordinate point, the Y-axis extreme value coordinate point, and the Z-axis extreme value coordinate point, respectively;

[0082] Generate a tumor region surrounding the tumor tissue based on the X-axis extreme value coordinate point, the Y-axis extreme value coordinate point, and the Z-axis extreme value coordinate point, and obtain contour surfaces of each region constituting the tumor region;

[0083] Each regional contour surface is arrayed to obtain array points located on each regional contour surface, and each array point is mapped onto the tissue contour of the tumor tissue in a direction perpendicular to each regional contour surface to obtain each contour point.

[0084] For example, in this embodiment, in order to be able to perform corresponding point division on the tissue contour of the tumor tissue, it can be implemented according to the following preset point division strategy:

[0085] First, the three-dimensional imaging images obtained above can be input into the trained image recognition model accordingly, so that the image recognition model can perform image recognition on the three-dimensional imaging images and determine the organ tissue with attachment properties located in the three-dimensional imaging images. Here, the organ tissue with attachment properties can be understood as the organ tissue with tumor tissue attached. It should be noted that since tumor tissue generally cannot exist independently, that is, it needs to rely on corresponding tissue carriers to grow, such as blood vessels or organs, in order to be able to fully identify the tumor tissue, it is necessary to simultaneously identify the organ tissue connected to the tumor tissue.

[0086] Then, in this embodiment, after the organ tissue with attachment properties located in the three-dimensional imaging image is determined based on the corresponding image recognition model, the tissue connection surface to which the tumor tissue is attached can be determined in the organ tissue, and the organ tissue is further segmented along the surface extension direction of the tissue connection surface to obtain the tumor tissue and the organ tissue with independent properties respectively;

[0087] Then, since the tissue connection surface corresponds to a plane, the three-dimensional imaging image can be processed into coordinates based on the tissue connection surface to obtain an image coordinate system corresponding to the three-dimensional imaging image, wherein the image coordinate system can be a three-dimensional coordinate system, and thus corresponds to an X-axis, a Y-axis, and a Z-axis that are perpendicular to each other, and the corresponding tissue connection surface is parallel to a coordinate plane formed by any two of the X-axis, the Y-axis, and the Z-axis;

[0088] Next, in order to determine the shape of the tumor tissue, each contour coordinate point constituting the tissue contour of the tumor tissue can be determined in the three-dimensional imaging image after coordinate processing; based on the above content, it can be known that common tumor tissues generally present irregular shapes, such as approximate circles, approximate rectangles, or approximate polygons, etc. Therefore, in order to reduce the corresponding data processing amount, each coordinate point corresponding to the X-axis coordinate extreme value, the Y-axis coordinate extreme value, and the Z-axis coordinate extreme value can be determined as an X-axis extreme value coordinate point, a Y-axis extreme value coordinate point, and a Z-axis extreme value coordinate point based on each contour coordinate point, so that a tumor region surrounding the tumor tissue can be generated based on the X-axis extreme value coordinate point, the Y-axis extreme value coordinate point, and the Z-axis extreme value coordinate point, and further obtain the contour surfaces of each region constituting the tumor region; here, since the corresponding tumor region is a regular three-dimensional rectangular shape, the regional contour surface can be understood as each rectangular surface of the corresponding three-dimensional rectangular shape;

[0089] Finally, after obtaining the corresponding regional contour surfaces, the regional contour surfaces can be arrayed to obtain array points located on each regional contour surface, wherein the distances between the array points located at adjacent positions are the same, and the accuracy of determining the shape of the tumor tissue can be guaranteed accordingly; after obtaining the corresponding array points, the array points can be mapped to the tumor contour of the corresponding tumor tissue to obtain the corresponding contour points.

[0090] To summarize, in order to be able to quickly determine the shape of the tumor tissue, a tumor region can be established to surround the tumor tissue, and the mapping of the tissue contour of the tumor tissue can be completed through each array point located on the regional contour surface corresponding to the tumor region, so that in the subsequent steps, the approximate shape corresponding to the tumor tissue can be determined based on the contour points located on the tumor tissue, so that the corresponding ablation operation can be performed according to the approximate morphology of the tumor tissue, which not only improves the corresponding supervision efficiency, but also reduces the data processing volume.

[0091] Furthermore, in this embodiment, the above-mentioned “respectively mapping each array point onto the tissue contour of the tumor tissue in a direction perpendicular to the contour surface of each region to obtain each contour point” may also include the following steps:

[0092] Mapping each array point onto the tissue contour of the tumor tissue in a direction perpendicular to the contour surface of each region to obtain each contour point, including:

[0093] Determine two regional contour surfaces parallel to the tissue connection surface as reference contour surfaces, and map each array point located on each reference contour surface onto the tissue contour of the tumor tissue in a direction perpendicular to each reference contour surface;

[0094] Determine all remaining regional contour surfaces except the reference contour surface as supplementary contour surfaces, and determine contour parts having a mapping relationship with the supplementary contour surfaces based on the tissue contour of the tumor tissue;

[0095] Performing region division on each contour part to obtain a point region including the contour points and a blank region except the point region;

[0096] A surface shape portion having a mapping relationship with the blank area is determined in the supplementary contour surface, and each array point located in the surface shape portion is mapped to the blank area to obtain each contour point.

