Targeted tissue ablation system, method and device and storage medium

Abstract

The invention discloses a targeted tissue ablation system, method and device and a storage medium, the system comprises a system host and an ablation electrode, the system host comprises a central processing unit, a combined pulse analysis module, a combined pulse generation module, a current sampling module, a voltage sampling module, an impedance sampling module, an interface display module and an electromagnetic isolation interface module; the combined pulse analysis module is in communication connection with the current sampling module, the impedance sampling module and the voltage sampling module. The tail end of the ablation electrode is electrically connected with the combined pulse generation module through the electromagnetic isolation interface module; a pressure sensor and a temperature sensor are integrated at the head end of the ablation electrode, and the combined pulse analysis module is in communication connection with the pressure sensor and the temperature sensor through the electromagnetic isolation interface module. According to the scheme, data acquisition is carried out through multiple sensors, and the combined pulse string is regulated and controlled based on self-adaption, so that the safety of energy use and the effectiveness of ablation are guaranteed.

Description

Technical Field

[0001] The present specification relates to the field of biological detection, and in particular to a targeted tissue ablation system, method, device and storage medium. Background Art

[0002] Among the current ablation techniques for treating lung lesions, pulsed electric field ablation stands out among many ablation methods and has developed rapidly due to its obvious advantages such as non-thermal ablation, strong selectivity, and clear boundaries. However, the energy output process of the ablation system generally ends within milliseconds or tens of milliseconds. Due to the short energy release time, the operator cannot regulate the energy output process in a timely manner, which brings certain safety risks. Summary of the invention

[0003] In response to the above-mentioned problems in the prior art, the purpose of the present application is to provide a targeted tissue ablation system, method, device and storage medium, which collects data through multiple sensors and adaptively controls the combined pulse generation module based on the collected data, thereby ensuring the safety of energy use and the effectiveness of ablation.

[0004] To achieve the above objectives, this application provides the following solutions:

[0005] A targeted tissue ablation system, characterized in that the system comprises: a system host and an ablation electrode, the system host comprises: a central processing unit, a joint pulse analysis module, a joint pulse generation module, a current sampling module, a voltage sampling module, an impedance sampling module, an interface display module and an electromagnetic isolation interface module; the central processing unit is respectively communicated with the joint pulse analysis module, the joint pulse generation module, the interface display module and the electromagnetic isolation interface module; the joint pulse analysis module is respectively communicated with the current sampling module, the impedance sampling module and the voltage sampling module;

[0006] The tail end of the ablation electrode is electrically connected to the combined pulse generation module through the electromagnetic isolation interface module; the head end of the ablation electrode is integrated with a pressure sensor and a temperature sensor, and the combined pulse analysis module is respectively communicated with the pressure sensor and the temperature sensor through the electromagnetic isolation interface module;

[0007] The combined pulse generation module is used to output pulse energy to the ablation electrode, so that the ablation electrode ablates the diseased tissue in the target tissue of the target case;

[0008] The combined pulse analysis module is used to collect in real time the current data in the energy circuit where the ablation electrode is located, the pressure data when the ablation electrode is in contact with the target tissue, the temperature data of the target tissue and the impedance data between the two poles of the ablation electrode during the process of the combined pulse generation module outputting pulse energy to the ablation electrode, and to adaptively control the combined pulse generation module based on the current data, the pressure data, the temperature data and the impedance data.

[0009] The present application also discloses a targeted tissue ablation method, which is implemented based on the above-mentioned targeted tissue ablation system, and comprises:

[0010] Displaying a three-dimensional reconstruction model of the target tissue of the target case in an interface display module;

[0011] Based on the three-dimensional reconstruction model, determining tissue type information of the target tissue, lesion degree indication information of the target tissue and a preoperative planning path;

[0012] When the ablation electrode is attached to the target tissue based on the preoperatively planned path, initial dielectric characteristic information of the target tissue is acquired;

[0013] Based on the initial dielectric characteristic information and the preset reference dielectric characteristic information, the lesion tissue in the target tissue is identified to obtain the lesion range information of the target tissue, and the lesion range information is displayed in the three-dimensional reconstructed model, wherein the reference dielectric characteristic information is the calibrated dielectric characteristic information of the normal tissue;

