Prostate ablation planning method, system, electronic device and medium based on urethral reconstruction

Abstract

The present invention provides a prostate ablation planning method, system, electronic device and medium based on urethral reconstruction, including: acquiring human medical images, segmenting the bladder, prostate glands and periphery and constructing a three-dimensional model; reconstructing the urethra based on positioning trajectory data acquired by surgical instruments; performing static needle placement planning along the center line of the urethra according to the physical parameters of the ablation needle to obtain an initial needle placement plan; or acquiring real-time ultrasound images during surgery to monitor the ablation range in real time; after the first needle of the ablation needle is fired, determining the actual ablation range according to the real-time ultrasound image and updating the physical parameters of the ablation needle; calling the static needle placement planning according to the updated physical parameters of the ablation needle and dynamically adjusting the needle placement plan; according to the subsequent needle placement plan, the ablation instrument can be guided to the target point to complete the prostate ablation surgery, effectively improving the accuracy and reliability of the operation.

Description

Technical Field

[0001] The present invention relates to the technical field of medical image processing, and in particular to a prostate ablation planning method, system, electronic equipment and medium based on urethra reconstruction. Background Art

[0002] Prostatic hyperplasia, also known as benign prostatic hyperplasia, is a common age-related disease in men, usually manifested by symptoms such as frequent urination, urgency, increased nocturia, and dysuria. Prostatic hyperplasia mainly affects the quality of life of middle-aged and elderly men, and its incidence rate gradually increases with age.

[0003] Treatments for prostate hyperplasia include medication, minimally invasive surgery, and traditional surgery. Conservative medication is suitable for patients with mild symptoms, but has little effect on severe patients. Traditional surgery is more traumatic, takes longer to recover, and requires longer hospital stays. It is more risky and may cause complications such as bleeding, infection, and urinary incontinence. Minimally invasive surgery is less invasive, has a faster recovery, and takes a shorter time to operate. The urethra retains the catheter for a shorter time after surgery.

[0004] Steam ablation technology has become a better choice for relieving symptoms while minimizing or eliminating hospitalization time and postoperative complications. How to better plan and guide medical staff during surgery under ultrasound guidance has become an urgent problem to be solved.

[0005] In transurethral prostate ablation surgery, how to accurately locate the urethra centerline and realize automated needle placement planning is a key challenge. At the same time, due to the curvature of the urethra and individual differences, it is difficult to ensure the accurate placement of the ablation needle only by preoperative planning.

[0006] How to achieve multi-dimensional ablation needle adjustment within a limited operating space, and how to shorten the operation time while ensuring the treatment effect are issues that need to be addressed urgently. Summary of the invention

[0007] The purpose of the present invention is to address the planning and navigation issues of steam ablation and to propose a prostate ablation planning method, system, electronic equipment and medium based on urethral reconstruction.

[0008] The technical solution of the present invention is:

[0009] The present invention provides a prostate ablation planning method based on urethra reconstruction, which performs static planning and includes the following steps:

[0010] Three-dimensional modeling steps: obtain human medical images, segment the bladder, prostate glands and periphery and build a three-dimensional model;

[0011] Urethral reconstruction step: obtaining positioning trajectory data of the surgical instrument reaching the starting position and the ending position in the prostate hyperplasia surgery through the urethra, fitting the center line of the urethra according to the positioning trajectory data, uniformly sampling to obtain a center line point set, and mapping the urethra center line to the three-dimensional model;

[0012] Static planning steps: According to the physical parameters of the ablation needle, static planning of needle placement is performed along the urethral centerline, starting from the starting position and traversing the urethral centerline to obtain the optimal firing point and firing direction;

[0013] The static planning steps are executed cyclically until the ablation range reaches a preset ratio, and then the static planning ends.

[0014] Furthermore, in the three-dimensional modeling step, an ultrasonic three-dimensional model is constructed based on the human ultrasound image, and the bladder, prostate gland and periphery are segmented and three-dimensionally reconstructed.

[0015] Furthermore, after constructing the ultrasonic three-dimensional model, it also includes:

[0016] An MRI three-dimensional model is constructed based on human MRI medical diagnostic images; the bladder, prostate glands and periphery are segmented and three-dimensionally reconstructed; the three-dimensionally reconstructed ultrasound three-dimensional model and MRI three-dimensional model are registered to obtain a registration matrix, which converts the coordinate system of the ultrasound three-dimensional model to the coordinate system of the MRI three-dimensional model.

