Prostate hot steam ablation navigation system and electronic equipment
By using preoperative and intraoperative three-dimensional model mapping in the prostate thermal steam ablation navigation system, the spatial location of the steam ablation needle and the navigation route are determined, the problems of high surgical risks and insufficient safety in the existing technology are solved, and the problem of Higher surgical safety and accuracy.
Patent Information
- Application Number
- CN202411407929.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-10
- Publication Date
- 2025-02-18
AI Technical Summary
The existing transurethral prostate steam ablation surgery depends on the operator's experience, resulting in the deviation of the position of the steam ablation needle and the inaccurate ablation range, increasing the risk of surgery and safety needs to be improved.
The prostate thermal steam ablation navigation system is used, which determines the spatial location of the steam ablation needle through preoperative and intraoperative three-dimensional model mapping, and visualizes it based on navigation route planning to improve the accuracy and safety of the surgery.
Through precise navigation route planning and visual display, the safety and accuracy of the surgery are significantly improved and the risk of surgery is reduced.
Smart Images
Figure CN119454207A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of medical device technology, and in particular to a prostate thermal steam ablation navigation system and electronic equipment. Background Art
[0002] Benign prostate hyperplasia (BPH) is a common chronic disease in middle-aged and elderly men and one of the most common diseases in the clinical diagnosis and treatment of urology. The incidence of BPH is positively correlated with age. Among the various surgical options for this disease, transurethral prostate steam ablation is one of the most advanced technologies for treating prostate hyperplasia in the world. During the operation, 103°C sterile water vapor is injected into the prostate hyperplasia tissue through the steam ablation needle, causing the hyperplastic tissue to gradually lose its activity, and then apoptosis and necrosis. The necrotic prostate tissue will gradually shrink or fall off and be discharged with urine, reducing the volume of the prostate gland tissue around the urethra to form a natural passage for the urethra, achieving the goal of relieving urinary tract obstruction.
[0003] In the current steam ablation technology, the needle insertion position and ablation range are manually determined by observing the moving position of the steam ablation needle with the naked eye through an endoscope. This method relies on the experience of the operator and may cause the position of the steam ablation needle to deviate from the needle insertion position and ablation range, increasing the risk of the operation. The safety of the operation needs to be improved. Summary of the invention
[0004] The present application proposes a prostate thermal steam ablation navigation system and electronic equipment.
[0005] In one aspect, an embodiment of the present application proposes a prostate thermal steam ablation navigation system, the system comprising: a first determination module for determining a preoperative three-dimensional model of a target patient's prostate; an acquisition module for acquiring a first needle entry point and an ablation range marked on the preoperative three-dimensional model; a second determination module for determining an intraoperative three-dimensional model of the target patient's prostate during a prostate hyperplasia surgery for the target patient; a first mapping module for mapping the first needle entry point and the ablation range to the intraoperative three-dimensional model, respectively, based on a transformation relationship between the preoperative three-dimensional model and the intraoperative three-dimensional model. , to obtain the first needle entry point and ablation range after mapping; a third determination module, used to determine the first spatial position of the steam ablation needle of the hot steam ablation device; a second mapping module, used to map the first spatial position to the intraoperative three-dimensional model according to the mapping relationship between the first coordinate system based on the first spatial position and the second coordinate system based on the intraoperative three-dimensional model, to obtain the second spatial position; a navigation planning module, used to perform navigation route planning according to the second spatial position, the mapped first needle entry point and the mapped ablation range, to obtain the target navigation route, and visualize the target navigation route.
[0006] In one embodiment of the present application, the first determination module includes: a first acquisition unit, used to acquire preoperative MRI data of the prostate of the target patient; and a three-dimensional reconstruction unit, used to perform three-dimensional reconstruction based on the preoperative MRI data to obtain a preoperative three-dimensional model of the prostate of the target patient.
[0007] In one embodiment of the present application, the second determination module includes: a second acquisition unit, used to acquire an ultrasound image of the prostate through an ultrasound probe during a prostate hyperplasia surgery on the target patient, wherein the ultrasound probe is located in the rectum of the target patient; a determination unit, used to determine the intraoperative three-dimensional model based on the preoperative three-dimensional model and the ultrasound image.