[0097] For example, in the present embodiment, in the process of mapping the corresponding array points, it is performed based on the tumor region presenting a regular three-dimensional rectangular shape. Each regional contour surface of the tumor region can be understood as a regional contour surface corresponding to different viewing angles, that is, a regional contour surface corresponding to a frontal viewing angle, a regional contour surface corresponding to a rearward viewing angle, a regional contour surface corresponding to a left viewing angle, a regional contour surface corresponding to a right viewing angle, a regional contour surface corresponding to an upward viewing angle, and a regional contour surface corresponding to a downward viewing angle. From the above content, it can be known that common tumor tissues generally present an irregular three-dimensional shape. Therefore, the contour parts of the tumor tissues respectively corresponding to two regional contour surfaces in adjacent positions may have repeated parts. If the array points respectively located on each regional contour surface are mapped to the tumor tissue, multiple contour points may overlap, resulting in too dense contour points. In order to avoid the above problem, the corresponding mapping process can be completed by the following method steps:

[0098] First, during mapping, two regional contour surfaces parallel to the tissue connection surface can be respectively determined as reference contour surfaces. Since the two regional contour surfaces parallel to the tissue connection surface are symmetrical, the contour parts of the tumor tissue corresponding to the two regional contour surfaces will not have repeated parts. When the array points located on each reference contour surface are mapped to the tissue contour of the tumor tissue in a direction perpendicular to each reference contour surface, there will be no corresponding overlap or density between the contour points mapped to the tissue contour.

[0099] Next, after the mapping of the array points based on the reference contour surface is completed, all the remaining regional contour surfaces except the reference contour surface can be respectively determined as corresponding supplementary contour surfaces, and further based on the tissue contour of the tumor tissue, each contour portion having a mapping relationship with each supplementary contour surface can be determined;

[0100] Then, since the mapping of the array points of the reference contour surface has been completed before, there may be contour points in some areas of the contour part having a mapping relationship with the supplementary contour surface. Therefore, in order to prevent the problem of overlapping between the contour points in the subsequent mapping process, it is necessary to divide each corresponding contour part into regions, so as to obtain a point region including the point region where the contour points exist and a blank region other than the point region;

[0101] Finally, since there are no contour points formed by mapping in the blank area, it is necessary to determine the surface part that has a mapping relationship with the blank area in the corresponding supplementary contour surface, and map the array points located in the authentic surface part to the corresponding blank area, thereby completing the mapping of the array points of the tumor tissue and obtaining the contour points.

[0102] It should be noted that, in the present embodiment, the distances between the array points located at adjacent positions on the contour surfaces of the respective regions of the tumor region are the same. Common tumor tissues generally present irregular three-dimensional shapes. Therefore, after completing the corresponding mapping, the distances between the contour points located at adjacent positions on the tissue contour of the tumor tissue may be the same or different. By forming the corresponding contour points on the corresponding tumor tissue, the shape determination of the tumor tissue can be completed in the subsequent method steps.

[0103] Furthermore, in this embodiment, the above-mentioned “dividing each contour portion into regions to obtain an array region including array points and a blank region other than the array points” may further include the following steps:

[0104] Obtain each contour point located on each contour part, and obtain each point distance between each contour point located at adjacent positions;

[0105] Determine each contour point whose corresponding point distance is greater than a preset distance as a target point, and connect each target point located at an adjacent position to form a blank area located at the contour part;

[0106] An area of ​​the contour portion excluding the blank area is determined as a point area including contour points.

[0107] For example, in this embodiment, in order to realize the area division of each contour part, determine the point area with contour points and the blank area except the point area, so as to further map the array points to the blank area in the subsequent method steps, it can be carried out in the following manner:

[0108] First, each contour point located on each contour part can be obtained, and each point distance between each contour point located at adjacent positions can be obtained;

[0109] Next, if the corresponding point distance is large, that is, exceeds the preset distance, the corresponding contour point can be determined as the target point, thereby obtaining each target point located on the contour part;

[0110] Next, each target point located at an adjacent position can be connected, so that the formed area is determined as a blank area located in the contour part;

[0111] Finally, after the corresponding blank area is obtained, other areas of the contour part except the blank area can be determined as point areas including contour points.

[0112] In step S106, the following contents are included:

[0113] The tissue center point corresponding to the tumor tissue is obtained, the distances between each contour point and the tissue center point are determined, and the contour points are grouped based on the change trend between the distances corresponding to each contour point at adjacent positions to obtain each ablation point group.

[0114] For example, in this embodiment, it can be seen from the above content that since common tumor tissues generally image irregular three-dimensional shapes, there may be corresponding depressions or protrusions on their surfaces. If omnidirectional ablation is used to ablate the entire tumor tissue at the same time, it is likely to cause damage to other surrounding organ tissues. In order to avoid this situation, the tumor tissue can be divided based on its surface morphology, so that directional ablation can be used to perform multiple ablation operations on the tumor tissue to improve the accuracy of ablation.

