Radiofrequency ablation electrode navigation positioning method, system and storage medium

Abstract

The present application relates to the technical field of electrode navigation, and in particular to a method, system and storage medium for radiofrequency ablation electrode navigation positioning, the method comprising: obtaining historical environmental information, historical radiofrequency ablation information and current surgical information, screening the historical radiofrequency ablation information based on ablation result information, determining abnormal ablation information and abnormal time nodes, performing equipment calibration analysis on abnormal environmental parameters and abnormal ablation information, obtaining an abnormal calibration sequence table, determining the current environmental parameters and current radiofrequency ablation information of the current patient during surgery based on current surgical information, if there is a match between the current environmental parameters and the abnormal environmental parameters in the abnormal calibration sequence table, performing radiofrequency ablation calibration on the current radiofrequency ablation information based on the abnormal calibration sequence table, obtaining calibrated radiofrequency ablation information, and determining a navigation positioning scheme based on the calibrated radiofrequency ablation information. The present application improves the accuracy of radiofrequency ablation electrode navigation positioning.

Description

Technical Field

[0001] The present application relates to the technical field of electrode navigation, and in particular to a radiofrequency ablation electrode navigation positioning method, system and storage medium. Background Art

[0002] As an innovative treatment strategy, radiofrequency ablation has achieved remarkable results in many medical fields, especially in the cardiovascular field, where it plays an important role in the treatment of arrhythmias. Arrhythmias are a common heart disease characterized by abnormal heartbeat frequency or rhythm, including too fast, too slow or irregular heartbeats. Common types include atrial fibrillation, premature ventricular beats, and ventricular fibrillation. These symptoms may cause palpitations, chest pain, dizziness, and even syncope, which can seriously affect the patient's quality of life and even endanger their lives.

[0003] The basic principle of radiofrequency ablation is to deliver radiofrequency electrodes to specific parts of the heart through a catheter. These parts are usually areas of electrophysiological abnormalities that cause arrhythmias. The radiofrequency electrodes release radiofrequency energy, induce ions to move against each other and generate frictional heat, thereby causing coagulative necrosis of the target tissue, thereby blocking the transmission of abnormal electrical signals and restoring the normal electrical conduction pathway of the heart. The unique advantages of this technology are its high accuracy, minimally invasiveness, fast recovery, and good repeatability. It has become one of the preferred options for the treatment of arrhythmias.

[0004] However, the success of radiofrequency ablation depends largely on the precise navigation and positioning of the electrode. In order to ensure the effectiveness of radiofrequency ablation, the abnormal electrophysiological area in the heart must be accurately found. Electromagnetic navigation is currently often used to assist in the precise positioning and navigation of radiofrequency electrodes in the heart. The electromagnetic navigation method uses an extracorporeal magnetic field to interact with the sensor implanted in the cardiac catheter to monitor the position and direction of the catheter in real time, and displays the heart structure and catheter path through a three-dimensional imaging system, allowing doctors to intuitively and accurately deliver the electrode to the target area. This method has the characteristics of high precision, real-time feedback, and is less affected by heart movement, and is particularly suitable for navigation in complex cardiac anatomical structures.

[0005] However, the existing electromagnetic navigation method is easily interfered by surrounding metal objects and electric currents, which may cause navigation errors and reduce the accuracy of radiofrequency ablation electrode navigation positioning. Summary of the invention

[0006] In order to solve at least one of the above-mentioned technical problems, the present application provides a radiofrequency ablation electrode navigation positioning method, system and storage medium.

[0007] In a first aspect, the present application provides a radiofrequency ablation electrode navigation and positioning method, which adopts the following technical solution:

[0008] Acquire historical environment information, historical radiofrequency ablation information, and current operation information, wherein the historical environment information is operation environment information when radiofrequency ablation operations are performed on different patients in a historical time period, and the historical radiofrequency ablation information is navigation parameter information used by radiofrequency ablation electrodes when radiofrequency ablation operations are performed on different patients in the historical time period, and ablation result information corresponding to the navigation parameter information;

[0009] Screening the historical radiofrequency ablation information based on the ablation result information to determine whether the historical radiofrequency ablation information contains abnormal ablation information and abnormal time nodes in which the ablation result information does not meet the preset ablation standard;

[0010] Determine the abnormal environment parameters corresponding to the abnormal time node in the historical environment information, and perform equipment calibration analysis on the abnormal environment parameters and the abnormal ablation information to obtain an abnormal calibration sequence table;

[0011] Determine the current environmental parameters of the current patient during the operation and the current radiofrequency ablation information according to the current operation information;

[0012] Matching the current environmental parameters with the abnormal environmental parameters in the abnormal calibration sequence table, and if there is a match between the current environmental parameters and the abnormal environmental parameters in the abnormal calibration sequence table, performing radiofrequency ablation calibration on the current radiofrequency ablation information according to the abnormal calibration sequence table to obtain calibrated radiofrequency ablation information;

[0013] A navigation and positioning scheme is determined according to the calibration radiofrequency ablation information.

[0014] By adopting the above technical solution, comprehensive historical data is obtained, including historical environmental information, historical radiofrequency ablation information and current surgical information. It provides a solid foundation for subsequent screening and analysis, especially the correspondence between the navigation parameters in the historical radiofrequency ablation information and the ablation result information, so that the root cause of the poor ablation effect can be accurately located. By screening the historical radiofrequency ablation information based on the ablation result information, the abnormal ablation information and the corresponding time node are effectively identified. This step provides a clear direction for the subsequent determination of abnormal environmental parameters, reduces invalid analysis, and improves the efficiency and accuracy of calibration analysis. After determining the abnormal environmental parameters, the equipment calibration analysis is performed to obtain the abnormal calibration sequence table, which directly associates the environmental parameters with the ablation effect, providing a reliable basis for the subsequent matching of the current surgical environmental parameters, so that the radiofrequency ablation calibration can be carried out in a targeted manner, avoiding unnecessary operations and improving the accuracy and safety of the operation. The current environmental parameters and radiofrequency ablation information are determined according to the current surgical information, and matched with the abnormal calibration sequence table. If the match is successful, the current radiofrequency ablation information is calibrated according to the abnormal calibration sequence table to obtain the calibrated radiofrequency ablation information. The full use of historical experience has been achieved, so that the current surgery can be optimized, and the stability and success rate of the surgery have been improved. The navigation positioning scheme is determined based on the calibration radiofrequency ablation information, and the calibration results are directly applied to surgical navigation, ensuring accurate positioning during the operation, further improving the surgical effect and patient safety.