[0008] In one embodiment of the present application, the determination unit is specifically used to: perform three-dimensional reconstruction of the prostate according to the ultrasound image to obtain an intermediate three-dimensional model; and align the intermediate three-dimensional model with the preoperative three-dimensional model to obtain the intraoperative three-dimensional model.
[0009] In one embodiment of the present application, the ultrasound probe is also used to capture images of the diffusion range of the hot steam during the process of the steam ablation needle outputting hot steam to obtain a target ultrasound image; wherein the system also includes: a first display module, used to visually display the target ultrasound image.
[0010] In one embodiment of the present application, the system further includes: a marking processing module, used to mark the diffusion range in the target ultrasound image; wherein the first display module is also used to display the marked target ultrasound image.
[0011] In one embodiment of the present application, the system further includes:
[0012] A third mapping module, used for mapping the diffusion range marked in the ultrasound image to the intraoperative three-dimensional model;
[0013] A processing module is used to determine the next needle entry point of the steam ablation needle based on the first needle entry point mapped and the mapped diffusion range in the intraoperative three-dimensional model, and mark the next needle entry point in the intraoperative three-dimensional model; after the steam ablation needle completes ablation at the next needle entry point, continue to mark the diffusion range of the next needle entry point and the needle entry points after the next needle entry point in the intraoperative three-dimensional model until the number of needle entry points in the intraoperative three-dimensional model reaches a preset number of needle entry points.
[0014] In one embodiment of the present application, the system further includes: a second display module for visually displaying the process of the steam ablation needle moving along the target navigation route to the mapped ablation range.
[0015] In one embodiment of the present application, the system also includes: an electromagnetic field generating module, used to generate an electromagnetic field in the operating area, wherein the operating area refers to the area where the operating room where the target patient undergoes prostate hyperplasia surgery is located; the third determination module is specifically used to: obtain the electrical signal generated by the electromagnetic field sensor cutting the electromagnetic field, and determine the first spatial position of the steam ablation needle based on the electrical signal, wherein the electromagnetic field sensor is arranged on the thermal steam ablation device.
[0016] Another aspect of the present application provides an electronic device, which includes the prostate thermal steam ablation navigation system disclosed in the present application.
[0017] According to the technical solution provided by the embodiment of the present application, the first needle entry point and the ablation range are marked on the preoperative three-dimensional model of the prostate of the target patient, and during the process of performing prostate hyperplasia surgery on the target patient, the intraoperative three-dimensional model of the prostate is determined, and the first needle entry point and the ablation range marked in the preoperative three-dimensional model are mapped to the intraoperative three-dimensional model to obtain the mapped first needle entry point and the ablation range, and the first spatial position of the steam ablation needle of the hot steam ablation device is determined by the electromagnetic field sensor set on the hot steam ablation device, and the first spatial position is mapped to the intraoperative three-dimensional model according to the mapping relationship between the first coordinate system based on the first spatial position and the second coordinate system based on the intraoperative three-dimensional model to obtain the second spatial position, and the navigation route is planned according to the second spatial position, the mapped first needle entry point and the mapped ablation range to obtain the target navigation route, and the target navigation route is visually displayed. As a result, the corresponding operator can reach the first needle entry point and insert the needle based on the visually displayed target navigation route, and move to the ablation range based on the target navigation route after the needle is inserted, thereby improving the safety of the operation.
[0018] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present application.
[0020] Figure 1 is a structural schematic diagram of a prostate thermal steam ablation navigation system according to an embodiment of the present application;
[0021] Figure 2 It is a structural schematic diagram of a prostate thermal steam ablation navigation system according to another embodiment of the present application. DETAILED DESCRIPTION
[0022] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.
[0023] Figure 1 Schematic diagram of the structure of a prostate thermal steam ablation navigation system 10 according to an embodiment of the present application.