[0115] Among them, before performing tissue division for tumor tissue, the following method steps need to be performed first: first, it is necessary to obtain the tissue center point corresponding to the tumor tissue, and further determine the point distances between each contour point on the tissue contour and the tissue center point; then, since the length of each point distance can characterize the surface morphology of the tumor tissue, the contour points can be grouped based on the change trend between the distances of each point at adjacent positions and corresponding to each other, so as to obtain corresponding ablation point groups; that is, since there may be a large trend of change in the point distances between the contour points of the corresponding concave or convex parts, such as a large increase or a large decrease, therefore, based on this characteristic, the contour points at adjacent positions with corresponding smaller change trends can be divided into the same ablation point group.

[0116] For example, in this embodiment, the above-mentioned “grouping the contour points based on the change trend between the distances of the points corresponding to the contour points at adjacent positions to obtain the ablation point groups” may also include the following steps:

[0117] Calculate the difference of the distances between the corresponding points of the contour at adjacent positions to obtain the distance differences, and compare the distance differences with the preset differences respectively;

[0118] When the comparison result shows that any distance difference is less than or equal to the preset difference, the corresponding contour points are divided into the same ablation point group;

[0119] When the comparison result shows that any distance difference is greater than the preset difference, corresponding contour points are connected on the tissue contour of the tumor tissue to obtain a corresponding contour connection line;

[0120] Determine the contour points at both ends of the line segment of the contour connection line as the first point and the second point respectively, and generate a new point at the center of the contour connection line;

[0121] The first point, the second point and the newly added point are respectively divided into different ablation point groups to obtain ablation point groups corresponding to the tumor tissue.

[0122] For example, in this embodiment, by calculating the difference of the corresponding point distances of two contour points at adjacent positions, the change trend between the two can be judged based on the obtained distance difference. When the distance difference is less than or equal to the preset difference, it indicates that the change trend between the two is small, and it may correspond to an approximate plane. Therefore, the two can be divided into the same ablation point group; similarly, when the distance difference is greater than the preset difference, it indicates that the change trend between the two is large, and it may correspond to a depression or a convexity; at this time, in order to improve the accuracy of grouping, the two can be connected to obtain a corresponding contour connection line, and at the same time, the contour points at both ends of the line segment of the contour connection line are respectively determined as the first point and the second point, and the corresponding newly added point is generated at the center of the contour connection line, so that the first point and the newly added point can be divided into the same ablation point group, and the second point and the newly added point can be divided into another ablation point group, thereby obtaining the corresponding ablation point groups of the tumor tissue, and it can be ensured that the point distances corresponding to the contour points in the same ablation point group have a small change trend.

[0123] In step S108, the following contents are included:

[0124] The tumor tissue is divided based on each ablation point group to obtain each directional ablation tissue corresponding to each ablation point group, and the position indication data of the corresponding temperature sensor implantation is determined based on each directional ablation data corresponding to each directional ablation tissue.

[0125] It should be noted that the ablation operation for each directional ablation tissue can be performed simultaneously or separately. After obtaining the corresponding directional ablation tissue, the corresponding electromagnetic ablation needle can be used to puncture each directional ablation tissue separately to perform the corresponding ablation operation. In order to monitor the working status of the electromagnetic ablation needle, the medical staff can also be instructed to implant temperature sensors in each directional ablation tissue based on the corresponding directional ablation data, so that the corresponding ablation temperature can be obtained, which is convenient for the medical staff to judge whether the ablation temperature needs to be increased or decreased, thereby improving the corresponding ablation effect.

[0126] For example, in this embodiment, the above-mentioned "dividing the tumor tissue based on each ablation point group to obtain each directional ablation tissue corresponding to each ablation point group, and determining the position indication data of the corresponding temperature sensor implantation based on each directional ablation data corresponding to each directional ablation tissue" may also include the following steps:

[0127] The shortest point distance among the point distances is determined as the target distance, and a preset omnidirectional ablation coefficient corresponding to the target distance is retrieved, and the omnidirectional ablation distance is obtained by multiplying the target distance and the preset omnidirectional ablation coefficient;

[0128] Performing a tissue division on the tumor tissue based on the omnidirectional ablation distance to obtain an omnidirectional ablation tissue and remaining ablation tissue surrounding the omnidirectional ablation tissue;

[0129] Performing secondary tissue division on the remaining ablation tissue based on each ablation point group to obtain each directional ablation tissue corresponding to each ablation point group;

[0130] Acquire omnidirectional ablation data corresponding to the omnidirectional ablation tissue, and instruct the medical terminal to implant a temperature sensor in the omnidirectional ablation tissue based on the omnidirectional ablation data;

[0131] The directional ablation data corresponding to each of the directional ablation tissues are acquired, and the position indication data of the corresponding temperature sensor is determined based on each of the directional ablation data.