[0014] Input the tissue type information, the lesion degree indication information and the initial dielectric characteristic information into a pulse combination prediction model to perform pulse combination prediction, obtain a first predicted pulse combination, and display a first ablation energy scheme including the first predicted pulse combination on the interface display module; the predicted pulse combination includes: a plurality of high-voltage and high-frequency pulses and / or a plurality of low-voltage and low-frequency pulses;

[0015] In response to an ablation parameter setting instruction triggered based on the first ablation energy scheme, controlling the joint pulse generation module to output the pulse energy corresponding to the ablation parameter setting instruction to the ablation electrode, so that the ablation electrode ablates the diseased tissue in the target tissue, and after the ablation process is completed, obtaining the current dielectric characteristic information of the target tissue;

[0016] Based on the current dielectric characteristic information and the initial dielectric characteristic information, the ablation range of the current ablation treatment is evaluated to obtain the ablation range information corresponding to the current ablation treatment, and the ablation range information corresponding to the current ablation treatment is displayed in the three-dimensional reconstruction model.

[0017] The present application also discloses a targeted tissue ablation device, which is implemented based on the above-mentioned targeted tissue ablation system, and includes:

[0018] A three-dimensional reconstruction model display unit, used to display a three-dimensional reconstruction model of a target tissue of a target case in an interface display module;

[0019] A model analysis unit, configured to determine, based on the three-dimensional reconstruction model, tissue type information of the target tissue, lesion degree indication information of the target tissue, and a preoperative planning path;

[0020] An initial dielectric characteristic information acquisition unit, configured to acquire initial dielectric characteristic information of the target tissue when the ablation electrode is attached to the target tissue based on the preoperatively planned path;

[0021] a lesion range identification unit, configured to identify the range of the lesion tissue in the target tissue based on the initial dielectric characteristic information and preset reference dielectric characteristic information, obtain the lesion range information of the target tissue, and display the lesion range information in the three-dimensional reconstructed model, wherein the reference dielectric characteristic information is the calibrated dielectric characteristic information of the normal tissue;

[0022] A first scheme suggestion unit is used to input the tissue type information, the lesion degree indication information and the initial dielectric characteristic information into a pulse combination prediction model to perform pulse combination prediction, obtain a first predicted pulse combination, and display a first ablation energy scheme including the first predicted pulse combination on the interface display module; the predicted pulse combination includes: a plurality of high-voltage and high-frequency pulses and / or a plurality of low-voltage and low-frequency pulses;

[0023] a pulse energy output unit, configured to respond to an ablation parameter setting instruction triggered based on the first ablation energy scheme, control the joint pulse generation module to output the pulse energy corresponding to the ablation parameter setting instruction to the ablation electrode, so that the ablation electrode ablates the diseased tissue in the target tissue, and obtain the current dielectric characteristic information of the target tissue after the ablation treatment is completed;

[0024] An ablation range evaluation unit is used to evaluate the ablation range of the current ablation treatment based on the current dielectric characteristic information and the initial dielectric characteristic information, obtain the ablation range information corresponding to the current ablation treatment, and display the ablation range information corresponding to the current ablation treatment in the three-dimensional reconstruction model.

[0025] The present application also discloses a computer-readable storage medium, in which at least one instruction or at least one program is stored. The at least one instruction or the at least one program is loaded and executed by a processor to implement the targeted tissue ablation method as described above.

[0026] The targeted tissue ablation system, method, device and storage medium provided by the present application have the following technical effects:

[0027] In the technical solution provided in the present application, the combined pulse generating module in the targeted tissue ablation system can output pulse energy to the ablation electrode so that the ablation electrode can ablate the diseased tissue in the targeted tissue of the target case. Since the head end of the ablation electrode is integrated with a pressure sensor and a temperature sensor, the system host also includes a current sampling module, an impedance sampling module and a voltage sampling module. The combined pulse analysis module in the targeted tissue ablation system can collect the current data in the energy circuit where the ablation electrode is located, the pressure data when the ablation electrode is close to the targeted tissue, the temperature data of the targeted tissue and the impedance data between the two poles of the ablation electrode in real time during the process of the combined pulse generating module outputting pulse energy to the ablation electrode. Based on the current data, pressure data, temperature data and impedance data, the combined pulse generating module can be adaptively controlled, data can be collected through multiple sensors, and the combined pulse generating module can be adaptively controlled based on the collected data, thereby ensuring the safety of energy use and the effectiveness of ablation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the embodiments or prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 is a structural block diagram of a targeted tissue ablation system provided in an embodiment of the present application;

