A puncture robot tumor ablation method and system based on magnetic resonance imaging

Abstract

The present invention discloses a puncture robot tumor ablation method and system based on magnetic resonance imaging. The method includes: scanning the lesion through medical imaging examination to obtain a preoperative magnetic resonance image; reconstructing a three-dimensional model of the lesion and surrounding tissues, and planning the optimal puncture path; updating the positional relationship between the needle tip and the center of the lesion in real time, feeding back the deviation information of the needle tip position, and guiding the puncture needle to the tumor ablation area in real time; using dual-path ablation to perform real-time temperature monitoring and whole blood circulation dynamics monitoring, and adjusting the ablation power and time accordingly; using postoperative wound management and closure technology to consolidate the ablation effect; and evaluating the ablation effect through magnetic resonance imaging examination and postoperative biopsy. The present invention can realize a puncture robot tumor ablation method based on magnetic resonance for tumor ablation, effectively perform temperature and blood flow monitoring, and reflect the ablation effect and residual lesion status in real time through a comprehensive postoperative evaluation method.

Description

Technical Field

[0001] The present invention relates to the field of image processing technology, and in particular to a magnetic resonance-based puncture robot tumor ablation method and system. Background Art

[0002] With the development of medical imaging technology, tumor ablation therapy has gradually become an effective method for tumor management. However, existing technologies still have shortcomings in many aspects, which limit the effectiveness of their clinical application.

[0003] Traditional tumor ablation methods rely heavily on CT (computed tomography) and ultrasound guidance. While these technologies provide effective real-time images in some cases, they lack contrast and resolution when treating soft tissue tumors, especially when facing adjacent vital organs or blood vessels. Positioning accuracy decreases, increasing the risk of accidental injury. For example, when identifying lung tumors using CT, atelectasis, necrosis, or the influence of surrounding gas may make it difficult for the puncture needle to accurately reach the target tumor. This problem is particularly prominent when treating tumors less than 2 cm in diameter, and existing literature shows that the sampling accuracy rate is less than 30%.

[0004] Another shortcoming of current technology is the lag in temperature monitoring and tissue response feedback. During ablation, real-time monitoring of temperature changes often relies on intermittent sampling and analysis, which lacks immediacy. This makes it difficult for physicians to adjust ablation power and duration in a timely manner, potentially leading to over- or under-ablation, ultimately compromising treatment efficacy and patient safety. Furthermore, the lack of real-time monitoring of hemodynamics within the ablation zone can lead to misjudgment of tissue response.

[0005] Although percutaneous biopsy (such as TNB and EBUS-TBNA) provides a relatively effective means for obtaining tumor tissue, it still has certain limitations. In some cases, patients may be unable to tolerate invasive examinations due to poor health or refuse surgery due to fear, making tissue sample acquisition difficult. In addition, existing biopsy methods may not be able to obtain sufficient tissue when treating tumors in certain locations or shapes, affecting the accuracy of pathological diagnosis and, in turn, subsequent treatment decisions.

[0006] Existing technologies often employ a one-size-fits-all approach to treatment, lacking the ability to tailor treatments to individual patient differences. For example, tumor biology, tissue structure, location, and surrounding environment vary from patient to patient. Traditional approaches are unable to adapt treatment plans in real time to these differences, resulting in individualized treatment outcomes and even the risk of treatment failure.

[0007] Postoperative wound management and complication monitoring are crucial for ensuring patient safety and improving treatment outcomes. Existing technologies for postoperative wound management are often inadequate, lacking effective closure and protective measures. This can increase the incidence of complications such as postoperative bleeding and infection, impacting patient recovery. Summary of the Invention

[0008] In view of this, an object of the embodiments of the present invention is to provide a magnetic resonance-based puncture robot tumor ablation method and system, which can improve the accuracy, safety and effectiveness of tumor ablation.

[0009] The present invention provides a magnetic resonance-based puncture robot tumor ablation method, which includes:

[0010] Multimodal magnetic resonance imaging fusion technology is used to scan the lesions through medical imaging examinations to obtain preoperative magnetic resonance images.

[0011] Based on the preoperative magnetic resonance images, a three-dimensional model of the lesion and surrounding tissues is reconstructed, and an optimal puncture path is planned.

[0012] Through magnetic resonance plane scanning at any angle, the positional relationship between the needle tip and the center of the lesion is updated in real time, the deviation information of the needle tip position is fed back, and the puncture needle is guided to the tumor ablation area in real time.

[0013] Dual-channel ablation is used, with one channel performing real-time MR temperature monitoring and the other channel performing synchronous high-frequency ablation, performing real-time temperature monitoring and whole blood circulation dynamics monitoring, and adjusting the ablation power and time accordingly.