[0015] In a possible implementation, the screening of the historical radiofrequency ablation information based on the ablation result information to determine that the historical radiofrequency ablation information contains abnormal ablation information and abnormal time nodes whose ablation result information does not meet the preset ablation standard includes:

[0016] Determine the ablation target position and the electrode landing position based on the ablation result information, wherein the ablation target position is the doctor-patient position where the patient needs radiofrequency ablation treatment, and the electrode landing position is the pre-treatment position where the medical device finally stays according to the navigation parameter information;

[0017] The distance difference between the electrode landing point and the ablation target position is calculated, and it is determined whether the distance difference meets the distance difference range in the preset ablation standard. If not, the ablation result information is determined as abnormal ablation information, and the time node corresponding to the ablation result information is determined as an abnormal time node.

[0018] In a possible implementation, performing equipment calibration analysis on the abnormal environment parameters and the abnormal ablation information to obtain an abnormal calibration sequence list includes:

[0019] Determining, according to the abnormal environment parameters, abnormal factor parameters that induce the generation of the abnormal ablation information;

[0020] Determine the initial time node at which the radiofrequency ablation electrode generates a navigation error based on the abnormal factor parameters;

[0021] The navigation route of the radiofrequency ablation electrode is derived based on the navigation parameter information, the abnormal factor parameter, the initial time node and the electrode landing position to obtain an electrode route corresponding to the abnormal environment parameter;

[0022] Determine the real-time coordinate position corresponding to the radiofrequency ablation electrode at different unit time nodes according to the electrode route;

[0023] Determine the target coordinate position that the radiofrequency ablation electrode should reach at different unit time nodes according to the navigation parameter information;

[0024] Calculating the target coordinate position and the real-time coordinate position to obtain coordinate adjustment data of the radiofrequency ablation electrode at different unit time nodes;

[0025] Adjusting the navigation parameters corresponding to the unit time nodes in the navigation parameter information according to the coordinate adjustment data to obtain navigation optimization parameters;

[0026] The navigation optimization parameters and the abnormal environment parameters are integrated to obtain an abnormal calibration sequence table.

[0027] In a possible implementation, the determining, based on the abnormal factor parameter, the initial time node at which the radiofrequency ablation electrode generates a navigation error includes:

[0028] Monitoring the abnormal factor parameters to determine the initial time when the data indicators in the abnormal factor parameters change;

[0029] An initial time node at which the radiofrequency ablation electrode generates a navigation error is determined according to the initial time.

[0030] In a possible implementation, the RF ablation electrode navigation route is derived based on the navigation parameter information, the abnormal factor parameter, the initial time node, and the electrode landing point position to obtain an electrode route corresponding to the abnormal environment parameter, including:

[0031] Acquiring electrode environmental impact, where the electrode environmental impact is interference movement impact data of the abnormal environmental parameters at different distances on the radiofrequency ablation electrode;

[0032] Matching the abnormal environment parameters with the abnormal environment parameters in the electrode environment influence to obtain interference movement data;

[0033] Based on the initial time node, the navigation route in the navigation parameter information is intercepted to obtain a first navigation route and a second navigation route, wherein the first navigation route is the navigation route between the initial movement time node and the initial time node in the navigation parameter information, and the second navigation route is the navigation route between the termination movement time node and the initial time node in the navigation parameter information;

[0034] Simulate the offset of the second navigation route according to the interference movement data and the electrode landing position to obtain an interference navigation route;

[0035] The interference navigation route is associated with the first navigation route according to the initial time node to obtain an electrode route corresponding to the abnormal environmental parameter.

[0036] In a possible implementation, performing radiofrequency ablation calibration on the current radiofrequency ablation information according to the abnormal calibration sequence table to obtain calibrated radiofrequency ablation information includes:

[0037] Comparing the current environmental parameters in the current radiofrequency ablation information with the abnormal environmental parameters in the abnormal calibration sequence table to obtain an environmental parameter ratio;

[0038] Determining whether the environmental parameter ratio meets the preset parameter ratio, and if so, determining the target environmental parameter in the abnormal calibration sequence table and the navigation optimization parameter corresponding to the target environmental parameter;

[0039] The navigation optimization parameters are adjusted for secondary optimization according to the environmental parameter comparison to obtain calibration radiofrequency ablation information.

[0040] In a possible implementation, the determining of a navigation positioning scheme according to the calibration radiofrequency ablation information further includes:

[0041] According to the current surgical information, a three-dimensional treatment model of the current patient is acquired;

[0042] Performing a simulated radiofrequency ablation test on the three-dimensional treatment model based on the navigation and positioning scheme to obtain an ablation test result;

[0043] It is determined whether the ablation test result meets the radiofrequency ablation requirement. If not, a manual optimization suggestion is generated according to the ablation test result, and the manual optimization suggestion is sent to the target terminal.