[0024] like Figure 1As shown, the prostate thermal steam ablation navigation system 10 includes: a first determination module 101, an acquisition module 102, a second determination module 103, a first mapping module 104, a third determination module 105, a second mapping module 106 and a navigation planning module 107, wherein:
[0025] The first determination module 101 is used to determine a preoperative three-dimensional model of the prostate of a target patient.
[0026] The acquisition module 102 is used to acquire the first needle insertion point and the ablation range marked on the preoperative three-dimensional model.
[0027] The second determination module 103 is used to determine the intraoperative three-dimensional model of the prostate of the target patient during the process of performing prostate hyperplasia surgery on the target patient.
[0028] The first mapping module 104 is used to map the first needle entry point and the ablation range onto the intraoperative three-dimensional model according to the transformation relationship between the preoperative three-dimensional model and the intraoperative three-dimensional model, so as to obtain the mapped first needle entry point and ablation range.
[0029] The third determination module 105 is used to determine a first spatial position of a steam ablation needle of a thermal steam ablation device.
[0030] The second mapping module 106 is used to map the first spatial position to the intraoperative three-dimensional model according to the mapping relationship between the first coordinate system based on the first spatial position and the second coordinate system based on the intraoperative three-dimensional model to obtain the second spatial position.
[0031] The navigation planning module 107 is used to plan the navigation route according to the second spatial position, the mapped first needle entry point and the mapped ablation range to obtain a target navigation route, and visually display the target navigation route, wherein the target navigation route is a navigation route starting from the second spatial position and passing through the mapped first needle entry point to reach the mapped ablation range. Thus, the corresponding operator can control the steam ablation needle to move along the target navigation route to the mapped first needle entry point and reach the mapped ablation range based on the target navigation route, thereby improving the safety of the operation.
[0032] It should be noted that the second spatial position, the first needle insertion point and the ablation range are marked on the target navigation route in this embodiment. In other words, the second spatial position, the first needle insertion point and the ablation range are marked on the target navigation route.
[0033] It should be noted that the first needle insertion point refers to the needle insertion position corresponding to the first insertion of the steam ablation needle.
[0034] In other embodiments, during the process of performing prostate hyperplasia surgery on the target patient, the first mapped needle insertion point can be displayed in the intraoperative three-dimensional model, and when the operator controls the insertion of the steam ablation needle, the actual needle insertion point of the steam ablation needle during the operation can be marked in the intraoperative three-dimensional model, so that the operator can identify the actual needle insertion point of the previous needle during the next needle insertion, and control the needle distance according to the actual needle insertion point of the previous needle, so that the needle distances corresponding to multiple needle insertions are evenly distributed, thereby achieving comprehensive ablation of the prostate hyperplasia area of the target patient and ensuring that no area is missed.
[0035] It should be noted that, in this embodiment, performing prostate hyperplasia surgery on the target patient refers to performing prostate hyperplasia treatment surgery on the target patient.
[0036] In one embodiment of the present application, in order to accurately obtain a preoperative three-dimensional model, Figure 1 Based on the embodiment shown, Figure 2 As shown, the first determination module 101 includes:
[0037] The first acquisition unit 1011 is used to acquire preoperative Magnetic Resonance Imaging (MRI) data of the prostate of the target patient.
[0038] The three-dimensional reconstruction unit 1012 is used to perform three-dimensional reconstruction based on the preoperative MRI data to obtain a preoperative three-dimensional model of the prostate of the target patient.
[0039] In one embodiment of the present application, in order to accurately obtain a preoperative three-dimensional model of the target patient's prostate, the three-dimensional reconstruction unit 1012 may perform image segmentation on the MRI data to obtain segmented images corresponding to each key structure in the prostate, and perform three-dimensional reconstruction of the prostate based on the segmented images to obtain a preoperative three-dimensional model of the prostate.
[0040] Among them, the key structures may include but are not limited to: prostate capsule, prostate gland, prostate gland, urethra, etc.