[0014] Postoperative wound management and closure techniques were used to consolidate the ablation effect.

[0015] After the ablation, the ablation effect was evaluated by magnetic resonance imaging and postoperative biopsy.

[0016] The multimodal magnetic resonance imaging fusion technology is used to scan the lesion through medical imaging examination to obtain preoperative magnetic resonance images including:

[0017] Determine the gross contours of the tumor and soft tissue borders using T2-weighted imaging sequences; and / or

[0018] Obtaining diffusion characteristics of the tumor region by diffusion-weighted imaging sequence scanning; and / or

[0019] Dynamic monitoring of blood flow and perfusion of tumors and surrounding tissues through dynamic contrast-enhanced magnetic resonance imaging sequence scanning; and / or

[0020] Tumor metabolic analysis was performed using magnetic resonance spectroscopy imaging sequences.

[0021] Image registration and fusion of multiple medical images are performed to obtain preoperative magnetic resonance images containing multi-level information of tumor tissue.

[0022] According to the individual characteristics of the patient and the clarity of the image, the scanning parameter combination of multiple medical images is adjusted to optimize the quality of the preoperative magnetic resonance image.

[0023] Its technical benefits include: By utilizing multimodal MRI fusion technology and leveraging the strengths of different imaging sequences, clearer and more detailed images of tumors and surrounding tissues can be obtained, enabling real-time monitoring of blood flow and perfusion in these tissues. Scanning parameters can be flexibly adjusted based on individual patient characteristics, enabling the selection of the most appropriate imaging sequence and parameters for each patient's specific circumstances. This facilitates assessment of tumor physiological characteristics and provides immediate feedback for puncture and ablation.

[0024] The step of reconstructing a three-dimensional model of the lesion and surrounding tissues based on the preoperative magnetic resonance imaging and planning an optimal puncture path includes:

[0025] The preoperative magnetic resonance image is voxelized, and a threshold segmentation technique is used to distinguish the tumor from the surrounding normal tissue. The portion greater than a preset grayscale threshold is segmented as the tumor area, and the portion less than the preset grayscale threshold is segmented as the background, thereby obtaining a voxel grid image.

[0026] A cube contour extraction algorithm is used to traverse the voxel grid image and divide the three-dimensional voxel data into a number of cubes.

[0027] For each vertex of the cube, an 8-bit binary index is generated, marking the vertex as inside or outside depending on whether the value is 1 or 0.

[0028] According to the internal and external marks, a predefined triangle lookup table is used to generate triangles in each of the cubes to obtain a triangular mesh for representing a three-dimensional geometric model.

[0029] A path planning algorithm is used to calculate the optimal puncture path and avoid non-punctureable areas.

[0030] Calculate the cost function C = w1·d+w2·r+w3·s, where d is the length of the puncture path, r is the risk score of the sensitive tissue passed by the path, s is the stability score of the path, w1, w2 and w3 are weight coefficients, and obtain the optimal puncture path based on the path optimized according to the cost function.

[0031] The technical benefits of this approach include: Through voxelization and threshold segmentation techniques, tumors can be clearly distinguished from surrounding normal tissue, helping to better understand the tumor's location and shape. A path planning algorithm calculates the optimal puncture path, avoiding non-puncturable areas and reducing the risk of damage to vital tissues and organs. The cost function design incorporates the puncture path length, the risk score of sensitive tissues traversed, and the path stability score, improving surgical safety and ablation success rates.

[0032] The method of updating the positional relationship between the needle tip and the lesion center in real time through magnetic resonance arbitrary angle plane scanning, feeding back deviation information of the needle tip position, and guiding the puncture needle to the tumor ablation area in real time includes:

[0033] Magnetic resonance imaging was used for real-time scanning to obtain continuous two-dimensional magnetic resonance images including the puncture needle and the lesion.

[0034] Real-time reconstruction is performed in the three-dimensional model according to the continuous two-dimensional magnetic resonance images, and a real-time needle tip position of the puncture needle is generated in the three-dimensional model.

[0035] The actual distance is calculated based on the spatial relationship between the needle tip position and the tumor center. Among them, (x needle ,y needle ,z needle ) is the coordinate of the needle tip position, (x tumor ,y tumor ,z tumor ) are the coordinates of the tumor center.

[0036] Set the ideal distance d between the needle tip and the tumor center ideal .

[0037] According to the actual distance d actual The ideal distance d ideal The deviation between the two is detected, and the direction and insertion angle of the puncture needle are adjusted in real time to guide the puncture needle to the tumor ablation area.