[0017] Furthermore, the starting position is the bladder neck, and the ending position is the spermatic collaterals.

[0018] Furthermore, the rear end of the surgical instrument is provided with a magnetic navigation locator.

[0019] Further, fitting the center line of the urethra according to the positioning trajectory data specifically includes:

[0020] According to the path of the surgical instrument tip through the urethra, the electromagnetic coordinates of the acquisition points on the path are recorded, and polynomial curve fitting is performed to obtain the center line of the urethra.

[0021] Furthermore, the static planning step specifically includes:

[0022] According to the firing depth of the ablation needle h , ablation sphere radius r , cross-sectional firing direction , get the urethra centerline point The corresponding actual ablation area , , is the center line point set;

[0023] Let the current ablation area be , obtain the urethra center point covering the maximum ablation range and firing direction , as the optimal firing point and firing direction;

[0024] ;

[0025] Update the area to be ablated .

[0026] Furthermore, the actual ablation area Specifically:

[0027] Urethra centerline point P The coordinates of P ( x 1, y 1, z 1), the firing direction is represented by the direction vector , the firing depth is h ;

[0028] Ablation area So is the center of the ball, r is the radius of the ablation sphere, forming a spherical ablation range outward area, ; The coordinates of the sphere center are given by the following formula:

[0029] ;

[0030] ;

[0031] .

[0032] A prostate ablation planning method based on urethral reconstruction, the method performing dynamic planning, comprising the following steps:

[0033] Three-dimensional modeling steps: obtain human medical images, segment the bladder, prostate glands and periphery and build a three-dimensional model;

[0034] Urethral reconstruction step: obtaining positioning trajectory data of the surgical instrument reaching the starting position and the ending position in the prostate hyperplasia surgery through the urethra, fitting the center line of the urethra according to the positioning trajectory data, uniformly sampling to obtain a center line point set, and mapping the urethra center line to the three-dimensional model;

[0035] Static planning steps: According to the physical parameters of the ablation needle, static planning of needle placement is performed along the urethral centerline, starting from the starting position and traversing the urethral centerline to obtain the optimal firing point and firing direction;

[0036] Dynamic adjustment steps: obtaining real-time ultrasound images during the operation and monitoring the ablation range in real time; determining the actual ablation range based on the real-time ultrasound images and updating the physical parameters of the ablation needle; calling the static planning steps based on the updated physical parameters of the ablation needle and dynamically adjusting the subsequent needle placement plan; based on the subsequent needle placement plan, the ablation gun can be guided to the firing point under the three-dimensional model.

[0037] Furthermore, determining the actual ablation range according to the real-time ultrasound image and updating the physical parameters of the ablation needle specifically include:

[0038] The ablation range was monitored in real time using an ultrasound probe. The ablation needle was detected in the cross section of the ultrasound image. After the first needle was fired, the maximum steam diffusion range was outlined, the minimum circumscribed circle was made, and the firing depth and ablation ball radius were updated.

[0039] Furthermore, the radius of the ablation sphere is updated by using the radius of the minimum circumscribed circle, and the distance from the needle tip to the center of the circle is calculated by using the coordinates of the center of the minimum circumscribed circle and the coordinates of the tip of the ablation needle to update the firing depth.

[0040] Further, according to the subsequent needle arrangement scheme, guiding the ablation gun to the firing point under the three-dimensional model specifically includes:

[0041] Obtain the coordinates of the needle tip of the ablation gun, calculate the distance between the needle tip coordinates and the target firing point coordinates, and determine whether the needle tip has reached the target firing point;

[0042] If the needle tip has not reached the target firing point, the current coordinates of the needle tip and the target firing point coordinates are obtained, the direction vector from the needle tip to the target firing point is calculated, and the vector is mapped to the three-dimensional model for visualization, so as to guide the needle tip to move toward the target firing point;

[0043] If the needle tip reaches the target firing point, the user is prompted to perform ablation, obtain real-time ultrasound images of the ablation process, and perform dynamic adjustment steps.