[0132] For example, in this embodiment, in order to be able to determine the omnidirectional ablation tissue located in the tumor tissue, the shortest point distance among the point distances can be determined as the target distance, and the preset omnidirectional ablation coefficient corresponding to the target distance can be called up, and the corresponding omnidirectional ablation distance can be obtained by multiplying the target distance and the preset omnidirectional ablation coefficient; here, the omnidirectional ablation distance can be understood as the distance extending outward from the center point of the tissue. After obtaining the corresponding omnidirectional ablation distance, the tumor tissue can be divided once based on the omnidirectional ablation distance to obtain the corresponding omnidirectional ablation tissue and the remaining ablation tissue included in the omnidirectional ablation tissue.

[0133] Furthermore, after the determination of the omnidirectional ablation tissue is completed, the remaining ablation tissue can be secondary divided according to the ablation point groups obtained above to obtain the directional ablation tissues corresponding to the ablation point groups respectively; and then, based on the corresponding omnidirectional ablation data and the directional ablation data, the medical staff can be instructed to implant temperature sensors in the omnidirectional ablation tissue and the directional ablation tissue respectively.

[0134] For example, in this embodiment, the above-mentioned “performing a tissue division on the tumor tissue based on the omnidirectional ablation distance to obtain the omnidirectional ablation tissue and the remaining ablation tissue surrounding the omnidirectional ablation tissue” may further include the following steps:

[0135] Generating a divided sphere in the tumor tissue with the center point of the tissue as the center and the omnidirectional ablation distance as the radius;

[0136] The tumor tissue is divided once based on the divided sphere, the tissue portion located within the divided sphere is determined as omnidirectional ablation tissue, and the tissue portion located outside the divided sphere is determined as remaining ablation tissue.

[0137] For example, by generating corresponding division spheres, the tumor tissue can be divided, thereby obtaining corresponding omnidirectional ablation tissue and remaining ablation tissue, and the corresponding omnidirectional ablation tissue is a spherical structure, which also conforms to the temperature distribution of the corresponding electromagnetic ablation needle, thereby improving the corresponding ablation effect.

[0138] Furthermore, in this embodiment, the above-mentioned “obtaining omnidirectional ablation data corresponding to the omnidirectional ablation tissue, and determining the position indication data of the corresponding temperature sensor based on the omnidirectional ablation data” may include the following steps:

[0139] Taking the center point of the tissue as the origin, establishing a tissue coordinate system corresponding to the tumor tissue;

[0140] Determine the division coordinate points constituting the division sphere based on the tissue coordinate system, and determine the division coordinate points intersecting with the X-axis, Y-axis and Z-axis of the tissue coordinate system as first omnidirectional embedding points respectively;

[0141] The tissue center point is determined as a second omnidirectional embedding point, and each of the first omnidirectional embedding point and the second omnidirectional embedding point is determined as position indication data of a corresponding temperature sensor.

[0142] For example, in this embodiment, in order to be able to obtain the temperature at different positions of the omnidirectional ablation tissue, a tissue coordinate system corresponding to the tumor tissue can be first established, where the tissue coordinate system can be understood as being formed based on three dimensions; then, the dividing coordinate points where the dividing sphere intersects the X-axis, Y-axis and Z-axis of the tissue coordinate system can be obtained, and further determined as the first omnidirectional embedding point, so that after the corresponding sensor is subsequently embedded, the temperature of the omnidirectional ablation tissue can be uniformly acquired; at the same time, the corresponding tissue center point can also be determined as the second omnidirectional embedding point to cooperate with the first omnidirectional embedding point to complete the full-range temperature monitoring of the omnidirectional ablation tissue and improve the corresponding monitoring effect.

[0143] In addition, in this embodiment, the above-mentioned “performing secondary tissue division on the remaining ablation tissue based on each ablation point group to obtain each directional ablation tissue corresponding to each ablation point group” may include the following steps:

[0144] Determine each contour point located in the same ablation point group, and determine the corresponding longest point distance located in each contour point as the reference distance;

[0145] Connecting each contour point with the tissue center point to obtain each center connection line, and extending each center connection line in a direction away from the tissue center point to a line segment distance having the same length as the reference distance;

[0146] The end points of the extended center connection lines away from the tissue center point are respectively determined as updated contour points, and the contour points are peripherally connected to obtain a contour connection surface;

[0147] The contour connection area is determined based on the contour connection surface and each center connection line, and the remaining ablation tissue is secondary divided based on the contour connection area corresponding to each ablation point group to obtain each directional ablation tissue corresponding to each ablation point group.

[0148] For example, in this embodiment, it can be known from the above content that tumor tissue generally presents an irregular three-dimensional shape. Therefore, in order to be able to divide the tumor tissue completely, it is necessary to follow the following method steps:

[0149] First, it is necessary to determine each contour point in the same ablation point group, determine the point distance corresponding to each contour point, and determine the longest corresponding point distance as the reference distance;

[0150] Next, each contour point can be connected to the corresponding tissue center point to obtain the corresponding center connection lines. Since the lengths of the center connection lines may be different, in order to enable the tumor tissue to be divided completely, each center connection line can be extended to a line segment length that is the same as the reference distance.