[0038] The technical benefits of this approach are: Through real-time scanning using magnetic resonance imaging, continuous two-dimensional images of the puncture needle and tumor are acquired, enabling real-time observation of the relationship between the needle's progress and the location of the lesion. By accurately tracking the needle tip position in real time within a three-dimensional model, the needle tip's position is accurately generated, ensuring that the needle tip can promptly respond to changes in the tumor's location. By calculating the actual distance between the needle tip and the tumor center, the needle tip's deviation from the target lesion is accurately assessed, effectively preventing the needle from accidentally injuring surrounding vital tissues or organs and increasing the likelihood of successfully directing the needle to the tumor ablation area.

[0039] Wherein, the dual-channel ablation is adopted, one channel performs real-time MR temperature monitoring, and the other channel performs synchronous high-frequency ablation, performs real-time temperature monitoring and whole blood circulation dynamics monitoring, and the corresponding adjustment of ablation power and time includes:

[0040] Set the target temperature T to achieve effective ablation target .

[0041] A temperature sensor was installed at the tip of the ablation needle, and the temperature distribution was obtained through MR imaging.

[0042] A hemodynamic monitoring device is installed at the tip of the other ablation needle to obtain blood flow imaging distribution.

[0043] The temperature distribution is combined with the blood flow imaging distribution to form a real-time temperature and blood flow distribution map within the ablation area.

[0044] According to the deviation between the current temperature and the target temperature and the influence of blood flow on temperature control, the ablation power P(t)=P0+K·(T target -T current )-H·(v blood -v critical ), where P0 is the initial power, K is the power adjustment coefficient, T current is the current temperature, H is the blood flow adjustment coefficient, v blood is the current blood flow velocity, v critical is the critical blood flow velocity.

[0045] Adjust the ablation duration t according to the temperature and blood flow monitoring results adjusted =t0+Δt, where t0 is the initially set ablation time and Δt is the adjustment amount based on the real-time monitoring results.

[0046]

[0047] The technical benefits of this technology are: by setting a target temperature and using a temperature sensor for real-time monitoring, the temperature during the ablation process is maintained within the effective ablation range, minimizing damage to surrounding healthy tissue. A hemodynamic monitoring device installed at the tip of the ablation needle provides real-time blood flow distribution. This real-time image, combined with temperature and blood flow imaging, allows for comprehensive analysis and optimization of the ablation strategy. Based on the real-time temperature and blood flow monitoring results, the ablation power and duration are intelligently adjusted, improving the safety and effectiveness of the treatment.

[0048] The calculation formula of the critical blood flow velocity is v critical =v thresh ·f(T current ), where v thresh is the basic blood flow velocity, f(T current) is the temperature adjustment factor.

[0049] The temperature adjustment factor f(T current ) is determined by the temperature-dependent function Calculated, where L is the maximum value of the function, indicating the limit value of the dynamic adjustment of blood flow under high temperature conditions, and k is the growth rate parameter, indicating the effect of temperature change on the temperature adjustment factor f(T current ) influence intensity, T0 is the midpoint temperature, indicating that at this temperature, the temperature adjustment factor f(T current ) achieved Temperature value.

[0050] The technical benefits of this technology include: By calculating the baseline blood flow velocity and the temperature adjustment factor, it accurately assesses the dynamic response of blood flow under different temperature conditions, allowing for timely adjustments during the ablation process to avoid negative impacts on the ablation effect. The temperature-dependent function makes the dynamic blood flow adjustment more responsive to temperature changes. At low temperatures, the response is weaker, reducing unnecessary adjustments. As the temperature approaches the midpoint, the output increases rapidly, ensuring the accuracy of the ablation operation and improving the control precision of the ablation process.

[0051] The postoperative wound management and closure techniques used to consolidate the ablation effect include:

[0052] Monitor the physiological parameters of the wound when the ablation needle is removed.

[0053] Analyze physiological parameters during wound healing and identify potential complications using time series analysis and anomaly detection algorithms.

[0054] When the monitored physiological parameters are out of the normal range or potential complications are identified, physiological saline is injected through the micropump structure to close the needle tract.

[0055] According to the characteristics of the wound, the corresponding biocompatible sealing material is used to close the wound, and the suturing effect is monitored and fed back in real time.

[0056] The temperature control algorithm is used to perform directional thermal coagulation of the tissue around the wound, set the target temperature and heating time, and adjust the heating power through real-time temperature feedback.