[0044] In a second aspect, the present application provides a radiofrequency ablation electrode navigation and positioning system, which adopts the following technical solution:

[0045] A radiofrequency ablation electrode navigation and positioning system, comprising:

[0046] An information acquisition module, used to acquire historical environment information, historical radiofrequency ablation information and current operation information, wherein the historical environment information is the operation environment information when radiofrequency ablation operations are performed on different patients in a historical time period, and the historical radiofrequency ablation information is the navigation parameter information used by the radiofrequency ablation electrode when radiofrequency ablation operations are performed on different patients in the historical time period and the ablation result information corresponding to the navigation parameter information;

[0047] An information screening module, configured to screen the historical radiofrequency ablation information based on the ablation result information, and determine whether the historical radiofrequency ablation information contains abnormal ablation information and abnormal time nodes in which the ablation result information does not meet the preset ablation standard;

[0048] A calibration analysis module, used to determine the abnormal environment parameters corresponding to the abnormal time node in the historical environment information, and perform equipment calibration analysis on the abnormal environment parameters and the abnormal ablation information to obtain an abnormal calibration sequence table;

[0049] An information determination module, used to determine the current environmental parameters of the current patient during surgery and the current radiofrequency ablation information according to the current surgery information;

[0050] an ablation calibration module, used for matching the current environmental parameters with the abnormal environmental parameters in the abnormal calibration sequence table, and if there is a match between the current environmental parameters and the abnormal environmental parameters in the abnormal calibration sequence table, performing radiofrequency ablation calibration on the current radiofrequency ablation information according to the abnormal calibration sequence table to obtain calibrated radiofrequency ablation information;

[0051] A scheme determination module is used to determine a navigation positioning scheme according to the calibration radiofrequency ablation information.

[0052] In a possible implementation, when the information screening module screens the historical radiofrequency ablation information based on the ablation result information and determines that there is abnormal ablation information and abnormal time node in the historical radiofrequency ablation information in which the ablation result information does not meet the preset ablation standard, it is specifically used to:

[0053] Determine the ablation target position and the electrode landing position based on the ablation result information, wherein the ablation target position is the doctor-patient position where the patient needs radiofrequency ablation treatment, and the electrode landing position is the pre-treatment position where the medical device finally stays according to the navigation parameter information;

[0054] The distance difference between the electrode landing point and the ablation target position is calculated, and it is determined whether the distance difference meets the distance difference range in the preset ablation standard. If not, the ablation result information is determined as abnormal ablation information, and the time node corresponding to the ablation result information is determined as an abnormal time node.

[0055] In another possible implementation, when the calibration analysis module performs equipment calibration analysis on the abnormal environment parameters and the abnormal ablation information to obtain the abnormal calibration sequence table, it is specifically used to:

[0056] Determining, according to the abnormal environment parameters, abnormal factor parameters that induce the generation of the abnormal ablation information;

[0057] Determine the initial time node at which the radiofrequency ablation electrode generates a navigation error based on the abnormal factor parameters;

[0058] The navigation route of the radiofrequency ablation electrode is derived based on the navigation parameter information, the abnormal factor parameter, the initial time node and the electrode landing position to obtain an electrode route corresponding to the abnormal environment parameter;

[0059] Determine the real-time coordinate position corresponding to the radiofrequency ablation electrode at different unit time nodes according to the electrode route;

[0060] Determine the target coordinate position that the radiofrequency ablation electrode should reach at different unit time nodes according to the navigation parameter information;

[0061] Calculating the target coordinate position and the real-time coordinate position to obtain coordinate adjustment data of the radiofrequency ablation electrode at different unit time nodes;

[0062] Adjusting the navigation parameters corresponding to the unit time nodes in the navigation parameter information according to the coordinate adjustment data to obtain navigation optimization parameters;

[0063] The navigation optimization parameters and the abnormal environment parameters are integrated to obtain an abnormal calibration sequence table.

[0064] In another possible implementation, when the calibration analysis module determines the initial time node at which the radiofrequency ablation electrode generates a navigation error based on the abnormal factor parameter, it is specifically used to:

[0065] Monitoring the abnormal factor parameters to determine the initial time when the data indicators in the abnormal factor parameters change;

[0066] An initial time node at which the radiofrequency ablation electrode generates a navigation error is determined according to the initial time.

[0067] In another possible implementation, when the calibration analysis module derives the navigation route of the radiofrequency ablation electrode based on the navigation parameter information, the abnormal factor parameter, the initial time node, and the electrode landing position to obtain the electrode route corresponding to the abnormal environment parameter, it is specifically used to:

[0068] Acquiring electrode environmental impact, where the electrode environmental impact is interference movement impact data of the abnormal environmental parameters at different distances on the radiofrequency ablation electrode;

[0069] Matching the abnormal environment parameters with the abnormal environment parameters in the electrode environment influence to obtain interference movement data;

[0070] Based on the initial time node, the navigation route in the navigation parameter information is intercepted to obtain a first navigation route and a second navigation route, wherein the first navigation route is the navigation route between the initial movement time node and the initial time node in the navigation parameter information, and the second navigation route is the navigation route between the termination movement time node and the initial time node in the navigation parameter information;

[0071] Simulate the offset of the second navigation route according to the interference movement data and the electrode landing position to obtain an interference navigation route;

[0072] The interference navigation route is associated with the first navigation route according to the initial time node to obtain an electrode route corresponding to the abnormal environmental parameter.

[0073] In another possible implementation, when the ablation calibration module performs radiofrequency ablation calibration on the current radiofrequency ablation information according to the abnormal calibration sequence table to obtain the calibrated radiofrequency ablation information, it is specifically used to:

[0074] Comparing the current environmental parameters in the current radiofrequency ablation information with the abnormal environmental parameters in the abnormal calibration sequence table to obtain an environmental parameter ratio;

[0075] Determining whether the environmental parameter ratio meets the preset parameter ratio, and if so, determining the target environmental parameter in the abnormal calibration sequence table and the navigation optimization parameter corresponding to the target environmental parameter;

[0076] The navigation optimization parameters are adjusted for secondary optimization according to the environmental parameter comparison to obtain calibration radiofrequency ablation information.

[0077] In another possible implementation, the system further includes: a model acquisition module, an ablation test module, and a suggestion generation module, wherein:

[0078] The model acquisition module is used to acquire a three-dimensional treatment model of the current patient according to the current surgical information;

[0079] The ablation test module is used to perform a simulated radiofrequency ablation test on the treatment three-dimensional model based on the navigation and positioning scheme to obtain an ablation test result;

[0080] The suggestion generation module is used to determine whether the ablation test result meets the radiofrequency ablation requirement. If not, a manual optimization suggestion is generated according to the ablation test result, and the manual optimization suggestion is sent to the target terminal.