[0030] Figure 2 is a structural block diagram of a combined pulse generation module provided in an embodiment of the present application;

[0031] Figure 3 is a schematic diagram of an energy output circuit provided in an embodiment of the present application;

[0032] Figure 4 is a structural block diagram of another targeted tissue ablation system provided in an embodiment of the present application;

[0033] Figure 5 It is a flow chart of a targeted tissue ablation method provided in an embodiment of the present application;

[0034] Figure 6 is a schematic flow chart of another targeted tissue ablation method provided in an embodiment of the present application;

[0035] Figure 7 is a schematic flow chart of another targeted tissue ablation method provided in an embodiment of the present application;

[0036] Figure 8 It is a flow chart of a pulse combination prediction model training process provided by an embodiment of the present application;

[0037] Fig. 9 is a schematic flow chart of another targeted tissue ablation method provided in an embodiment of the present application;

[0038] Fig.10 is a schematic flow chart of another targeted tissue ablation method provided in an embodiment of the present application;

[0039] Fig.11 is a schematic flow chart of another targeted tissue ablation method provided in an embodiment of the present application;

[0040] Fig.12 This is a schematic diagram of the effect of an interface display module provided in an embodiment of the present application;

[0041] Fig.13 It is a schematic diagram of a targeted tissue ablation device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in 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. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0043] In several embodiments provided in this application, the described system embodiments are only schematic, for example, the division of the above modules is only a logical function division, and there may be other division methods in actual implementation, for example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection of modules or units, which may be electrical or other forms.

[0044] To facilitate understanding of the embodiments of the present application, several technical terms are briefly introduced below:

[0045] Dielectric properties are inherent properties of biological tissues. Under the action of electromagnetic fields, biological tissues will exhibit dielectric properties, including dielectric constant and conductivity. The dielectric property values ​​of biological tissues are related to factors such as the water content of the tissue itself, the ion concentration of the cell fluid, and the permeability of the cell membrane.

[0046] Electromagnetic navigation is a technology that uses the characteristics of electromagnetic radiation or electromagnetic waves for positioning and navigation. Based on the propagation and reflection characteristics of electromagnetic signals in space, the position, direction and speed of a device or individual are determined by receiving and analyzing electromagnetic signals in the surrounding environment. In order to obtain electromagnetic signals in the surrounding environment, the electromagnetic navigation system usually has a receiver and a sensor. The receiver is used to receive and process electromagnetic signals, and the sensor is used to detect the electromagnetic field distribution and other related parameters in the surrounding environment.

[0047] Virtual endoscopy technology is a technology that segments and reconstructs 2D medical slice images collected by CT and other equipment into 3D models. It then simulates the effect of a virtual camera moving inside human tissues and organs based on the results of the 3D reconstruction, and displays the corresponding scene in real time based on the corresponding viewpoint position and line of sight direction.

[0048] Among the ablation techniques currently used to treat lung lesions, pulsed electric field ablation stands out among many ablation methods and has developed rapidly due to its obvious advantages such as non-thermal ablation, strong selectivity, and clear boundaries. However, pulsed electric field ablation still faces many problems in actual clinical practice when facing lesions such as malignant lung nodules and malignant lung tumors. In experiments and clinics, the ablation range of traditional nanosecond pulse or microsecond pulse ablation of plant and animal tissues cannot exceed 3cm2, which means that complete ablation cannot be achieved in the face of large-sized malignant nodules and tumors; the energy release process of the ablation system is generally completed within milliseconds or tens of milliseconds. During this period, the equipment has a complex working process but it is imperceptible to humans. Any unexpected situation during this period cannot be handled in time, which is very dangerous; there are currently few pulsed electric field ablation therapeutic devices on the market, and there are few case references. For operators, the dose-effect relationship of high-voltage electric field pulse ablation is not concrete and difficult to control; the positioning of the ablation electrode during percutaneous puncture or through the airway to reach the target tissue often requires multiple CT assistance, which greatly prolongs the operation time and reduces the efficiency of the operation.