[0057] Its technical effects are: through real-time monitoring and analysis of the physiological parameters of the wound, abnormal conditions in the wound healing process can be promptly identified, potential complications can be quickly addressed, and postoperative risks can be reduced. When abnormal physiological parameters are monitored, physiological saline can be quickly injected through a micropump to seal the needle tract, timely intervention can be made to prevent complications such as infection or bleeding, and enhance the safety of wound healing; the use of biocompatible sealing materials for wound closure can provide a better healing environment, reduce rejection reactions, promote tissue regeneration, and accelerate the healing process; through the temperature control algorithm, the tissue around the wound is subjected to directional thermal coagulation, which can effectively control the range and intensity of thermal coagulation, avoid damage to normal tissue, and accelerate hemostasis and promote healing. Through the temperature control algorithm, the tissue around the wound is subjected to directional thermal coagulation, which can effectively control the range and intensity of thermal coagulation, avoid damage to normal tissue, and accelerate hemostasis and promote healing.

[0058] After the ablation is completed, the ablation effect is evaluated by magnetic resonance imaging and postoperative biopsy, including:

[0059] Multimodal magnetic resonance imaging fusion technology is used to scan the ablation site through medical imaging examination to obtain postoperative magnetic resonance images.

[0060] The postoperative magnetic resonance images were processed using a deep learning segmentation model to identify ablation areas and residual lesions.

[0061] Calculation of postoperative magnetic resonance imaging scores Among them, V pre is the preoperative lesion volume, V post is the volume of the lesion after ablation, B clear is the proportion of lesions with clear boundaries, B total is the total lesion area, C1 and C2 are weight constants.

[0062] Based on the analysis results of the postoperative magnetic resonance imaging, areas suspected of having residual lesions were selected for biopsy.

[0063] Evaluate cell viability and tumor cell survival in biopsy samples and calculate biopsy scores N alive is the number of viable tumor cells in the biopsy, N total is the total cell count in biopsy, P malignant is the proportion of malignant cells, P total is the total number of cells in the biopsy sample, and D1 and D2 are weight coefficients.

[0064] Calculate tumor characteristic parameters based on biomarker measurements Among them, K i is the Ki-67 index, K max The maximum value of Ki-67, M iare other biomarker values, M max is the maximum value of the other biomarker, and E1 and E2 are weight coefficients.

[0065] Establish a comprehensive evaluation index E = α·I for evaluating ablation effect MRI +β·I biopsy +γ·D tumor +δ·R treatment , where α, β, γ and δ are weight coefficients.

[0066] The technical benefits of this approach are: by assessing the survival of tumor cells in biopsy samples, it can reflect treatment efficacy in real time. Combined with biomarker measurements, it can more comprehensively assess tumor characteristics and behavior, providing patients with personalized treatment plans. Through the clarity and quantification of evaluation indicators, it comprehensively reflects the ablation effect, achieving a precise assessment of tumor ablation efficacy.

[0067] The present invention also provides a magnetic resonance-based puncture robot tumor ablation system, which includes:

[0068] The multimodal magnetic resonance imaging fusion module is used to adopt multimodal magnetic resonance imaging fusion technology to scan the lesion through medical imaging examination to obtain preoperative magnetic resonance images.

[0069] The three-dimensional model reconstruction module is used to reconstruct a three-dimensional model of the lesion and surrounding tissues based on the preoperative magnetic resonance imaging, and plan the optimal puncture path.

[0070] The deviation correction guidance module is used to update the positional relationship between the needle tip and the center of the lesion in real time through magnetic resonance imaging at any angle, feedback the deviation information of the needle tip position, and guide the puncture needle to the tumor ablation area in real time.

[0071] The dual-channel ablation module is used for dual-channel ablation, one channel performs real-time MR temperature monitoring, and the other channel performs synchronous high-frequency ablation, performs real-time temperature monitoring and whole blood circulation dynamics monitoring, and adjusts the ablation power and time accordingly.

[0072] The postoperative management module is used to consolidate the ablation effect through postoperative wound management and closure techniques.

[0073] The ablation effect evaluation module is used to evaluate the ablation effect through magnetic resonance imaging and postoperative biopsy after the ablation is completed.

[0074] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the magnetic resonance-based puncture robot tumor ablation method as described above is implemented.

[0075] The beneficial effects of the present invention are:

[0076] The technical problems to be solved by the present invention mainly include: the existing tumor ablation technology has deficiencies in precise positioning and real-time monitoring, making it difficult to effectively guide the puncture needle to accurately reach the tumor area; traditional ablation methods have a high risk of damaging surrounding tissues and lack effective temperature and blood flow monitoring methods; postoperative evaluation methods are not comprehensive enough, making it difficult to reflect the ablation effect and residual lesions in real time.

[0077] The present invention adopts multimodal magnetic resonance imaging fusion technology, integrates the advantages of different imaging sequences, provides clearer tumor images, updates the puncture needle position in real time, and significantly improves positioning accuracy; introduces a dual-channel ablation system, one for real-time temperature monitoring and the other for synchronous high-frequency ablation, which can dynamically adjust the ablation power to ensure the ablation effect; combines postoperative wound management and closure technology, utilizes biocompatible materials and temperature control algorithms to promote healing and reduce the risk of complications; analyzes postoperative images through deep learning technology to achieve accurate evaluation of the ablation effect.