[0041] In one embodiment of the present application, in order to accurately obtain a three-dimensional model of the patient's prostate during surgery, such as Figure 2 As shown, the second determining module 103 may include:
[0042] The second acquisition unit 1031 is used to acquire an ultrasonic image of the prostate through an ultrasonic probe during a prostate hyperplasia surgery on a target patient, wherein the ultrasonic probe is located in the rectum of the target patient.
[0043] The determination unit 1032 is used to determine the intraoperative three-dimensional model according to the preoperative three-dimensional model and the ultrasound image.
[0044] It should be noted that the ultrasound probe in this embodiment can move in the rectum.
[0045] In one embodiment of the present application, in order to accurately obtain the intraoperative three-dimensional model of the patient's prostate, the determination unit 1302 is specifically used to: perform three-dimensional reconstruction of the prostate according to the ultrasound image to obtain an intermediate three-dimensional model; and align the intermediate three-dimensional model with the preoperative three-dimensional model to obtain the intraoperative three-dimensional model. Thus, during the process of performing prostate hyperplasia surgery on the target patient, the preoperative three-dimensional model is adjusted in combination with the ultrasound image collected during the surgery, and the intraoperative three-dimensional model of the prostate of the target patient during the surgery is accurately obtained.
[0046] In one embodiment of the present application, when determining that the ultrasound image is a three-dimensional image, the determination unit 1302 may perform rigid registration and / or elastic registration on the ultrasound image and the preoperative three-dimensional model to obtain a three-dimensional model registered with the ultrasound image, and use the three-dimensional model registered with the ultrasound image as an intraoperative three-dimensional model of the target patient's prostate, so that the preoperative three-dimensional model can be adjusted based on actual conditions, thereby improving the accuracy of the navigation route determined later and improving the accuracy and safety of subsequent surgical treatments.
[0047] In one embodiment of the present application, when the ultrasound image is a two-dimensional image, the prostate can be reconstructed in three dimensions based on the ultrasound image to obtain an intermediate three-dimensional model of the prostate; the intermediate three-dimensional model and the preoperative three-dimensional model are aligned to obtain an intraoperative three-dimensional model. Thus, the ultrasound image collected in real time by the intraoperative ultrasound probe is aligned with the preoperative three-dimensional model established before the operation, thereby accurately obtaining a real-time intraoperative three-dimensional model of the prostate during the operation, which can then improve the accuracy of subsequent surgical treatment.
[0048] It should be noted that, in this embodiment, the rigid registration algorithm used for rigid registration of the intermediate three-dimensional model and the preoperative three-dimensional model, or the elastic registration algorithm used for elastic registration of the intermediate three-dimensional model and the preoperative three-dimensional model is pre-set and can be pre-configured according to actual conditions. This embodiment does not specifically limit the rigid registration algorithm or the non-rigid registration algorithm.
[0049] It should be noted that the elastic registration in this embodiment may also be called non-rigid registration, and correspondingly, the elastic registration algorithm may also be called a non-rigid registration algorithm.
[0050] In one embodiment of the present application, in order to enable the operator to know the diffusion range of the hot steam and evaluate the treatment effect on the patient's prostate based on the diffusion range, in some embodiments, the ultrasound probe in this embodiment is also used to capture images of the diffusion range of the hot steam during the process of the steam ablation needle outputting hot steam to obtain a target ultrasound image.
[0051] In order to enable the operator to visually view the target ultrasound image containing the diffusion range of the hot steam, correspondingly, Figure 2 As shown, the system 10 may also include:
[0052] The first display module 108 is used to visually display the target ultrasound image.
[0053] In one embodiment of the present application, in order to enable the operator to conveniently know the diffusion range of the hot steam, the system may further include:
[0054] The marking processing module 109 is used to mark the diffusion range in the target ultrasound image.
[0055] The first display module 108 is also used to display the marked target ultrasound image. Therefore, during the process of performing prostate hyperplasia surgery on the target patient, the target ultrasound image is displayed in real time through the first display module 108, so that the diffusion range of the hot steam can be quickly and practically checked through the mark in the ultrasound image, and the treatment effect on the patient's prostate can be evaluated based on the diffusion range.