[0049] Based on the above technical problems, the present application embodiment provides a targeted tissue ablation system, see Figure 1 , Figure 1 is a schematic diagram of the structure of a targeted tissue ablation system provided in an embodiment of the present application, such as Figure 1As shown, the above-mentioned targeted tissue ablation system may include: a system host 1 and an ablation electrode 2, and the system host 1 may include: a central processing unit 3, a joint pulse analysis module 4, a joint pulse generation module 5, a current sampling module 6, a voltage sampling module 7, an impedance sampling module 8, an interface display module 9 and an electromagnetic isolation interface module 10; the central processing unit 3 is respectively communicated with the joint pulse analysis module 4, the joint pulse generation module 5, the interface display module 9 and the electromagnetic isolation interface module 10; the joint pulse analysis module 4 is respectively communicated with the current sampling module 6, the voltage sampling module 7 and the impedance sampling module 8;

[0050] The tail end of the ablation electrode 2 is electrically connected to the combined pulse generating module 5 via an electromagnetic isolation interface module 10; the head end of the ablation electrode 2 is integrated with a pressure sensor 11 and a temperature sensor 12, and the combined pulse analysis module 4 is communicatively connected to the pressure sensor 11 and the temperature sensor 12 respectively via the electromagnetic isolation interface module 10.

[0051] In a specific embodiment, the ablation electrode 2 can be a consumable used to attach to the patient's target tissue for lesion ablation, and the lesion ablation here can refer to the implementation of pulsed electric field ablation on the lesion site. Specifically, the ablation electrode 2 can be divided into a dual-electrode ablation consumable and a single-electrode ablation consumable (for example, a catheter electrode, a basket electrode, a needle electrode, etc.), and the dual-electrode ablation consumable can form an energy output circuit with the target tissue through the two electrodes at the head end; because the single-electrode ablation consumable has only one electrode at the head, it cannot form an energy output circuit with the target tissue. Therefore, the single-electrode ablation consumable needs to be used in conjunction with the neutral electrode, with the single-electrode ablation consumable as the positive electrode, the neutral electrode as the negative electrode, and the target tissue as the conductor, and the three constitute the energy output circuit.

[0052] In a specific embodiment, the target tissue may be a diseased tissue to be ablated by the ablation electrode. Schematically, the target tissue may be lung tissue, for example, a lung bronchus.

[0053] In a specific embodiment, Figure 2 As shown, the combined pulse generation module 5 may include: a power supply module 13, a power amplifier module 14, an energy storage module 15 and an energy delivery module 16 which are electrically connected in sequence; specifically, the tail end of the ablation electrode 2 is electrically connected to the energy delivery module 16 via the electromagnetic isolation interface module 10. Optionally, the combined pulse generation module 5 may also include: a logic control and communication module 17, which is used to perform logic control on the power supply module 13, the power amplifier module 14, the energy storage module 15 and the energy delivery module 16, and communicate with external modules.

[0054] Specifically, the power supply module 13 uses the mains power supply to power the switching power supply and the entire system. The switching power supply can output a continuously adjustable voltage from zero to kilovolts to the power amplifier module 14 under the control of the logic control and communication module 17; the power amplifier module 14 can further amplify the voltage to several thousand volts and store it in the energy storage module 15 under the control of the logic control and communication module 17; the energy storage module 15 accommodates the energy obtained after the power amplifier amplifies, and after receiving the control of the logic control and communication module 17, it is delivered to the ablation electrode 2 by the energy delivery module 16 to complete the ablation.

[0055] Specifically, the targeted tissue ablation system has multiple electromagnetic isolation protection designs to prevent the modules of the system from being interfered by external electromagnetic fields and from interfering with each other when working synchronously, so as to ensure that the modules are not interfered by their own electric fields while releasing high-voltage pulse electric fields. Schematically, an industrial frequency isolation transformer can be set between the network power supply and the equipment power supply to isolate the network power supply; then an isolation power supply is set between the equipment power supply and the high-voltage switch power supply to isolate the high-voltage switch power supply from other circuits in the equipment; then an optical fiber connection is set in the joint pulse generation module 5 and the joint pulse analysis module 4 to isolate the strong and weak current systems; then a signal isolation chip is set in the switch logic of the power amplifier module 14 to isolate the control signal. Photoelectric devices are set in the data acquisition module (current sampling module 6, voltage sampling module 7, impedance sampling module 8, pressure sensor 11 and temperature sensor 12, etc.) and the data receiving module to isolate the strong current at the ablation electrode 2 from the weak current of the acquisition module. The communication modules in the system all use photoelectric devices to isolate the electromagnetic interference generated during the overall operation of the equipment.