[0078] This invention improves the accuracy and safety of tumor ablation and reduces damage to surrounding normal tissues. It optimizes ablation strategies and improves treatment effectiveness by real-time monitoring of temperature and blood flow dynamics. The establishment of a postoperative evaluation system enables quantitative and personalized evaluation of ablation effects, guides subsequent treatment decisions, and enhances patients' confidence in treatment. The overall solution combines the latest imaging technology and intelligent algorithms, promotes the development of tumor ablation technology, and has broad clinical application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0080] Figure 1 The figure is a flow chart of the magnetic resonance-based puncture robot tumor ablation method of the present invention. DETAILED DESCRIPTION

[0081] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0082] Please refer to Figure 1The first embodiment of the present invention provides a magnetic resonance-based puncture robot tumor ablation method, which includes: using multimodal magnetic resonance imaging fusion technology to scan the lesion through medical imaging examination to obtain a preoperative magnetic resonance image; based on the preoperative magnetic resonance image, reconstructing a three-dimensional model of the lesion and surrounding tissue, and planning an optimal puncture path; updating the position relationship between the needle tip and the center of the lesion in real time through magnetic resonance arbitrary angle plane scanning, feeding back the deviation information of the needle tip position, and guiding the puncture needle to the tumor ablation area in real time; using dual-path ablation, one path performs real-time MR temperature monitoring, and the other path performs synchronous high-frequency ablation, performs real-time temperature monitoring and whole blood circulation dynamics monitoring, and adjusts the ablation power and time accordingly; using postoperative wound management and closure technology to consolidate the ablation effect; after the ablation is completed, the ablation effect is evaluated through magnetic resonance imaging examination and postoperative biopsy.

[0083] Among them, when using medical imaging technology to scan lesions, it is necessary to select the corresponding imaging sequence based on factors such as the characteristics of the tumor or lesion, its location, and the surrounding tissue environment. Specifically, the T2-weighted imaging sequence can well display lesions such as fluid and inflammation, and is often used to observe tissues with high water content, such as cysts or necrotic areas within tumors. The diffusion-weighted imaging sequence is sensitive to the diffusion of water molecules and can be used to observe changes in tumor cell density, which helps to detect the malignancy of the tumor or early tiny lesions. The fast spin echo sequence with good soft tissue contrast can more clearly show the relationship between the tumor and the surrounding soft tissue, helping to determine the tumor boundary. The enhanced T1-weighted fast spin echo sequence has high spatial resolution and can enhance the vascular structure of the tumor. It can be selected when a detailed analysis of the tumor's morphology, boundaries, and internal structure is required. For lesion areas that require precise ablation, an appropriate proton density-weighted imaging sequence can be selected to monitor local temperature changes.

[0084] In combination with the first aspect, an embodiment of the present invention provides a first possible implementation of the first aspect, wherein the multimodal magnetic resonance imaging fusion technology is used to scan the lesion through medical imaging examination to obtain a preoperative magnetic resonance image, including: determining the gross contour and soft tissue boundary of the tumor through T2-weighted imaging sequence scanning; and / or obtaining the diffusion characteristics of the tumor area through diffusion-weighted imaging sequence scanning; and / or dynamically monitoring the blood flow and perfusion of the tumor and surrounding tissues through dynamic enhanced magnetic resonance imaging sequence scanning; and / or performing tumor metabolism analysis through magnetic resonance spectroscopy imaging sequence; performing image registration and fusion on multiple medical images to obtain a preoperative magnetic resonance image containing multi-level information of tumor tissue; adjusting the scanning parameter combination of multiple medical images according to the individual characteristics of the patient (such as differences in the size, location and tissue density of the patient's lesion) and the clarity of the image to optimize the quality of the preoperative magnetic resonance image.

[0085] Its technical benefits include: By utilizing multimodal MRI fusion technology and leveraging the strengths of different imaging sequences, clearer and more detailed images of tumors and surrounding tissues can be obtained, enabling real-time monitoring of blood flow and perfusion in these tissues. Scanning parameters can be flexibly adjusted based on individual patient characteristics, enabling the selection of the most appropriate imaging sequence and parameters for each patient's specific circumstances. This facilitates assessment of tumor physiological characteristics and provides immediate feedback for puncture and ablation.