[0044] A prostate ablation planning system based on urethral reconstruction, which implements the method of executing static planning, comprises:

[0045] 3D modeling unit: used to obtain human medical images, segment the bladder, prostate glands and periphery and build a 3D model;

[0046] Urethral reconstruction unit: used to obtain positioning trajectory data of the surgical instrument reaching the starting position and the ending position in the prostate hyperplasia surgery through the urethra, fit the center line of the urethra according to the positioning trajectory data, uniformly sample to obtain the center line point set, and map the urethra center line to the three-dimensional model;

[0047] Static planning unit: used to perform static planning of needle placement along the urethra centerline based on the physical parameters of the ablation needle, traverse the urethra centerline from the starting position, and obtain the optimal firing point and firing direction;

[0048] The static planning steps are executed cyclically until the ablation range reaches a preset ratio, and then the static planning ends.

[0049] An electronic device, comprising:

[0050] a memory for storing instructions to be executed by one or more processors of the device,

[0051] and a processor, configured to execute the instructions so that the electronic device executes the method for executing static planning.

[0052] A computer-readable storage medium stores a computer program, which implements the method for executing static planning when executed by a processor.

[0053] A prostate ablation planning system based on urethral reconstruction, implementing the method of performing dynamic planning, comprises:

[0054] 3D modeling unit: used to obtain human medical images, segment the bladder, prostate glands and periphery and build a 3D model;

[0055] Urethral reconstruction unit: used to obtain positioning trajectory data of the surgical instrument reaching the starting position and the ending position in the prostate hyperplasia surgery through the urethra, fit the center line of the urethra according to the positioning trajectory data, uniformly sample to obtain the center line point set, and map the urethra center line to the three-dimensional model;

[0056] Static planning unit: used to perform static planning of needle placement along the urethra centerline based on the physical parameters of the ablation needle, traverse the urethra centerline from the starting position, and obtain the optimal firing point and firing direction;

[0057] Dynamic adjustment unit: used to obtain real-time ultrasound images during surgery and monitor the ablation range in real time; determine the actual ablation range based on the real-time ultrasound images and update the physical parameters of the ablation needle; call the static planning unit based on the updated physical parameters of the ablation needle to dynamically adjust the subsequent needle placement plan; based on the subsequent needle placement plan, the ablation gun can be guided to the firing point under the three-dimensional model.

[0058] An electronic device, comprising:

[0059] a memory for storing instructions to be executed by one or more processors of the device,

[0060] and a processor, configured to execute the instructions so that the electronic device executes the method for executing dynamic programming.

[0061] A computer-readable storage medium stores a computer program, which implements the method for executing dynamic programming when executed by a processor.

[0062] Beneficial effects of the present invention:

[0063] The present invention dynamically plans prostate ablation according to the urethral morphology. There are two implementation paths, including: ultrasound-based planning and MRI-ultrasound fusion-based planning. The innovations are as follows: (1) Considering the characteristics of prostate ablation procedures, the ablation needle layout is planned along the urethra; (2) A static planning mode is adopted, that is, the needle layout plan is pre-calculated according to the urethral morphology and the physical properties of the ablation needle for the operator's reference; (3) A dynamic planning mode is adopted to obtain the optimal firing point according to the actual ablation range of the ablation needle during the operation, and the subsequent needle layout plan is dynamically adjusted for the operator's reference.

[0064] The present invention discloses a prostate ablation planning method, system, electronic device and medium based on urethral reconstruction. First, a three-dimensional model of the patient's prostate is constructed through medical images, and the urethral centerline is fitted using surgical instrument trajectory data. Then, according to the ablation needle parameters and the preset ablation ratio, static optimal needle layout planning is performed along the urethral centerline. Alternatively, during the operation, ultrasound real-time monitoring images are received, and the ablation parameters and needle layout planning schemes recommended to the user are dynamically adjusted according to the actual ablation effect.

[0065] The present invention can accurately guide the ablation device to the target position by aligning the real-time ultrasound image with the pre-acquired medical diagnostic image, thus realizing the intelligent planning and precise execution of transurethral prostate ablation surgery. This method significantly improves the safety and effectiveness of the surgery, reduces the risk of complications, and provides patients with a more personalized and precise treatment plan.

[0066] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0068] Figure 1 This is one of the flow charts of the prostate ablation planning method based on urethra reconstruction of the present invention.