[0151] Next, after the extension of each center connection line is completed, the endpoints of each center connection line away from the center point of the tissue can be respectively determined as updated contour points, and each contour point is connected in a peripheral manner to obtain a contour connection surface; it should be noted that the peripheral connection can be understood as connecting each contour point in a peripheral form, so as to ensure that there are no other contour points in the obtained contour connection surface;

[0152] Finally, after obtaining the corresponding contour connection surface, the corresponding contour connection area can be determined based on the contour connection surface and each center connection line, and the remaining ablation tissue can be further divided into secondary tissues based on the contour connection area to obtain the corresponding directional ablation tissues.

[0153] Furthermore, in this embodiment, the above-mentioned “obtaining each directional ablation data corresponding to each directional ablation tissue, and determining the position indication data of the corresponding temperature sensor based on each directional ablation data” may also include the following steps:

[0154] Determine each intersection point where each center connection line corresponding to each contour point intersects with the divided sphere, and intercept each center connection line based on each intersection point to obtain each intercepted line segment having each intersection point as a starting point and each contour point as an end point;

[0155] Acquire spherical line segments corresponding to the divided spheres at adjacent intersection points, and determine tissue contour surfaces corresponding to each directional ablation tissue based on the spherical line segments, center connection lines and contour connection lines corresponding to the intersection points;

[0156] Determine the center points of each surface shape located on each tissue contour surface, and determine the center points of each surface shape as first directional embedding points, and determine the intersection points as second directional embedding points;

[0157] Each of the first directional buried points and each of the second directional buried points are determined as position indication data of the corresponding temperature sensor.

[0158] For example, in the present embodiment, since the directional ablation tissue is obtained by dividing the tumor tissue based on the aforementioned obtained dividing sphere, in order to determine the implantation of the temperature sensor in each directional ablation tissue, the intersection points where each center connecting line intersects with the dividing sphere can be first obtained, and the corresponding intercepted line segments can be obtained based on the intersection points; then, the spherical line segments of the dividing sphere corresponding to the intersection points at adjacent positions can be obtained, so that the tissue contour surface corresponding to each directional ablation tissue can be determined based on the spherical line segments, the center connecting lines and the contour connecting lines; then, by determining the center points of each surface shape located on each tissue contour surface, the corresponding center points of each surface shape can be determined as each first directional embedding point, and each intersection point can be determined as each second directional embedding point respectively; finally, after obtaining the corresponding first directional embedding points and each second directional embedding points, the medical staff can be instructed to implant the corresponding temperature sensor in each directional ablation tissue based on each first directional embedding point and each second directional embedding point.

[0159] For example, Figure 2 As shown, Figure 2 A schematic diagram of the corresponding tumor tissue is shown, wherein Figure 3 Included is tissue A corresponding to the omnidirectional ablation tissue and tissues B-1, B-2, B-3, B-4, B-4, B-5, B-6 and B-7 corresponding to the directional ablation tissues.

[0160] To sum up, in this embodiment, after three-dimensional imaging of the diseased part is acquired, a corresponding three-dimensional imaging image including the tumor tissue can be obtained, so that the tumor tissue can be located, so that the corresponding tissue division can be performed based on the tumor tissue in the subsequent process, and each directional ablation tissue can be obtained, so that the corresponding electromagnetic ablation needle can be used to perform ablation operations on each directional ablation tissue respectively, thereby improving the corresponding ablation effect. In order to monitor the ablation temperature, the position indication data of the corresponding temperature sensor can also be determined based on the corresponding directional ablation data to realize the temperature monitoring process of each directional ablation tissue. In addition, the acquisition of each directional ablation tissue is based on the contour points on the tumor contour, that is, by determining the changing trend of the distance between the points in adjacent positions and corresponding to each other, accurate tissue division can be performed without complicated data processing, and the corresponding data processing efficiency can also be improved.

[0161] Another embodiment of the present invention provides a temperature sensor implantation data processing system based on electromagnetic navigation. Figure 3 As the corresponding system block diagram, the system includes:

[0162] An imaging acquisition module is configured to perform three-dimensional imaging acquisition on the patient's diseased part to obtain a three-dimensional imaging image corresponding to the diseased part;

[0163] a point division module, configured to perform image recognition on the three-dimensional imaging image, determine the tumor tissue located in the three-dimensional imaging image, and divide the tissue contour of the tumor tissue into points based on a preset point division strategy to obtain each contour point;

[0164] an ablation grouping module, configured to obtain a tissue center point corresponding to the tumor tissue, determine the distances between each contour point and the tissue center point, and group each contour point based on a change trend between the distances between each point corresponding to each contour point at an adjacent position, to obtain each ablation point group;

[0165] The data indication module is configured to divide the tumor tissue based on each ablation point group, obtain each directional ablation tissue corresponding to each ablation point group, and determine the position indication data of the corresponding temperature sensor implantation based on each directional ablation data corresponding to each directional ablation tissue.

[0166] In the description provided herein, algorithms and displays are not inherently related to any particular computer, virtual system or other device. Various general purpose systems can also be used together with the examples of the present invention. According to the above description, it is obvious that the structure required for constructing such systems. In addition, the present invention is not directed to any specific programming language either. It should be understood that various programming languages ​​can be utilized to implement the content of the present invention described herein, and the above description of specific languages ​​is for the purpose of disclosing the preferred embodiment of the present invention.