[0056] In some embodiments, in order to enable the corresponding operator to know the complete diffusion range, the first display module 108 is also used to merge the diffusion ranges in all target ultrasound images collected during the prostate hyperplasia surgery after the prostate hyperplasia surgery is completed for the target patient, so as to obtain the target diffusion range, and map the target diffusion range to the intraoperative three-dimensional model, so that the corresponding operator can view the final diffusion range through the intraoperative three-dimensional model.
[0057] In some embodiments, in order to facilitate the operator to visually view the diffusion range, correspondingly, Figure 2 As shown, the system 10 may also include:
[0058] The third mapping module 110 is used to map the diffusion range marked in the target ultrasound image to the intraoperative three-dimensional model, so that the corresponding operator can view the diffusion range of the hot steam in the intraoperative three-dimensional model and evaluate the treatment effect on the patient's prostate based on the diffusion range.
[0059] In addition, the system may also include:
[0060] The processing module 111 is used to determine the next needle point of the steam ablation needle according to the first needle point mapped and the mapped diffusion range in the intraoperative three-dimensional model, and mark the next needle point in the intraoperative three-dimensional model. After the steam ablation needle completes ablation at the next needle point, continue to mark the diffusion range of the next needle point and the needle points after the next needle point in the intraoperative three-dimensional model until the number of needle points in the intraoperative three-dimensional model reaches the preset number of needle points. Thus, the needle position of each needle insertion is marked in the intraoperative three-dimensional model to facilitate the corresponding operator to complete the insertion of the steam ablation needle according to the marked needle position.
[0061] Among them, the preset number of needle insertion points is pre-set according to actual needs.
[0062] In other embodiments, after the steam ablation needle is inserted based on the first insertion point, the actual insertion point of the steam ablation needle can be determined, and the actual insertion point can be mapped to the intraoperative three-dimensional model, and step A is performed, wherein step A is: based on the actual insertion point mapped in the intraoperative three-dimensional model and the next insertion point of the mapped steam ablation needle, the actual insertion point and diffusion range of the next insertion point are marked in the intraoperative three-dimensional model, and the next insertion point is determined based on the actual insertion point and diffusion range of the next insertion point, and step A is repeated until the number of insertion points in the intraoperative three-dimensional model reaches the preset number of insertion points. Thus, based on the actual insertion point of each insertion, the insertion point of the next insertion is planned, which further improves the accuracy of the insertion, and the insertion point of the next insertion is marked in the intraoperative three-dimensional model, so that the operator can accurately insert the steam ablation needle based on the marked insertion point.
[0063] In one embodiment of the present application, in order to allow the operator to visually view the process of the steam ablation needle moving along the target navigation route to the mapped ablation range, such as Figure 2 As shown, the system 10 may also include:
[0064] The second display module 112 is used to visually display the process of the steam ablation needle moving along the target navigation route to the mapped ablation range.
[0065] In one embodiment of the present application, in order to accurately determine the first spatial position of the steam ablation needle, such as Figure 2 As shown, the system 10 may also include:
[0066] The electromagnetic field generating module 113 is used to generate an electromagnetic field in the operating area, wherein the operating area refers to the area corresponding to the operating room where the target patient undergoes prostate hyperplasia surgery.
[0067] The third determination module 105 is specifically used to obtain an electrical signal generated by the electromagnetic field sensor cutting the electromagnetic field, and determine the first spatial position of the steam ablation needle according to the electrical signal, wherein the electromagnetic field sensor is arranged on the thermal steam ablation device.
[0068] Specifically, the operation area in this embodiment refers to the internal area corresponding to the operating room where the prostate hyperplasia operation is performed on the target patient.