[0081] In a third aspect, the present application provides an electronic device, which adopts the following technical solution:

[0082] at least one processor;

[0083] Memory;

[0084] At least one application, wherein the at least one application is stored in a memory and configured to be executed by at least one processor, and the at least one application is configured to: execute a radiofrequency ablation electrode navigation positioning method as described in any one of the first aspects.

[0085] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution:

[0086] A computer-readable storage medium stores a computer program, which, when executed in a computer, causes the computer to execute any of the radiofrequency ablation electrode navigation and positioning methods of the first aspect.

[0087] In summary, the present application includes at least one of the following beneficial technical effects:

[0088] By adopting the above technical solution, comprehensive historical data is obtained, including historical environmental information, historical radiofrequency ablation information and current surgical information. It provides a solid foundation for subsequent screening and analysis, especially the correspondence between the navigation parameters in the historical radiofrequency ablation information and the ablation result information, so that the root cause of the poor ablation effect can be accurately located. By screening the historical radiofrequency ablation information based on the ablation result information, the abnormal ablation information and the corresponding time node are effectively identified. This step provides a clear direction for the subsequent determination of abnormal environmental parameters, reduces invalid analysis, and improves the efficiency and accuracy of calibration analysis. After determining the abnormal environmental parameters, the equipment calibration analysis is performed to obtain the abnormal calibration sequence table, which directly associates the environmental parameters with the ablation effect, providing a reliable basis for the subsequent matching of the current surgical environmental parameters, so that the radiofrequency ablation calibration can be carried out in a targeted manner, avoiding unnecessary operations and improving the accuracy and safety of the operation. The current environmental parameters and radiofrequency ablation information are determined according to the current surgical information, and matched with the abnormal calibration sequence table. If the match is successful, the current radiofrequency ablation information is calibrated according to the abnormal calibration sequence table to obtain the calibrated radiofrequency ablation information. The full use of historical experience has been achieved, so that the current surgery can be optimized, and the stability and success rate of the surgery have been improved. The navigation positioning scheme is determined based on the calibration radiofrequency ablation information, and the calibration results are directly applied to surgical navigation, ensuring accurate positioning during the operation, further improving the surgical effect and patient safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0089] Figure 1 A schematic flow chart of a radiofrequency ablation electrode navigation and positioning method provided in an embodiment of the present application.

[0090] Figure 2 A schematic diagram of the structure of a radiofrequency ablation electrode navigation and positioning system provided in an embodiment of the present application.

[0091] Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0092] The following is combined with Figure 1-3 This application is described in further detail.

[0093] This specific embodiment is merely an explanation of the present application and is not a limitation of the present application. After reading this specification, a person skilled in the art may make non-creative modifications to the present embodiment as needed, but such modifications are protected by the patent law as long as they are within the scope of the present application.

[0094] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0095] In addition, the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article, unless otherwise specified, generally means that the associated objects before and after are in an "or" relationship.

[0096] The embodiments of the present application are further described in detail below in conjunction with the drawings in the specification.

[0097] The embodiment of the present application provides a method for radiofrequency ablation electrode navigation positioning method, which is executed by an electronic device, wherein the electronic device can be an independent physical electronic device, or an electronic device cluster or distributed system composed of multiple physical electronic devices, or a cloud electronic device that provides cloud computing services. The embodiment of the present application is not limited here, such as Figure 1 As shown, the method includes:

[0098] Step S10: Obtain historical environment information, historical radiofrequency ablation information, and current operation information.

[0099] Among them, the historical environment information is the surgical environment information when radiofrequency ablation surgery is performed on different patients within the historical time period, and the historical radiofrequency ablation information is the navigation parameter information used by the radiofrequency ablation electrode when radiofrequency ablation surgery is performed on different patients within the historical time period and the ablation result information corresponding to the navigation parameter information.

[0100] Specifically, historical environmental information refers to environmental parameter information that can interfere with the precise positioning of radiofrequency ablation electrodes when performing radiofrequency ablation surgery on different patients during the historical time period. Interference factors include but are not limited to current changes in the operating room, the presence of metal objects (such as surgical instruments, metal parts in medical equipment, etc.) and their position status. Historical radiofrequency ablation information refers to the navigation parameter information (such as electrode position, movement path, power setting, etc.) used by radiofrequency ablation electrodes when performing radiofrequency ablation surgery on different patients during the above historical time period, as well as the ablation result information corresponding to these navigation parameter information (such as ablation range, depth, effect evaluation, etc.). Current surgery information is used to represent relevant information in the currently ongoing radiofrequency ablation surgery.

[0101] Step S11: screening the historical radiofrequency ablation information based on the ablation result information, and determining whether the historical radiofrequency ablation information contains abnormal ablation information and abnormal time nodes whose ablation result information does not meet the preset ablation standard.

[0102] Specifically, the ablation target position and the electrode landing position are determined based on the ablation result information. The ablation target position is the doctor-patient position required for radiofrequency ablation treatment of the patient, and the electrode landing position is the pre-treatment position where the medical device finally stays according to the navigation parameter information. The distance difference between the electrode landing position and the ablation target position is calculated, and it is determined whether the distance difference meets the distance difference range in the preset ablation standard. If not, the ablation result information is determined to be abnormal ablation information, and the time node corresponding to the ablation result information is determined to be an abnormal time node.

[0103] In an embodiment of the present application, the ablation result information represents the result data about the ablation operation obtained by medical equipment and related technologies during the radiofrequency ablation treatment, and these data reflect the status of the ablation process. The ablation target position refers to the specific area or position in the patient's body where radiofrequency ablation treatment is required. The target area is determined by the doctor based on the patient's condition and treatment plan. The electrode landing position refers to the position where the electrode of a medical device (such as a radiofrequency ablation catheter) finally stays when performing an ablation operation, that is, the pre-treatment position, which is determined based on the navigation parameter information. The preset ablation standard is a series of standards used to evaluate whether the ablation operation has achieved the expected effect, including the distance difference range, that is, the allowable deviation range between the electrode landing position and the ablation target position.