[0086] In combination with the first aspect, an embodiment of the present invention provides a second possible implementation of the first aspect, wherein the three-dimensional model of the lesion and surrounding tissues is reconstructed based on the preoperative magnetic resonance image, and the optimal puncture path is planned, including: voxelizing the preoperative magnetic resonance image, using a threshold segmentation technique to distinguish the tumor from the surrounding normal tissue, segmenting the portion greater than a preset grayscale threshold as the tumor area, and segmenting the portion less than the preset grayscale threshold as the background, to obtain a voxel grid image; using a cube contour extraction algorithm to traverse the voxel grid image and divide the three-dimensional voxel data into a plurality of cubes; for each vertex of the cube, generating an 8 The binary index of the bit is marked as internal or external according to the vertex value of 1 or 0; based on the internal and external markings, a predefined triangle lookup table is used to generate triangles in each of the cubes to obtain a triangular mesh for representing the three-dimensional geometric model; a path planning algorithm is used to calculate the optimal puncture path to avoid non-puncturable areas; a cost function C=w1·d+w2·r+w3·s is calculated, where d is the length of the puncture path, r is the risk score of the sensitive tissue passed by the path, s is the stability score of the path, w1, w2 and w3 are weight coefficients, and the optimal puncture path is obtained according to the path optimized according to the cost function.

[0087] The technical benefits of this approach include: Through voxelization and threshold segmentation techniques, tumors can be clearly distinguished from surrounding normal tissue, helping to better understand the tumor's location and shape. A path planning algorithm calculates the optimal puncture path, avoiding non-puncturable areas and reducing the risk of damage to vital tissues and organs. The cost function design incorporates the puncture path length, the risk score of sensitive tissues traversed, and the path stability score, improving surgical safety and ablation success rates.

[0088] In combination with the first aspect, an embodiment of the present invention provides a third possible implementation of the first aspect, wherein the real-time updating of the positional relationship between the needle tip and the center of the lesion by magnetic resonance arbitrary-angle plane scanning, the feedback of the deviation information of the needle tip position, and the real-time guidance of the puncture needle to the tumor ablation area include: using magnetic resonance imaging for real-time scanning to obtain continuous two-dimensional magnetic resonance images containing the puncture needle and the lesion; performing real-time reconstruction in the three-dimensional model based on the continuous two-dimensional magnetic resonance images to generate the real-time needle tip position of the puncture needle in the three-dimensional model; and calculating the actual distance based on the spatial relationship between the needle tip position and the center of the tumor. Among them, (x needle ,y needle ,z needle ) is the coordinate of the needle tip position, (x tumor ,y tumor ,z tumor ) is the coordinate of the tumor center; set the ideal distance d between the needle tip position and the tumor center ideal According to the actual distance d actual The ideal distance d ideal The deviation between the two is detected, and the direction and insertion angle of the puncture needle are adjusted in real time to guide the puncture needle to the tumor ablation area.

[0089] The technical benefits of this approach are: Through real-time scanning using magnetic resonance imaging, continuous two-dimensional images of the puncture needle and tumor are acquired, enabling real-time observation of the relationship between the needle's progress and the location of the lesion. By accurately tracking the needle tip position in real time within a three-dimensional model, the needle tip's position is accurately generated, ensuring that the needle tip can promptly respond to changes in the tumor's location. By calculating the actual distance between the needle tip and the tumor center, the needle tip's deviation from the target lesion is accurately assessed, effectively preventing the needle from accidentally injuring surrounding vital tissues or organs and increasing the likelihood of successfully directing the needle to the tumor ablation area.

[0090] In combination with the first aspect, an embodiment of the present invention provides a fourth possible implementation of the first aspect, wherein dual-path ablation is used, one path performs real-time MR temperature monitoring, and the other path performs synchronous high-frequency ablation, performs real-time temperature monitoring and whole blood circulation dynamics monitoring, and correspondingly adjusts the ablation power and time including: setting a target temperature T to achieve effective ablation target A temperature sensor is installed at the tip of one ablation needle to obtain the temperature distribution through MR imaging; a hemodynamic monitoring device is installed at the tip of the other ablation needle to obtain the blood flow imaging distribution; the temperature distribution is combined with the blood flow imaging distribution to form a real-time temperature and blood flow distribution map in the ablation area; the ablation power P(t) = P0 + K·(T target -T current) - H·(v blood -v critical ), where P0 is the initial power, K is the power adjustment coefficient, T current is the current temperature, H is the blood flow adjustment coefficient, v blood is the current blood flow velocity, v critical is the critical blood flow velocity; the ablation duration t adjusted is adjusted according to the temperature and blood flow monitoring results, t

[0091] Its technical effect is as follows: By setting the target temperature and using a temperature sensor for real-time monitoring, it is ensured that the temperature during the ablation process is always maintained within the effective ablation range, reducing damage to surrounding healthy tissues. Installing a hemodynamic monitoring device at the tip of the ablation needle can obtain the blood flow distribution in real time, and combining the temperature distribution with the real-time map formed by the blood flow imaging distribution for comprehensive analysis to optimize the ablation strategy. According to the real-time monitoring results of temperature and blood flow, the ablation power and duration are intelligently adjusted, improving the safety and effectiveness of the treatment.