[0069] Figure 2 This is the second flowchart of the prostate ablation planning method based on urethral reconstruction of the present invention.

[0070] Figure 3 Schematic diagram of the corresponding relationship between the coronal plane and the cross-section of the bladder, prostate gland and periphery in an embodiment of the present invention.

[0071] Figure 4 It is a schematic diagram of ablation comparison after dynamically adjusting the ablation ball radius and optimizing the needle arrangement scheme in an embodiment of the present invention.

[0072] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention. DETAILED DESCRIPTION

[0073] The preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0074] Example 1

[0075] Figure 1 This is one of the flow charts of the prostate ablation planning method based on urethral reconstruction of the present invention.

[0076] like Figure 1 As shown, the present invention provides a prostate ablation planning method based on urethra reconstruction, which performs static planning and includes the following steps:

[0077] Three-dimensional modeling steps: obtain human medical images, segment the bladder, prostate glands and periphery and build a three-dimensional model;

[0078] Urethral reconstruction step: obtaining positioning trajectory data of the surgical instrument reaching the starting position and the ending position in the prostate hyperplasia surgery through the urethra, fitting the center line of the urethra according to the positioning trajectory data, uniformly sampling to obtain a center line point set, and mapping the urethra center line to the three-dimensional model;

[0079] like Figure 3 , which is a schematic diagram of the corresponding relationship between the coronal plane and the cross-section of the bladder, the prostate gland and the periphery in an embodiment of the present invention; Figure 3 a in the figure is a coronal schematic diagram, 1. total ablation area, 2. urethra centerline; 3. firing direction; 4. projection of the ablation area on the coronal plane; Figure 3 b is a cross-sectional diagram, 3 is the firing direction, which can be updated in the xyz directions, and the interval can be set to 15 degrees.

[0080] Static planning steps: According to the physical parameters of the ablation needle, static planning of needle placement is performed along the urethral centerline, starting from the starting position and traversing the urethral centerline to obtain the optimal firing point and firing direction;

[0081] The static planning steps are executed cyclically until the ablation range reaches a preset ratio, and then the static planning ends.

[0082] The static planning step specifically includes:

[0083] According to the firing depth of the ablation needle h , ablation sphere radius r , cross-sectional firing direction , get the urethra centerline point The corresponding actual ablation area , , is the center line point set;

[0084] Let the current ablation area be , obtain the urethra center point covering the maximum ablation range and firing direction , as the optimal firing point and firing direction, where θ The update interval is set to 15 degrees;

[0085] ;

[0086] Update the area to be ablated ;

[0087] The static planning steps are executed cyclically until the ablation range reaches a preset ratio, thereby forming an initial ablation planning scheme;

[0088] The actual ablation area Specifically:

[0089] Urethra centerline point P The coordinates of P ( x 1, y 1, z 1), the firing direction is represented by the direction vector , the firing depth is h ;

[0090] Ablation area So is the center of the ball, r is the radius of the ablation sphere, forming a spherical ablation range outward area, ; The coordinates of the sphere center are given by the following formula:

[0091] ;

[0092] ;

[0093] .

[0094] In this embodiment, the starting position is the bladder neck, and the ending position is the spermatic collateral position; the rear end of the surgical instrument is provided with a magnetic navigation locator; according to the path of the surgical instrument tip through the urethra, the electromagnetic coordinates of the acquisition points on the path are recorded, and polynomial curve fitting is performed to obtain the center line of the urethra. Obtain the physical parameters of the ablation needle, including the firing depth of the ablation needle tip h and the radius of the spherical ablation sphere r Starting from the bladder neck, traverse the urethral centerline until the ablation range reaches a preset proportion α of the total ablation area. h , ablation sphere radius r and firing direction θ , calculate the actual ablation area corresponding to the current urethral centerline point. Set the current area to be ablated, calculate and record the urethral center point and firing direction covering the maximum range to be ablated, and update the area to be ablated; if the preset proportion α of the total ablation area is not reached, continue to traverse the urethral centerline; otherwise, the algorithm ends. Through the greedy algorithm, iterate the needle placement on the urethral centerline until the target ablation area is covered, and obtain a static needle placement plan.