[0167] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0168] Similarly, it should be understood that in order to streamline the present disclosure and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof.

[0169] Those skilled in the art will appreciate that the modules or units or components of the devices in the examples disclosed herein may be arranged in the devices described in the embodiment, or alternatively may be located in one or more devices different from the devices in the examples. The modules in the foregoing examples may be combined into one module or may be divided into multiple submodules.

[0170] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and furthermore may be divided into a plurality of submodules or subunits or subcomponents.

[0171] Furthermore, those skilled in the art will appreciate that although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features from different embodiments is meant to be within the scope of the present invention and to form different embodiments.

[0172] In addition, some of the embodiments are described herein as methods or combinations of method elements that can be implemented by a processor of a computer system or by other devices that perform the functions. Therefore, a processor with necessary instructions for implementing the method or method elements forms a device for implementing the method or method elements. In addition, the elements described herein of the device embodiments are examples of devices for implementing the functions performed by the elements for the purpose of implementing the invention.

[0173] As used herein, unless otherwise specified, the use of ordinal numbers "first," "second," "third," etc. to describe common objects merely indicates that different instances of similar objects are involved, and is not intended to imply that the objects so described must have a given order in time, space, order, or in any other manner.

[0174] Although the present invention has been described according to a limited number of embodiments, it will be apparent to those skilled in the art, with the benefit of the above description, that other embodiments may be envisioned within the scope of the invention thus described. In addition, it should be noted that the language used in this specification is primarily selected for readability and instructional purposes, rather than for explaining or limiting the subject matter of the present invention.

Claims

1. A temperature sensor implantation data processing method based on electromagnetic navigation, characterized in that: The following steps are involved: Performing three-dimensional imaging acquisition on the patient's diseased part to obtain a three-dimensional imaging image corresponding to the diseased part; Performing image recognition on the three-dimensional imaging image to determine the tumor tissue located in the three-dimensional imaging image, and performing point division on the tissue contour of the tumor tissue based on a preset point division strategy to obtain each contour point; Acquire the tissue center point corresponding to the tumor tissue, determine the distances between each contour point and the tissue center point, and group each contour point based on the change trend between the distances between each point corresponding to each contour point at an adjacent position to obtain each ablation point group; Based on each ablation point group, the tumor tissue is divided into tissues to obtain each directional ablation tissue corresponding to each ablation point group, and based on each directional ablation data corresponding to each directional ablation tissue, position indication data of the corresponding temperature sensor is determined; The tissue contour of the tumor tissue is divided into points based on a preset point division strategy to obtain each contour point, including: Inputting the three-dimensional imaging image into a trained image recognition model to determine an organ tissue with an attachment property located in the three-dimensional imaging image, wherein the organ tissue has a tumor tissue attached thereto; Determining a tissue connection surface to which the tumor tissue is attached in the organ tissue, segmenting the organ tissue based on the tissue connection surface, and determining the obtained tumor tissue and organ tissue as having independent attributes respectively; Performing coordinate processing on the three-dimensional imaging image to obtain an image coordinate system corresponding to the three-dimensional imaging image, wherein a coordinate plane formed by any two quadrant axes in the image coordinate system is parallel to the tissue connection surface; Determining each contour coordinate point constituting the tissue contour of the tumor tissue in the three-dimensional imaging image after coordinate processing; Determine the coordinate points corresponding to the X-axis coordinate extreme value, the Y-axis coordinate extreme value, and the Z-axis coordinate extreme value in each contour coordinate point as the X-axis extreme value coordinate point, the Y-axis extreme value coordinate point, and the Z-axis extreme value coordinate point, respectively; Generate a tumor region surrounding the tumor tissue based on the X-axis extreme value coordinate point, the Y-axis extreme value coordinate point, and the Z-axis extreme value coordinate point, and obtain contour surfaces of each region constituting the tumor region; Performing array processing on each regional contour surface to obtain array points located on each regional contour surface, and mapping each array point onto the tissue contour of the tumor tissue in a direction perpendicular to each regional contour surface to obtain each contour point; The contour points are grouped based on the change trend of the distances between the points corresponding to the contour points at adjacent positions, to obtain the ablation point groups, including: Calculate the difference of the distances between the corresponding points of the contour at adjacent positions to obtain the distance differences, and compare the distance differences with the preset differences respectively; When the comparison result shows that any distance difference is less than or equal to the preset difference, the corresponding contour points are divided into the same ablation point group; When the comparison result shows that any distance difference is greater than the preset difference, corresponding contour points are connected on the tissue contour of the tumor tissue to obtain a corresponding contour connection line; Determine the contour points at both ends of the line segment of the contour connection line as the first point and the second point respectively, and generate a new point at the center of the contour connection line; Dividing the first point, the second point and the newly added point into different ablation point groups respectively, to obtain ablation point groups corresponding to the tumor tissue; The tumor tissue is divided based on each ablation point group to obtain each directional ablation tissue corresponding to each ablation point group, and the position indication data of the corresponding temperature sensor is determined based on each directional ablation data corresponding to each directional ablation tissue, including: The shortest point distance among the point distances is determined as the target distance, and a preset omnidirectional ablation coefficient corresponding to the target distance is retrieved, and the omnidirectional ablation distance is obtained by multiplying the target distance and the preset omnidirectional ablation coefficient; Performing a tissue division on the tumor tissue based on the omnidirectional ablation distance to obtain an omnidirectional ablation tissue and remaining ablation tissue surrounding the omnidirectional ablation tissue; Performing secondary tissue division on the remaining ablation tissue based on each ablation point group to obtain each directional ablation tissue corresponding to each ablation point group; Acquire omnidirectional ablation data corresponding to the omnidirectional ablation tissue, and determine position indication data of a corresponding temperature sensor based on the omnidirectional ablation data; The directional ablation data corresponding to each of the directional ablation tissues are acquired, and the position indication data of the corresponding temperature sensor is determined based on each of the directional ablation data.