[0092] Combined with the first aspect, the embodiment of the present invention provides a fifth possible implementation manner of the first aspect, where the calculation formula of the critical blood flow velocity is v critical =v thresh ·f(T current ), where v thresh is the basic blood flow velocity, f(T current ) is the temperature adjustment factor; the temperature adjustment factor f(T current ) is calculated by the temperature-dependent function , where L is the maximum value of the function, representing the limit value of blood flow dynamic adjustment in the high-temperature state, k is the growth rate parameter, representing the influence intensity of temperature change on the temperature adjustment factor f(T current ), T0 is the midpoint temperature, indicating that at this temperature, the temperature adjustment factor f(T<​​​​​​​​​​​​​​

[0094] The technical benefits of this technology include: By calculating the baseline blood flow velocity and the temperature adjustment factor, it accurately assesses the dynamic response of blood flow under different temperature conditions, allowing for timely adjustments during the ablation process to avoid negative impacts on the ablation effect. The temperature-dependent function makes the dynamic blood flow adjustment more responsive to temperature changes. At low temperatures, the response is weaker, reducing unnecessary adjustments. As the temperature approaches the midpoint, the output increases rapidly, ensuring the accuracy of the ablation operation and improving the control precision of the ablation process.

[0095] In combination with the first aspect, an embodiment of the present invention provides a sixth possible implementation of the first aspect, wherein the use of postoperative wound management and closure technology to consolidate the ablation effect includes: monitoring the physiological parameters of the wound when the ablation needle is removed; analyzing the physiological parameters during the wound healing process, and using time series analysis and anomaly detection algorithms to identify potential complications; when the monitored physiological parameters exceed the normal range, or potential complications are identified, injecting physiological saline through a micropump structure to seal the needle tract; according to the characteristics of the wound, using corresponding biocompatible sealing materials (such as biological glue or absorbable sutures) to close the wound, and monitoring and feedback the suturing effect in real time; performing directional thermal coagulation of the tissue around the wound through a temperature control algorithm, setting the target temperature and heating time, and adjusting the heating power through real-time temperature feedback.

[0096] Its technical effects are: through real-time monitoring and analysis of the physiological parameters of the wound, abnormal conditions in the wound healing process can be promptly identified, potential complications can be quickly addressed, and postoperative risks can be reduced. When abnormal physiological parameters are monitored, physiological saline can be quickly injected through a micropump to seal the needle tract, timely intervention can be made to prevent complications such as infection or bleeding, and enhance the safety of wound healing; the use of biocompatible sealing materials for wound closure can provide a better healing environment, reduce rejection reactions, promote tissue regeneration, and accelerate the healing process; through the temperature control algorithm, the tissue around the wound is subjected to directional thermal coagulation, which can effectively control the range and intensity of thermal coagulation, avoid damage to normal tissue, and accelerate hemostasis and promote healing. Through the temperature control algorithm, the tissue around the wound is subjected to directional thermal coagulation, which can effectively control the range and intensity of thermal coagulation, avoid damage to normal tissue, and accelerate hemostasis and promote healing.

[0097] In combination with the first aspect, the embodiment of the present invention provides a seventh possible implementation of the first aspect, wherein, after the ablation is completed, the ablation effect is evaluated by magnetic resonance imaging and postoperative biopsy, including: using multimodal magnetic resonance imaging fusion technology to scan the ablation site through medical imaging examination to obtain a postoperative magnetic resonance image; using a deep learning segmentation model to process the postoperative magnetic resonance image to identify the ablation area and residual lesions; calculating the postoperative magnetic resonance image score Among them, Vpre is the preoperative lesion volume, V post is the volume of the lesion after ablation, B clear is the proportion of lesions with clear boundaries, B total is the total lesion area, C1 and C2 are weight constants; based on the analysis results of the postoperative magnetic resonance imaging, the area of ​​suspected residual lesions is selected for biopsy; the cell activity and tumor cell survival of the biopsy sample are evaluated to calculate the biopsy score N alive is the number of viable tumor cells in the biopsy, N total is the total cell count in biopsy, P malignant is the proportion of malignant cells, P total is the total number of cells in the biopsy sample, D1 and D2 are weight coefficients; tumor characteristic parameters are calculated based on the measurement results of biomarkers Among them, K i is the Ki-67 index, K max The maximum value of Ki-67, M i are other biomarker values, M max is the maximum value of the other biomarker, E1 and E2 are weight coefficients; a comprehensive evaluation index E = α·I is established to evaluate the ablation effect. MRI +β·I biopsy +γ·D tumor +δ·R treatment , where α, β, γ and δ are weight coefficients.