[0104] Specifically, during the radiofrequency ablation treatment, the doctor needs to first determine the ablation target location based on the patient's medical imaging data and diagnostic information. Subsequently, the navigation system and related medical devices are used to navigate the electrode to the predetermined treatment position, that is, the electrode landing position. After completing these operations, the system will automatically calculate the distance difference between the electrode landing position and the ablation target position based on the ablation result information and navigation parameter information. The purpose of this step is to evaluate the accuracy of the ablation operation and ensure that the electrode can accurately reach the target position to achieve the expected treatment effect. Next, the system will determine whether this distance difference meets the distance difference range in the preset ablation standard.

[0105] Step S12: determine the abnormal environment parameters corresponding to the abnormal time node in the historical environment information, and perform equipment calibration analysis on the abnormal environment parameters and abnormal ablation information to obtain an abnormal calibration sequence table.

[0106] Specifically, abnormal factor parameters that induce abnormal ablation information are determined based on abnormal environmental parameters, and the initial time node at which the radiofrequency ablation electrode generates a navigation error is determined based on the abnormal factor parameters. The navigation route of the radiofrequency ablation electrode is derived based on the navigation parameter information, the abnormal factor parameters, the initial time node, and the electrode landing point position to obtain the electrode route corresponding to the abnormal environmental parameters. The real-time coordinate position corresponding to the radiofrequency ablation electrode at different unit time nodes is determined based on the electrode route. The target coordinate position that the radiofrequency ablation electrode should reach at different unit time nodes is determined based on the navigation parameter information. The target coordinate position and the real-time coordinate position are calculated to obtain coordinate adjustment data of the radiofrequency ablation electrode at different unit time nodes. The navigation parameters corresponding to the unit time nodes in the navigation parameter information are adjusted based on the coordinate adjustment data to obtain navigation optimization parameters. The navigation optimization parameters and the abnormal environmental parameters are integrated to obtain an abnormal calibration sequence table.

[0107] Specifically, the abnormal factor parameters are monitored to determine the initial time when the data indicators in the abnormal factor parameters change, and the initial time node when the radiofrequency ablation electrode generates a navigation error is determined based on the initial time.

[0108] Specifically, the electrode environment impact is obtained, which is the interference movement impact data of abnormal environmental parameters at different distances on the radiofrequency ablation electrode. The abnormal environmental parameters are matched with the abnormal environmental parameters in the electrode environment impact to obtain interference movement data. The navigation line in the navigation parameter information is intercepted based on the initial time node to obtain a first navigation route and a second navigation route. The first navigation route is the navigation route between the initial movement time node and the initial time node in the navigation parameter information, and the second navigation route is the navigation route between the termination movement time node and the initial time node in the navigation parameter information. The second navigation route is simulated and offset according to the interference movement data and the electrode landing position to obtain the interference navigation route. The interference navigation route is associated with the first navigation route according to the initial time node to obtain the electrode route corresponding to the abnormal environment parameter.

[0109] Step S13: determining the current environmental parameters of the current patient during the operation and the current radiofrequency ablation information according to the current operation information.

[0110] Step S14, matching the current environmental parameters with the abnormal environmental parameters in the abnormal calibration sequence table, if there is a match between the current environmental parameters and the abnormal environmental parameters in the abnormal calibration sequence table, performing radiofrequency ablation calibration on the current radiofrequency ablation information according to the abnormal calibration sequence table to obtain calibrated radiofrequency ablation information.

[0111] Specifically, the current environmental parameters in the current radiofrequency ablation information are compared with the abnormal environmental parameters in the abnormal calibration sequence table to obtain an environmental parameter ratio, and it is determined whether the environmental parameter ratio meets the preset parameter ratio. If so, the target environmental parameters in the abnormal calibration sequence table and the navigation optimization parameters corresponding to the target environmental parameters are determined, and the navigation optimization parameters are optimized and adjusted for the second time according to the environmental parameter comparison to obtain calibrated radiofrequency ablation information.

[0112] Step S15: determining a navigation and positioning solution according to the calibration radiofrequency ablation information.

[0113] Specifically, the calibrated RF ablation information refers to the precise data on the position, shape, movement path, etc. of the RF ablation electrode obtained through a series of calibration processes before or during the RF ablation surgery. These data are used to ensure that the RF ablation electrode can accurately reach the predetermined treatment position to achieve precise treatment. The navigation positioning plan refers to a detailed plan for guiding the RF ablation electrode to the target position, which is formulated based on the calibrated RF ablation information, combined with the patient's medical imaging data, the actual situation of the operating room, and the doctor's experience. The plan usually includes parameters such as the movement path, speed, and direction of the electrode.

[0114] For example, in a specific radiofrequency ablation operation, the calibration radiofrequency ablation information includes the initial position of the electrode, the target position, and the relative distance and direction between the two. Based on this information, the system can develop a detailed navigation and positioning plan, including the movement path of the electrode, the specific parameters of each movement step, etc., to ensure that the electrode can accurately reach the target position.

[0115] For the embodiment of the present application, advanced medical imaging technology (such as CT, MRI, etc.) is used to obtain three-dimensional image data of the patient, and the target position is marked on the image. Then, combined with the calibration radiofrequency ablation information, the navigation system is used to plan the movement path of the electrode. During the planning process, factors such as the shape, size, and movement speed of the electrode need to be considered to ensure that the electrode can accurately reach the target position. Finally, the system inputs the planned navigation positioning plan into the navigation system for real-time guidance and adjustment during the operation.