2. The temperature sensor implantation data processing method based on electromagnetic navigation according to claim 1 is characterized in that: Mapping each array point onto the tissue contour of the tumor tissue in a direction perpendicular to the contour surface of each region to obtain each contour point, including: Determine two regional contour surfaces parallel to the tissue connection surface as reference contour surfaces, and map each array point located on each reference contour surface onto the tissue contour of the tumor tissue in a direction perpendicular to each reference contour surface; Determine all remaining regional contour surfaces except the reference contour surface as supplementary contour surfaces, and determine contour parts having a mapping relationship with the supplementary contour surfaces based on the tissue contour of the tumor tissue; Performing region division on each contour part to obtain a point region including the contour points and a blank region except the point region; A surface shape portion having a mapping relationship with the blank area is determined in the supplementary contour surface, and each array point located in the surface shape portion is mapped to the blank area to obtain each contour point.

3. The temperature sensor implantation data processing method based on electromagnetic navigation according to claim 2 is characterized in that: Each contour part is divided into regions to obtain a point region including the contour points and a blank region other than the point region, including: Obtain each contour point located on each contour part, and obtain each point distance between each contour point located at adjacent positions; Determine each contour point whose corresponding point distance is greater than a preset distance as a target point, and connect each target point located at an adjacent position to form a blank area located at the contour part; An area of ​​the contour portion excluding the blank area is determined as a point area including contour points.

4. The temperature sensor implantation data processing method based on electromagnetic navigation according to claim 1 is characterized in that: The tumor tissue is divided into two parts based on the omnidirectional ablation distance to obtain the omnidirectional ablation tissue and the remaining ablation tissue surrounding the omnidirectional ablation tissue, including: Generating a divided sphere in the tumor tissue with the center point of the tissue as the center and the omnidirectional ablation distance as the radius; The tumor tissue is divided once based on the divided sphere, the tissue portion located within the divided sphere is determined as omnidirectional ablation tissue, and the tissue portion located outside the divided sphere is determined as remaining ablation tissue.

5. The temperature sensor implantation data processing method based on electromagnetic navigation according to claim 4 is characterized in that: Acquiring omnidirectional ablation data corresponding to the omnidirectional ablation tissue, and determining position indication data of a corresponding temperature sensor based on the omnidirectional ablation data, comprising: Taking the center point of the tissue as the origin, establishing a tissue coordinate system corresponding to the tumor tissue; Determine the division coordinate points constituting the division sphere based on the tissue coordinate system, and determine the division coordinate points intersecting with the X-axis, Y-axis and Z-axis of the tissue coordinate system as first omnidirectional embedding points respectively; The tissue center point is determined as a second omnidirectional embedding point, and each of the first omnidirectional embedding point and the second omnidirectional embedding point is determined as position indication data of a corresponding temperature sensor.

6. The temperature sensor implantation data processing method based on electromagnetic navigation according to claim 5 is characterized in that: The remaining ablation tissue is divided into two parts based on each ablation point group to obtain each directional ablation tissue corresponding to each ablation point group, including: Determine each contour point located in the same ablation point group, and determine the corresponding longest point distance located in each contour point as the reference distance; Connecting each contour point with the tissue center point to obtain each center connection line, and extending each center connection line in a direction away from the tissue center point to a line segment distance having the same length as the reference distance; The end points of the extended center connection lines away from the tissue center point are respectively determined as updated contour points, and the contour points are peripherally connected to obtain a contour connection surface; The contour connection area is determined based on the contour connection surface and each center connection line, and the remaining ablation tissue is secondary divided based on the contour connection area corresponding to each ablation point group to obtain each directional ablation tissue corresponding to each ablation point group.