[0095] In one example, in the three-dimensional modeling step: constructing an ultrasound three-dimensional model based on a human ultrasound image, segmenting the bladder, prostate glands and periphery and performing three-dimensional reconstruction;

[0096] After constructing the ultrasound three-dimensional model, it also includes: constructing an MRI three-dimensional model based on the human MRI medical diagnostic image; segmenting the bladder, prostate glands and periphery and performing three-dimensional reconstruction; aligning the three-dimensionally reconstructed ultrasound three-dimensional model and the MRI three-dimensional model to obtain a registration matrix, which converts the coordinate system of the ultrasound three-dimensional model to the coordinate system of the MRI three-dimensional model. The MRI three-dimensional model may be a CT three-dimensional model, and the construction process is similar.

[0097] After planning the ablation area, a real-time human ultrasound image is received and mapped onto the three-dimensional space, and an ultrasound plane tangent to the planned ablation area is identified; a projection of the ablation gun on the tangent ultrasound plane is received, and the user is guided based on the statically planned ablation area and the ablation gun needle tip position coordinates.

[0098] When the three-dimensional space is constructed based on ultrasound data, the real-time acquired human ultrasound image is directly mapped to the three-dimensional space; otherwise, the coordinate system of the ultrasound three-dimensional space is converted to the coordinate system of the three-dimensional model constructed by the MRI, CT or other medical images based on the corresponding registration matrix.

[0099] In this embodiment, the planned ablation area is mapped back to the corresponding three-dimensional space through the fusion of MRI or CT images and ultrasound images, and the user is guided in real time to perform steam ablation surgery based on the statically planned ablation area and the position coordinates of the ablation gun needle tip, thereby realizing the application of precise positioning of the prostate transition zone, helping ablation guidance, improving surgical accuracy and safety, and reducing the risk of complications, which has important clinical application value.

[0100] Example 2

[0101] The present invention provides a prostate ablation planning system based on urethral reconstruction, comprising:

[0102] 3D modeling unit: used to obtain human medical images, segment the bladder, prostate glands and periphery and build a 3D model;

[0103] Urethral reconstruction unit: used to obtain positioning trajectory data of the surgical instrument reaching the starting position and the ending position in the prostate hyperplasia surgery through the urethra, fit the center line of the urethra according to the positioning trajectory data, uniformly sample to obtain the center line point set, and map the urethra center line to the three-dimensional model;

[0104] Static planning unit: used to perform static planning of needle placement along the urethra centerline based on the physical parameters of the ablation needle, traverse the urethra centerline from the starting position, obtain the optimal firing point and firing direction, and execute the process in a loop until the static planning ends when the ablation range reaches the preset ratio.

[0105] Example 3

[0106] The present invention provides an electronic device, comprising:

[0107] a memory for storing instructions to be executed by one or more processors of the device,

[0108] and a processor, configured to execute the instructions so that the electronic device executes the method for executing static planning.

[0109] Example 4

[0110] The present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for executing static planning is implemented.

[0111] Example 5

[0112] Figure 2 This is the second flowchart of the prostate ablation planning method based on urethral reconstruction of the present invention.

[0113] like Figure 2 As shown, the present invention provides a prostate ablation planning method based on urethra reconstruction, which performs dynamic planning and includes the following steps:

[0114] Three-dimensional modeling steps: obtain human medical images, segment the bladder, prostate glands and periphery and build a three-dimensional model;

[0115] Urethral reconstruction step: obtaining positioning trajectory data of the surgical instrument reaching the starting position and the ending position in the prostate hyperplasia surgery through the urethra, fitting the center line of the urethra according to the positioning trajectory data, uniformly sampling to obtain a center line point set, and mapping the urethra center line to the three-dimensional model;

[0116] Static planning steps: According to the physical parameters of the ablation needle, static planning of needle placement is performed along the urethral centerline, starting from the starting position and traversing the urethral centerline to obtain the optimal firing point and firing direction;

[0117] Dynamic adjustment step: obtaining real-time ultrasound images during the operation and monitoring the ablation range in real time; determining the actual ablation range according to the real-time ultrasound images and updating the physical parameters of the ablation needle; calling the static planning step according to the updated physical parameters of the ablation needle and dynamically adjusting the subsequent needle arrangement plan; according to the subsequent needle arrangement plan, the ablation gun can be guided to the firing point under the three-dimensional model;