[0116] In the embodiment of the present application, comprehensive historical data is obtained, including historical environmental information, historical radiofrequency ablation information and current surgical information. A solid foundation is provided for subsequent screening and analysis, especially the correspondence between the navigation parameters in the historical radiofrequency ablation information and the ablation result information, so that the root cause of the poor ablation effect can be accurately located. By screening the historical radiofrequency ablation information based on the ablation result information, the abnormal ablation information and the corresponding time node are effectively identified. This step provides a clear direction for the subsequent determination of abnormal environmental parameters, reduces invalid analysis, and improves the efficiency and accuracy of calibration analysis. After determining the abnormal environmental parameters, the equipment calibration analysis is performed to obtain an abnormal calibration sequence table, which directly associates the environmental parameters with the ablation effect, providing a reliable basis for the subsequent matching of the current surgical environmental parameters, so that the radiofrequency ablation calibration can be carried out in a targeted manner, avoiding unnecessary operations and improving the accuracy and safety of the operation. The current environmental parameters and radiofrequency ablation information are determined according to the current surgical information, and matched with the abnormal calibration sequence table. If the match is successful, the current radiofrequency ablation information is calibrated according to the abnormal calibration sequence table to obtain the calibrated radiofrequency ablation information. The full use of historical experience has been achieved, so that the current surgery can be optimized, and the stability and success rate of the surgery have been improved. The navigation positioning scheme is determined based on the calibration radiofrequency ablation information, and the calibration results are directly applied to surgical navigation, ensuring accurate positioning during the operation, further improving the surgical effect and patient safety.

[0117] Further, a navigation and positioning scheme is determined according to the calibration radiofrequency ablation information, and then the method further includes:

[0118] According to the current surgical information, the current patient's three-dimensional treatment model is collected, and a simulated radiofrequency ablation test is performed on the treatment three-dimensional model based on the navigation and positioning solution to obtain the ablation test results. It is determined whether the ablation test results meet the radiofrequency ablation requirements. If not, manual optimization suggestions are generated based on the ablation test results and sent to the target terminal.

[0119] The following is an introduction to a radiofrequency ablation electrode navigation and positioning system provided in an embodiment of the present application. The radiofrequency ablation electrode navigation and positioning system described below and the radiofrequency ablation electrode navigation and positioning method described above can be referred to in correspondence with each other. Please refer to Figure 2 , Figure 2 : is a structural schematic diagram of a radiofrequency ablation electrode navigation and positioning system 20 provided in an embodiment of the present application, comprising:

[0120] An information acquisition module is used to acquire historical environment information, historical radiofrequency ablation information, and current operation information. The historical environment information is the operation environment information when radiofrequency ablation operations were performed on different patients in a historical time period. The historical radiofrequency ablation information is the navigation parameter information used by the radiofrequency ablation electrode when radiofrequency ablation operations were performed on different patients in a historical time period, and the ablation result information corresponding to the navigation parameter information.

[0121] The information screening module 21 is used to screen the historical radiofrequency ablation information based on the ablation result information, and determine whether there is abnormal ablation information and abnormal time nodes in the historical radiofrequency ablation information whose ablation result information does not meet the preset ablation standard;

[0122] The calibration analysis module 22 is used to determine the abnormal environment parameters corresponding to the abnormal time nodes in the historical environment information, and perform equipment calibration analysis on the abnormal environment parameters and abnormal ablation information to obtain an abnormal calibration sequence table;

[0123] An information determination module 23, used to determine the current environmental parameters of the current patient during the operation and the current radiofrequency ablation information according to the current operation information;

[0124] The ablation calibration module 24 is used to match the current environmental parameters with the abnormal environmental parameters in the abnormal calibration sequence table. If there is a match between the current environmental parameters and the abnormal environmental parameters in the abnormal calibration sequence table, the current radiofrequency ablation information is calibrated according to the abnormal calibration sequence table to obtain calibrated radiofrequency ablation information;

[0125] The scheme determination module 25 is used to determine the navigation positioning scheme according to the calibration radiofrequency ablation information.

[0126] In a possible implementation of the embodiment of the present application, when the information screening module 21 screens the historical radiofrequency ablation information based on the ablation result information and determines that there is abnormal ablation information and abnormal time nodes in the historical radiofrequency ablation information whose ablation result information does not meet the preset ablation standard, it is specifically used to:

[0127] Determine the ablation target position and the electrode landing position based on the ablation result information. The ablation target position is the doctor-patient position where the patient needs radiofrequency ablation treatment, and the electrode landing position is the pre-treatment position where the medical device finally stays according to the navigation parameter information.

[0128] The distance difference between the electrode landing point and the ablation target position is calculated, and it is determined whether the distance difference meets the distance difference range in the preset ablation standard. If not, the ablation result information is determined as abnormal ablation information, and the time node corresponding to the ablation result information is determined as an abnormal time node.

[0129] In a possible implementation manner of the embodiment of the present application, when the calibration analysis module 22 performs equipment calibration analysis on abnormal environmental parameters and abnormal ablation information to obtain an abnormal calibration sequence table, it is specifically used to:

[0130] Determining abnormal factor parameters that induce abnormal ablation information generation according to abnormal environmental parameters;

[0131] Determine the initial time point when the radiofrequency ablation electrode generates navigation error based on the abnormal factor parameters;

[0132] The navigation route of the radiofrequency ablation electrode is derived based on the navigation parameter information, abnormal factor parameters, initial time node and electrode landing point position to obtain the electrode route corresponding to the abnormal environmental parameters;

[0133] Determine the real-time coordinate position corresponding to the radiofrequency ablation electrode at different unit time nodes according to the electrode route;

[0134] Determine the target coordinate position that the radiofrequency ablation electrode should reach at different unit time nodes according to the navigation parameter information;

[0135] Calculate the target coordinate position and the real-time coordinate position to obtain coordinate adjustment data of the radiofrequency ablation electrode at different unit time nodes;

[0136] Adjust the navigation parameters corresponding to the unit time node in the navigation parameter information according to the coordinate adjustment data to obtain navigation optimization parameters;

[0137] The navigation optimization parameters and abnormal environment parameters are integrated to obtain an abnormal calibration sequence table.

[0138] In a possible implementation of the embodiment of the present application, when the calibration analysis module 22 determines the initial time node at which the radiofrequency ablation electrode generates a navigation error based on the abnormal factor parameter, it is specifically used to:

[0139] Monitor the abnormal factor parameters and determine the initial moment when the data indicators in the abnormal factor parameters change;

[0140] The initial time node at which the radiofrequency ablation electrode generates a navigation error is determined according to the initial moment.