[0098] The technical benefits of this technology include: By assessing the survival of tumor cells in biopsy samples, it can reflect treatment efficacy in real time. Combined with biomarker measurements, it can more comprehensively assess tumor characteristics and behavior, providing personalized treatment plans for patients. Through the clarity and quantification of evaluation indicators, it comprehensively reflects the ablation effect, achieving precise assessment of tumor ablation efficacy.

[0099] A second embodiment of the present invention provides a magnetic resonance-based puncture robot tumor ablation system, which includes: a multimodal magnetic resonance image fusion module for using multimodal magnetic resonance image fusion technology to scan the lesion through medical imaging examination to obtain a preoperative magnetic resonance image; a three-dimensional model reconstruction module for reconstructing a three-dimensional model of the lesion and surrounding tissue based on the preoperative magnetic resonance image, and planning an optimal puncture path; a deviation correction and guidance module for updating the positional relationship between the needle tip and the center of the lesion in real time through magnetic resonance arbitrary-angle plane scanning, providing feedback on needle tip position deviation information, and guiding the puncture needle to the tumor ablation area in real time; a dual-path ablation module for using dual-path ablation, one path performing real-time MR temperature monitoring and the other path performing synchronous high-frequency ablation, performing real-time temperature monitoring and whole blood circulation dynamics monitoring, and adjusting the ablation power and time accordingly; a postoperative management module for using postoperative wound management and closure technology to consolidate the ablation effect; and an ablation effect evaluation module for evaluating the ablation effect through magnetic resonance imaging and postoperative biopsy after the ablation is completed.

[0100] A third embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the magnetic resonance-based puncture robotic tumor ablation method as described above is implemented.

[0101] The computer program product of the magnetic resonance-based puncture robotic tumor ablation method and apparatus provided in the embodiments of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the method in the previous method embodiment. For specific implementation, please refer to the method embodiment and will not be repeated here.

[0102] Specifically, the storage medium can be a general storage medium, such as a mobile disk, a hard disk, etc. When the computer program on the storage medium is run, it can execute the above-mentioned magnetic resonance-based puncture robot tumor ablation method, thereby realizing the magnetic resonance-based puncture robot tumor ablation method for tumor ablation, effectively performing temperature and blood flow monitoring, and reflecting the ablation effect and residual lesion status in real time through a comprehensive postoperative evaluation method.

[0103] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0104] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed by the present invention, or replace some of the technical features therein with equivalents. Such modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A magnetic resonance-based puncture robot tumor ablation system, characterized in that: include: A multimodal magnetic resonance imaging fusion module is used to scan the lesion through medical imaging examination using multimodal magnetic resonance imaging fusion technology to obtain preoperative magnetic resonance images; A three-dimensional model reconstruction module is used to reconstruct a three-dimensional model of the lesion and surrounding tissues based on the preoperative magnetic resonance imaging, and plan an optimal puncture path; The deviation correction and guidance module is used to update the positional relationship between the needle tip and the lesion center in real time through magnetic resonance imaging at any angle, provide feedback on the deviation of the needle tip position, and guide the puncture needle to the tumor ablation area in real time; The dual-channel ablation module is used for dual-channel ablation, one channel performs real-time MR temperature monitoring, and the other channel performs synchronous high-frequency ablation, performs real-time temperature monitoring and whole blood circulation dynamics monitoring, and adjusts the ablation power and time accordingly. The operations performed by the dual-channel ablation module include: setting the target temperature to achieve effective ablation A temperature sensor is installed at the tip of one ablation needle to obtain the temperature distribution through MR imaging; a hemodynamic monitoring device is installed at the tip of another ablation needle to obtain the blood flow imaging distribution; the temperature distribution is combined with the blood flow imaging distribution to form a real-time temperature and blood flow distribution map within the ablation area; the ablation power is adjusted according to the deviation between the current temperature and the target temperature and the influence of blood flow on temperature control ,in, is the initial power, is the power adjustment factor, is the current temperature, is the blood flow adjustment coefficient, is the current blood flow velocity, The ablation duration is adjusted according to the temperature and blood flow monitoring results. ,in, is the initial set ablation time, is the adjustment amount based on real-time monitoring results. ; Postoperative management module, used to consolidate the ablation effect through postoperative wound management and closure techniques; The ablation effect evaluation module is used to evaluate the ablation effect through magnetic resonance imaging and postoperative biopsy after the ablation is completed.

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