[0069] The prostate thermal steam ablation navigation system provided in the embodiment of the present application marks the first needle entry point and the ablation range on the preoperative three-dimensional model of the prostate of the target patient, and during the process of performing prostate hyperplasia surgery on the target patient, determines the intraoperative three-dimensional model of the prostate, and maps the first needle entry point and the ablation range marked in the preoperative three-dimensional model to the intraoperative three-dimensional model to obtain the mapped first needle entry point and the ablation range, and determines the first spatial position of the steam ablation needle of the thermal steam ablation device through an electromagnetic field sensor set on the thermal steam ablation device, and maps the first spatial position to the intraoperative three-dimensional model according to the mapping relationship between the first coordinate system based on the first spatial position and the second coordinate system based on the intraoperative three-dimensional model to obtain the second spatial position, and performs navigation route planning according to the second spatial position, the mapped first needle entry point and the mapped ablation range to obtain the target navigation route, and visualizes the target navigation route. As a result, the corresponding operator can reach the first needle entry point and insert the needle based on the visualized target navigation route, and move to the ablation range based on the target navigation route after the needle is inserted, thereby improving the safety of the operation.
[0070] The embodiment of the present application also provides an electronic device, including the above-mentioned prostate thermal steam ablation navigation system provided in the embodiment of the present application.
[0071] It should be noted that since the principle of solving the problem by the electronic device is similar to that of the aforementioned prostate thermal steam ablation navigation system, the implementation of the electronic device can refer to the implementation of the prostate thermal steam ablation navigation system, and the repeated parts will not be repeated.
[0072] It should be noted that the electronic device in this embodiment can be any device that includes the above-mentioned prostate thermal steam ablation navigation system, and this embodiment does not specifically limit the specific form of the electronic device.
[0073] The embodiment of the present application also provides a control method based on the prostate thermal steam ablation navigation system, which includes: determining a preoperative three-dimensional model of the prostate of a target patient; obtaining a first needle entry point and an ablation range marked on the preoperative three-dimensional model; during a prostate hyperplasia surgery on the target patient, determining an intraoperative three-dimensional model of the prostate of the target patient; mapping the first needle entry point and the ablation range to the intraoperative three-dimensional model according to a transformation relationship between the preoperative three-dimensional model and the intraoperative three-dimensional model, respectively, to obtain the mapped first needle entry point and ablation range; determining the thermal steam ablation system A first spatial position of a steam ablation needle prepared; mapping the first spatial position to the intraoperative three-dimensional model according to a mapping relationship between a first coordinate system based on the first spatial position and a second coordinate system based on the intraoperative three-dimensional model to obtain a second spatial position; performing navigation route planning according to the second spatial position, the mapped first needle entry point and the mapped ablation range to obtain a target navigation route, and visually displaying the target navigation route, wherein the target navigation route is a navigation route starting from the second spatial position and passing through the mapped first needle entry point to reach the mapped ablation range.
[0074] The control method of the prostate thermal steam ablation navigation system provided in the embodiment of the present application is to mark the first needle entry point and the ablation range on the preoperative three-dimensional model of the prostate of the target patient, and in the process of performing prostate hyperplasia surgery on the target patient, determine the intraoperative three-dimensional model of the prostate, and map the first needle entry point and the ablation range marked in the preoperative three-dimensional model to the intraoperative three-dimensional model to obtain the mapped first needle entry point and the ablation range, and determine the first spatial position of the steam ablation needle of the thermal steam ablation device through an electromagnetic field sensor set on the thermal steam ablation device, and map the first spatial position to the intraoperative three-dimensional model according to the mapping relationship between the first coordinate system based on the first spatial position and the second coordinate system based on the intraoperative three-dimensional model to obtain the second spatial position, and perform navigation route planning according to the second spatial position, the mapped first needle entry point and the mapped ablation range to obtain the target navigation route, and visualize the target navigation route. Thus, the corresponding operator can reach the first needle entry point and insert the needle based on the visualized target navigation route, and move to the ablation range based on the target navigation route after the needle is inserted, thereby improving the safety of the operation.
[0075] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.
[0076] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
[0077] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.