[0118] In the dynamic adjustment step, an ultrasonic probe is used to monitor the ablation range in real time, the ablation needle is detected in the cross section of the ultrasonic image, and the maximum steam diffusion range is outlined after the first needle is fired, and the minimum circumscribed circle is made. The radius of the ablation sphere is updated using the radius of the minimum circumscribed circle, and the distance from the needle tip to the center of the circle is calculated using the coordinates of the center of the minimum circumscribed circle and the coordinates of the tip of the ablation needle, and the firing depth is updated;

[0119] According to the updated physical parameters of the ablation needle, the static planning step is called to dynamically adjust the subsequent needle placement plan, such as Figure 4 It is a schematic diagram of ablation comparison after dynamically adjusting the radius of the ablation ball and optimizing the needle arrangement scheme in an embodiment of the present invention;

[0120] According to the subsequent needle arrangement scheme, the ablation gun can be guided to the firing point under the three-dimensional model, which specifically includes:

[0121] Obtain the coordinates of the needle tip of the ablation gun, calculate the distance between the needle tip coordinates and the target firing point coordinates, and determine whether the needle tip has reached the target firing point;

[0122] If the needle tip has not reached the target firing point, the current coordinates of the needle tip and the target firing point coordinates are obtained, the direction vector from the needle tip to the target firing point is calculated, and the vector is mapped to the three-dimensional model for visualization, so as to guide the needle tip to move toward the target firing point;

[0123] If the needle tip reaches the target firing point, the user is prompted to perform ablation, obtain real-time ultrasound images of the ablation process, and perform dynamic adjustment steps.

[0124] In this embodiment, a dual-plane ultrasound probe is used to monitor the ablation range in real time, and the ablation needle parameters are updated after the first needle is fired. According to the updated ablation needle parameters, static planning is called to obtain the optimal firing point and firing direction, and subsequent needle placement is automatically adjusted to obtain a dynamically optimized needle placement plan, thereby completing the dynamic planning and navigation of the entire prostate ablation surgery.

[0125] Example 6

[0126] The present invention provides a prostate ablation planning system based on urethral reconstruction, which implements the method for performing dynamic planning, including:

[0127] 3D modeling unit: used to obtain human medical images, segment the bladder, prostate glands and periphery and build a 3D model;

[0128] Urethral reconstruction unit: used to obtain positioning trajectory data of the surgical instrument reaching the starting position and the ending position in the prostate hyperplasia surgery through the urethra, fit the center line of the urethra according to the positioning trajectory data, uniformly sample to obtain the center line point set, and map the urethra center line to the three-dimensional model;

[0129] Static planning unit: used to perform static planning of needle placement along the urethra centerline based on the physical parameters of the ablation needle, traverse the urethra centerline from the starting position, and obtain the optimal firing point and firing direction;

[0130] Dynamic adjustment unit: used to obtain real-time ultrasound images during surgery and monitor the ablation range in real time; determine the actual ablation range based on the real-time ultrasound images and update the physical parameters of the ablation needle; call the static planning unit based on the updated physical parameters of the ablation needle to dynamically adjust the subsequent needle placement plan; based on the subsequent needle placement plan, the ablation gun can be guided to the firing point under the three-dimensional model.

[0131] Example 7

[0132] The present invention provides an electronic device, comprising:

[0133] a memory for storing instructions to be executed by one or more processors of the device,

[0134] and a processor, configured to execute the instructions so that the electronic device executes the method for executing dynamic programming.

[0135] Example 8

[0136] The present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the dynamic programming method is implemented.