[0141] In a possible implementation of the embodiment of the present application, the calibration analysis module 22 derives the navigation route of the radiofrequency ablation electrode based on the navigation parameter information, the abnormal factor parameters, the initial time node and the electrode landing position to obtain the electrode route corresponding to the abnormal environment parameters, specifically for:

[0142] Obtain electrode environmental impact, which is the interference and movement impact data of abnormal environmental parameters at different distances on the radiofrequency ablation electrode;

[0143] Matching abnormal environmental parameters with abnormal environmental parameters in electrode environmental impact to obtain interference movement data;

[0144] Based on the initial time node, the navigation route in the navigation parameter information is intercepted to obtain a first navigation route and a second navigation route, wherein the first navigation route is the navigation route between the initial movement time node and the initial time node in the navigation parameter information, and the second navigation route is the navigation route between the termination movement time node and the initial time node in the navigation parameter information;

[0145] According to the interference movement data and the electrode landing point position, the second navigation route is simulated to deviate, and the interference navigation route is obtained;

[0146] The interference navigation route is associated with the first navigation route according to the initial time node to obtain an electrode route corresponding to the abnormal environmental parameters.

[0147] In a possible implementation of the embodiment of the present application, when the ablation calibration module 24 performs radiofrequency ablation calibration on the current radiofrequency ablation information according to the abnormal calibration sequence table to obtain the calibrated radiofrequency ablation information, it is specifically used to:

[0148] Comparing the current environmental parameters in the current radiofrequency ablation information with the abnormal environmental parameters in the abnormal calibration sequence table to obtain an environmental parameter ratio;

[0149] Determine whether the environmental parameter ratio meets the preset parameter ratio, and if so, determine the target environmental parameter in the abnormal calibration sequence table and the navigation optimization parameter corresponding to the target environmental parameter;

[0150] The navigation optimization parameters are adjusted for secondary optimization according to the environmental parameter comparison to obtain the calibrated radiofrequency ablation information.

[0151] In a possible implementation of the embodiment of the present application, the system 20 further includes: a model acquisition module, an ablation test module, and a suggestion generation module, wherein:

[0152] The model acquisition module is used to acquire the current patient's three-dimensional treatment model based on the current surgical information;

[0153] The ablation test module is used to simulate the radiofrequency ablation test on the treatment three-dimensional model based on the navigation positioning scheme to obtain the ablation test result;

[0154] The suggestion generation module is used to determine whether the ablation test results meet the radiofrequency ablation requirements. If not, a manual optimization suggestion is generated according to the ablation test results and the manual optimization suggestion is sent to the target terminal.

[0155] The present application embodiment provides an electronic device, such as Figure 3 As shown, Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application, Figure 3 The electronic device 300 shown includes: a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, such as through a bus 302. Optionally, the electronic device 300 may also include a transceiver 304. It should be noted that in actual applications, the transceiver 304 is not limited to one, and the structure of the electronic device 300 does not constitute a limitation on the embodiments of the present application.

[0156] The processor 301 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of the embodiments of the present application. The processor 301 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0157] The bus 302 may include a path to transmit information between the above components. The bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 302 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0158] The memory 303 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0159] The memory 303 is used to store application code for executing the solution of the embodiment of the present application, and the execution is controlled by the processor 301. The processor 301 is used to execute the application code stored in the memory 303 to implement the content shown in the above method embodiment.

[0160] Among them, electronic devices include but are not limited to: mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 3 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0161] A computer-readable storage medium provided in an embodiment of the present application is introduced below. The computer-readable storage medium described below and the method described above can be referenced to each other.

[0162] An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned radiofrequency ablation electrode navigation and positioning method are implemented.

[0163] Since the embodiments of the computer-readable storage medium part and the embodiments of the method part correspond to each other, the embodiments of the computer-readable storage medium part refer to the description of the embodiments of the method part.

[0164] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0165] The above are only some implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A radiofrequency ablation electrode navigation positioning method, characterized in that: include: Acquire historical environment information, historical radiofrequency ablation information, and current operation information, wherein the historical environment information is operation environment information when radiofrequency ablation operations are performed on different patients in a historical time period, and the historical radiofrequency ablation information is navigation parameter information used by radiofrequency ablation electrodes when radiofrequency ablation operations are performed on different patients in the historical time period, and ablation result information corresponding to the navigation parameter information; Screening the historical radiofrequency ablation information based on the ablation result information to determine whether the historical radiofrequency ablation information contains abnormal ablation information and abnormal time nodes in which the ablation result information does not meet the preset ablation standard; Determining an abnormal environment parameter corresponding to the abnormal time node in the historical environment information; Determining, according to the abnormal environment parameters, abnormal factor parameters that induce the generation of the abnormal ablation information; Determine the initial time node at which the radiofrequency ablation electrode generates a navigation error based on the abnormal factor parameters; The radiofrequency ablation electrode navigation route is derived based on the navigation parameter information, the abnormal factor parameters, the initial time node and the electrode landing position to obtain an electrode route corresponding to the abnormal environment parameters; Determine the real-time coordinate position corresponding to the radiofrequency ablation electrode at different unit time nodes according to the electrode route; Determine the target coordinate position that the radiofrequency ablation electrode should reach at different unit time nodes according to the navigation parameter information; Calculating the target coordinate position and the real-time coordinate position to obtain coordinate adjustment data of the radiofrequency ablation electrode at different unit time nodes; Adjusting the navigation parameters corresponding to the unit time nodes in the navigation parameter information according to the coordinate adjustment data to obtain navigation optimization parameters; Integrating the navigation optimization parameters and the abnormal environment parameters to obtain an abnormal calibration sequence table; Determine the current environmental parameters of the current patient during the operation and the current radiofrequency ablation information according to the current operation information; Matching the current environmental parameters with the abnormal environmental parameters in the abnormal calibration sequence table, and if there is a match between the current environmental parameters and the abnormal environmental parameters in the abnormal calibration sequence table, performing radiofrequency ablation calibration on the current radiofrequency ablation information according to the abnormal calibration sequence table to obtain calibrated radiofrequency ablation information; A navigation and positioning scheme is determined according to the calibration radiofrequency ablation information.