7. The temperature sensor implantation data processing method based on electromagnetic navigation according to claim 6 is characterized in that: Acquiring each directional ablation data corresponding to each directional ablation tissue, and determining the position indication data of the corresponding temperature sensor based on each directional ablation data, including: Determine each intersection point where each center connection line corresponding to each contour point intersects with the divided sphere, and intercept each center connection line based on each intersection point to obtain each intercepted line segment having each intersection point as a starting point and each contour point as an end point; Acquire spherical line segments corresponding to the divided spheres at adjacent intersection points, and determine tissue contour surfaces corresponding to each directional ablation tissue based on the spherical line segments, center connection lines and contour connection lines corresponding to the intersection points; Determine the center points of each surface shape located on each tissue contour surface, and determine the center points of each surface shape as first directional embedding points, and determine the intersection points as second directional embedding points; Each of the first directional buried points and each of the second directional buried points are determined as position indication data of the corresponding temperature sensor.

8. A temperature sensor implantation data processing system based on electromagnetic navigation, characterized in that: include: An imaging acquisition module is configured to perform three-dimensional imaging acquisition on the patient's diseased part to obtain a three-dimensional imaging image corresponding to the diseased part; a point division module, configured to perform image recognition on the three-dimensional imaging image, determine the tumor tissue located in the three-dimensional imaging image, and divide the tissue contour of the tumor tissue into points based on a preset point division strategy to obtain each contour point; an ablation grouping module, configured to obtain a tissue center point corresponding to the tumor tissue, determine the distances between each contour point and the tissue center point, and group each contour point based on a change trend between the distances between each point corresponding to each contour point at an adjacent position, to obtain each ablation point group; A data indication module is configured to divide the tumor tissue into tissues based on each ablation point group, obtain each directional ablation tissue corresponding to each ablation point group, and determine the position indication data of the corresponding temperature sensor implantation based on each directional ablation data corresponding to each directional ablation tissue; The tissue contour of the tumor tissue is divided into points based on a preset point division strategy to obtain each contour point, including: Inputting the three-dimensional imaging image into a trained image recognition model to determine an organ tissue with an attachment property located in the three-dimensional imaging image, wherein the organ tissue has a tumor tissue attached thereto; Determining a tissue connection surface to which the tumor tissue is attached in the organ tissue, segmenting the organ tissue based on the tissue connection surface, and determining the obtained tumor tissue and organ tissue as having independent attributes respectively; Performing coordinate processing on the three-dimensional imaging image to obtain an image coordinate system corresponding to the three-dimensional imaging image, wherein a coordinate plane formed by any two quadrant axes in the image coordinate system is parallel to the tissue connection surface; Determining each contour coordinate point constituting the tissue contour of the tumor tissue in the three-dimensional imaging image after coordinate processing; Determine the coordinate points corresponding to the X-axis coordinate extreme value, the Y-axis coordinate extreme value, and the Z-axis coordinate extreme value in each contour coordinate point as the X-axis extreme value coordinate point, the Y-axis extreme value coordinate point, and the Z-axis extreme value coordinate point, respectively; Generate a tumor region surrounding the tumor tissue based on the X-axis extreme value coordinate point, the Y-axis extreme value coordinate point, and the Z-axis extreme value coordinate point, and obtain contour surfaces of each region constituting the tumor region; Performing array processing on each regional contour surface to obtain array points located on each regional contour surface, and mapping each array point onto the tissue contour of the tumor tissue in a direction perpendicular to each regional contour surface to obtain each contour point; The contour points are grouped based on the change trend of the distances between the points corresponding to the contour points at adjacent positions, to obtain the ablation point groups, including: Calculate the difference of the distances between the corresponding points of the contour at adjacent positions to obtain the distance differences, and compare the distance differences with the preset differences respectively; When the comparison result shows that any distance difference is less than or equal to the preset difference, the corresponding contour points are divided into the same ablation point group; When the comparison result shows that any distance difference is greater than the preset difference, corresponding contour points are connected on the tissue contour of the tumor tissue to obtain a corresponding contour connection line; Determine the contour points at both ends of the line segment of the contour connection line as the first point and the second point respectively, and generate a new point at the center of the contour connection line; Dividing the first point, the second point and the newly added point into different ablation point groups respectively, to obtain ablation point groups corresponding to the tumor tissue; The tumor tissue is divided based on each ablation point group to obtain each directional ablation tissue corresponding to each ablation point group, and the position indication data of the corresponding temperature sensor is determined based on each directional ablation data corresponding to each directional ablation tissue, including: The shortest point distance among the point distances is determined as the target distance, and a preset omnidirectional ablation coefficient corresponding to the target distance is retrieved, and the omnidirectional ablation distance is obtained by multiplying the target distance and the preset omnidirectional ablation coefficient; Performing a tissue division on the tumor tissue based on the omnidirectional ablation distance to obtain an omnidirectional ablation tissue and remaining ablation tissue surrounding the omnidirectional ablation tissue; Performing secondary tissue division on the remaining ablation tissue based on each ablation point group to obtain each directional ablation tissue corresponding to each ablation point group; Acquire omnidirectional ablation data corresponding to the omnidirectional ablation tissue, and determine position indication data of a corresponding temperature sensor based on the omnidirectional ablation data; The directional ablation data corresponding to each of the directional ablation tissues are acquired, and the position indication data of the corresponding temperature sensor is determined based on each of the directional ablation data.

Images