[0137] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A prostate ablation planning system based on urethral reconstruction, used to perform a dynamic planning method, characterized in that: include: 3D modeling unit: used to obtain human medical images, segment the bladder, prostate glands and periphery and build a 3D model; Urethral reconstruction unit: used to obtain positioning trajectory data of the surgical instrument reaching the starting position and the ending position in the prostate hyperplasia surgery through the urethra, fit the center line of the urethra according to the positioning trajectory data, uniformly sample to obtain the center line point set, and map the urethra center line to the three-dimensional model; Static planning unit: used to perform static planning of needle placement along the urethra centerline based on the physical parameters of the ablation needle, traverse the urethra centerline from the starting position, and obtain the optimal firing point and firing direction; Dynamic adjustment unit: used to obtain real-time ultrasound images during surgery and monitor the ablation range in real time; determine the actual ablation range according to the real-time ultrasound images and update the physical parameters of the ablation needle; call the static planning unit according to the updated physical parameters of the ablation needle to dynamically adjust the subsequent needle arrangement plan; according to the subsequent needle arrangement plan, the ablation gun can be guided to the firing point under the three-dimensional model; The rear end of the surgical instrument is provided with a magnetic navigation locator, and fitting the center line of the urethra according to the positioning trajectory data specifically includes: recording the electromagnetic coordinates of the collection points on the path according to the path of the surgical instrument tip through the urethra, performing polynomial curve fitting, and obtaining the center line of the urethra; Determining the actual ablation range according to the real-time ultrasound image and updating the physical parameters of the ablation needle specifically include: The ablation range was monitored in real time using an ultrasound probe. The ablation needle was detected in the cross section of the ultrasound image. After the first needle was fired, the maximum steam diffusion range was outlined, the minimum circumscribed circle was made, and the firing depth and ablation ball radius were updated. The radius of the ablation sphere is updated using the radius of the minimum circumscribed circle, the distance from the needle tip to the center of the circle is calculated using the coordinates of the center of the minimum circumscribed circle and the coordinates of the tip of the ablation needle, and the firing depth is updated; According to the subsequent needle placement scheme, guiding the ablation gun to the firing point under the three-dimensional model specifically includes: Obtain the coordinates of the needle tip of the ablation gun, calculate the distance between the needle tip coordinates and the target firing point coordinates, and determine whether the needle tip has reached the target firing point; If the needle tip has not reached the target firing point, the current coordinates of the needle tip and the target firing point coordinates are obtained, the direction vector from the needle tip to the target firing point is calculated, and the vector is mapped to the three-dimensional model for visualization, so as to guide the needle tip to move toward the target firing point; If the needle tip reaches the target firing point, the user is prompted to perform ablation, obtain real-time ultrasound images of the ablation process, and perform dynamic adjustment steps.

2. The prostate ablation planning system based on urethral reconstruction according to claim 1, characterized in that: In the three-dimensional modeling step performed by the three-dimensional modeling unit, an ultrasonic three-dimensional model is constructed based on the human ultrasonic image, and the bladder, prostate gland and periphery are segmented and three-dimensionally reconstructed.

3. The prostate ablation planning system based on urethral reconstruction according to claim 2, characterized in that: After building the ultrasound 3D model, it also includes; An MRI three-dimensional model is constructed based on human MRI medical diagnostic images; the bladder, prostate glands and periphery are segmented and three-dimensionally reconstructed; the three-dimensionally reconstructed ultrasound three-dimensional model and MRI three-dimensional model are registered to obtain a registration matrix, which converts the coordinate system of the ultrasound three-dimensional model to the coordinate system of the MRI three-dimensional model.

4. The prostate ablation planning system based on urethral reconstruction according to claim 1, characterized in that: The starting position is the bladder neck, and the ending position is the spermatic collaterals position.

5. The prostate ablation planning system based on urethral reconstruction according to claim 1, characterized in that: The static planning steps performed by the static planning unit specifically include: According to the firing depth of the ablation needle h , ablation sphere radius r , cross-sectional firing direction , get the urethra centerline point The corresponding actual ablation area , , is the center line point set; Let the current ablation area be , obtain the urethra center point covering the maximum ablation range and firing direction , as the optimal firing point and firing direction; ； Update the area to be ablated .

6. The prostate ablation planning system based on urethral reconstruction according to claim 5, characterized in that: The actual ablation area Specifically: Urethra centerline point P The coordinates of P ( x 1, y 1, z 1), the firing direction is represented by the direction vector , the firing depth is h ; Ablation area So is the center of the ball, r is the radius of the ablation sphere, forming a spherical ablation range outward area, ; The coordinates of the sphere center are given by the following formula: ； ； 。 7. An electronic device, characterized in that: include: a memory for storing instructions to be executed by one or more processors of the device, and a processor, configured to execute the instructions so that the electronic device executes the dynamic programming method implemented by the system as claimed in any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the dynamic programming method executed by the system as claimed in any one of claims 1 to 6.

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