2. A radiofrequency ablation electrode navigation and positioning method according to claim 1, characterized in that: The screening of the historical radiofrequency ablation information based on the ablation result information to determine that the historical radiofrequency ablation information contains abnormal ablation information and abnormal time nodes in which the ablation result information does not meet the preset ablation standard, includes: Determine the ablation target position and the electrode landing position based on the ablation result information, wherein the ablation target position is the doctor-patient position where the patient needs radiofrequency ablation treatment, and the electrode landing position is the pre-treatment position where the medical device finally stays according to the navigation parameter information; The distance difference between the electrode landing point and the ablation target position is calculated, and it is determined whether the distance difference meets the distance difference range in the preset ablation standard. If not, the ablation result information is determined as abnormal ablation information, and the time node corresponding to the ablation result information is determined as an abnormal time node.

3. A radiofrequency ablation electrode navigation and positioning method according to claim 1, characterized in that: The determining, based on the abnormal factor parameter, the initial time node at which the radiofrequency ablation electrode generates a navigation error comprises: Monitoring the abnormal factor parameters to determine the initial time when the data indicators in the abnormal factor parameters change; An initial time node at which the radiofrequency ablation electrode generates a navigation error is determined according to the initial time.

4. A radiofrequency ablation electrode navigation and positioning method according to claim 1, characterized in that: The step of deducing the radiofrequency ablation electrode navigation route based on the navigation parameter information, the abnormal factor parameter, the initial time node, and the electrode landing position to obtain an electrode route corresponding to the abnormal environment parameter includes: Acquiring electrode environmental impact, where the electrode environmental impact is interference movement impact data of the abnormal environmental parameters at different distances on the radiofrequency ablation electrode; Matching the abnormal environment parameters with the abnormal environment parameters in the electrode environment influence to obtain interference movement data; Based on the initial time node, the navigation route in the navigation parameter information is intercepted to obtain a first navigation route and a second navigation route, wherein the first navigation route is the navigation route between the initial movement time node and the initial time node in the navigation parameter information, and the second navigation route is the navigation route between the termination movement time node and the initial time node in the navigation parameter information; Simulate the offset of the second navigation route according to the interference movement data and the electrode landing position to obtain an interference navigation route; The interference navigation route is associated with the first navigation route according to the initial time node to obtain an electrode route corresponding to the abnormal environmental parameter.

5. The radiofrequency ablation electrode navigation positioning method according to claim 1, characterized in that: The step of performing radiofrequency ablation calibration on the current radiofrequency ablation information according to the abnormal calibration sequence table to obtain calibrated radiofrequency ablation information includes: Comparing the current environmental parameters in the current radiofrequency ablation information with the abnormal environmental parameters in the abnormal calibration sequence table to obtain an environmental parameter ratio; Determining whether the environmental parameter ratio meets the preset parameter ratio, and if so, determining the target environmental parameter in the abnormal calibration sequence table and the navigation optimization parameter corresponding to the target environmental parameter; The navigation optimization parameters are adjusted for secondary optimization according to the environmental parameter comparison to obtain calibration radiofrequency ablation information.

6. A radiofrequency ablation electrode navigation and positioning method according to claim 5, characterized in that: The step of determining a navigation and positioning scheme according to the calibration radiofrequency ablation information further comprises: According to the current surgical information, a three-dimensional treatment model of the current patient is acquired; Performing a simulated radiofrequency ablation test on the three-dimensional treatment model based on the navigation and positioning scheme to obtain an ablation test result; It is determined whether the ablation test result meets the radiofrequency ablation requirement. If not, a manual optimization suggestion is generated according to the ablation test result, and the manual optimization suggestion is sent to the target terminal.

7. A radiofrequency ablation electrode navigation and positioning system, characterized in that: The method applied to any one of claims 1 to 6, wherein the system comprises: An information acquisition module, used to acquire historical environment information, historical radiofrequency ablation information and current operation information, wherein the historical environment information is the operation environment information when radiofrequency ablation operations are performed on different patients in a historical time period, and the historical radiofrequency ablation information is the navigation parameter information used by the radiofrequency ablation electrode when radiofrequency ablation operations are performed on different patients in the historical time period and the ablation result information corresponding to the navigation parameter information; An information screening module, configured to screen the historical radiofrequency ablation information based on the ablation result information, and determine whether the historical radiofrequency ablation information contains abnormal ablation information and abnormal time nodes in which the ablation result information does not meet the preset ablation standard; A calibration analysis module, used to determine the abnormal environment parameters corresponding to the abnormal time node in the historical environment information, and perform equipment calibration analysis on the abnormal environment parameters and the abnormal ablation information to obtain an abnormal calibration sequence table; An information determination module, used to determine the current environmental parameters of the current patient during the operation and the current radiofrequency ablation information according to the current operation information; an ablation calibration module, used for matching the current environmental parameters with the abnormal environmental parameters in the abnormal calibration sequence table, and if there is a match between the current environmental parameters and the abnormal environmental parameters in the abnormal calibration sequence table, performing radiofrequency ablation calibration on the current radiofrequency ablation information according to the abnormal calibration sequence table to obtain calibrated radiofrequency ablation information; A scheme determination module is used to determine a navigation positioning scheme according to the calibration radiofrequency ablation information.

8. An electronic device, characterized in that: The electronic device includes: at least one processor; Memory; At least one application, wherein the at least one application is stored in a memory and configured to be executed by at least one processor, and the at least one application is configured to: execute a radiofrequency ablation electrode navigation positioning method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that: include: A computer program is stored which can be loaded by a processor and execute a radio frequency ablation electrode navigation and positioning method as described in any one of claims 1-6.

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