Claims
1. A prostate thermal steam ablation navigation system, characterized in that: The system comprises: A first determination module is used to determine a preoperative three-dimensional model of the prostate of the target patient; An acquisition module, used for acquiring the first needle insertion point and ablation range marked on the preoperative three-dimensional model; A second determination module is used to determine an intraoperative three-dimensional model of the prostate of the target patient during a prostate hyperplasia surgery on the target patient; A first mapping module, used for mapping the first needle entry point and the ablation range onto the intraoperative three-dimensional model respectively according to the transformation relationship between the preoperative three-dimensional model and the intraoperative three-dimensional model, so as to obtain the mapped first needle entry point and ablation range; A third determination module is used to determine a first spatial position of a steam ablation needle of a thermal steam ablation device; a second mapping module, configured to map the first spatial position to the intraoperative three-dimensional model according to a mapping relationship between a first coordinate system based on the first spatial position and a second coordinate system based on the intraoperative three-dimensional model, so as to obtain a second spatial position; A navigation planning module is used to plan a navigation route according to the second spatial position, the first mapped needle entry point and the mapped ablation range to obtain a target navigation route, and to visually display the target navigation route, wherein the target navigation route is a navigation route starting from the second spatial position and passing through the first mapped needle entry point to reach the mapped ablation range.
2. The system according to claim 1, characterized in that The first determining module includes: A first acquisition unit, configured to acquire preoperative MRI data of the prostate of the target patient; The three-dimensional reconstruction unit is used to perform three-dimensional reconstruction according to the preoperative MRI data to obtain a preoperative three-dimensional model of the prostate of the target patient.
3. The system according to claim 1, characterized in that The second determining module includes: A second acquisition unit is used to acquire an ultrasonic image of the prostate through an ultrasonic probe during a prostate hyperplasia surgery on the target patient, wherein the ultrasonic probe is located in the rectum of the target patient; A determination unit is used to determine the intraoperative three-dimensional model according to the preoperative three-dimensional model and the ultrasound image.
4. The system according to claim 3, characterized in that The determining unit is specifically configured to: Performing three-dimensional reconstruction of the prostate according to the ultrasound image to obtain an intermediate three-dimensional model; The intermediate three-dimensional model and the pre-operative three-dimensional model are registered to obtain the intra-operative three-dimensional model.
5. The system according to claim 3, characterized in that The ultrasonic probe is also used to collect images of the diffusion range of the hot steam during the process of the steam ablation needle outputting hot steam, so as to obtain a target ultrasonic image; Wherein, the system further comprises: The first display module is used to visually display the target ultrasound image.
6. The system according to claim 5, characterized in that The system further comprises: A marking processing module, used for marking the diffusion range in the target ultrasound image; Wherein, the first display module is also used to display the marked target ultrasound image.
7. The system according to claim 6, characterized in that The system further comprises: A third mapping module, used for mapping the diffusion range marked in the ultrasound image to the intraoperative three-dimensional model; A processing module is used to determine the next needle entry point of the steam ablation needle based on the first needle entry point mapped and the mapped diffusion range in the intraoperative three-dimensional model, and mark the next needle entry point in the intraoperative three-dimensional model; after the steam ablation needle completes ablation at the next needle entry point, continue to mark the diffusion range of the next needle entry point and the needle entry points after the next needle entry point in the intraoperative three-dimensional model until the number of needle entry points in the intraoperative three-dimensional model reaches a preset number of needle entry points.
8. The system of claim 1, wherein: The system further comprises: The second display module is used to visually display the process of the steam ablation needle moving along the target navigation route to the mapped ablation range.
9. The system according to claim 1, characterized in that The system further comprises: An electromagnetic field generating module, used for generating an electromagnetic field in a surgical area, wherein the surgical area refers to an area where an operating room where a prostate hyperplasia surgery is performed on the target patient is located; The third determination module is specifically used to: obtain the electrical signal generated by the electromagnetic field sensor cutting the electromagnetic field, and determine the first spatial position of the steam ablation needle according to the electrical signal, wherein the electromagnetic field sensor is arranged on the thermal steam ablation device.
10. An electronic device, characterized in that: It comprises the prostate thermal steam ablation navigation system as described in any one of claims 1 to 9.