[0056] In a specific embodiment, the combined pulse generation module 5 is used to output pulse energy to the ablation electrode, so that the ablation electrode ablates the diseased tissue in the target tissue of the target case;

[0057] The combined pulse analysis module 4 is used to collect in real time the current data in the energy circuit where the ablation electrode is located, the pressure data when the ablation electrode is close to the target tissue, the temperature data of the target tissue and the impedance data between the two poles of the ablation electrode during the process of the combined pulse generation module outputting pulse energy to the ablation electrode, and to adaptively control the combined pulse generation module based on the current data, pressure data, temperature data and impedance data.

[0058] Specifically, in high-voltage electric field pulse ablation, since tissue necrosis does not occur instantly, it usually takes several hours to several days to observe the ablation effect through medical imaging or biopsy. Experiments on animal and plant tissues have confirmed that electroporation of cells will lead to an increase in electrical conductivity, which is manifested macroscopically as a decrease in tissue impedance. Therefore, the impedance detection of the target tissue contacted by the electrode is very important and critical. Therefore, after the ablation electrode is attached to the target tissue and before energy output, the system will collect the impedance data at the ablation electrode and determine whether this place is suitable for energy release. Since the outflow of tissue fluid after the cell is electroporated will cause the conductivity to increase, resulting in a decrease in impedance at the ablation site; and too low impedance will generate a large current under the action of the high-voltage electric field, so it is not suitable for ablation when the impedance is too low. While detecting the impedance, the system will also detect the current. Schematically, as Figure 3 As shown, a Rogowski coil is installed in the energy output circuit. When current flows through the circuit, an induced voltage will be generated in the Rogowski coil. The induced voltage is then input into an integrator to obtain a voltage proportional to the primary current. The ADC conversion chip can finally complete the sampling of the circuit current.

[0059] Specifically, the temperature sensor can be used to detect the temperature data of the target tissue. In an optional embodiment, the temperature sensor can be a micro-optical fiber temperature sensor, which can effectively isolate the huge impact of the high-voltage electric field and has high accuracy and high sensitivity. In a specific embodiment, the temperature sensor can be connected to the system host by using an extremely fine optical fiber.

[0060] Specifically, the pressure sensor can be used to detect the pressure data when the ablation electrode is close to the target tissue. Optionally, the pressure sensor can adopt a miniaturized fiber optic pressure sensor, which has good electromagnetic compatibility. In a specific embodiment, the pressure sensor can be connected to the system host through an extremely fine optical fiber. The optical signals of the temperature sensor and the pressure sensor are emitted and demodulated by the system host, and the temperature and pressure information of the ablation electrode surface can be obtained after the interference optical signal is converted into a digital signal.

[0061] Specifically, after obtaining the collected data such as current, impedance, temperature, and pressure, the combined pulse analysis module 4 will timely adjust the process of releasing energy from the combined pulse generation module by analyzing the real-time situation of the target tissue according to the ablation parameters set by the operator. The situations in which the combined pulse generation module is regulated include but are not limited to overcurrent, short circuit, temperature rise, poor electrode adhesion, electrode arcing caused by body fluids, etc. In addition, when the target tissue is first attached to the target tissue, the combined pulse analysis module 4 receives the sampled data transmitted by each data acquisition module (current sampling module 6, voltage sampling module 7, impedance sampling module 8, pressure sensor 11, and temperature sensor 12, etc.), and establishes the negative pressure of the target tissue according to the sampled data. Load model, because human tissue is not an ideal pure resistor when used as a load, from a microscopic perspective, there are other fillers between cells, which is manifested as a certain capacitance from a macroscopic perspective, which will affect the current in the circuit to a certain extent, so it is necessary to establish a load model with resistance and capacitance to calculate the ablation effect that may be obtained under the current voltage; in the process of the joint pulse generation module releasing energy, the joint pulse analysis module 4 can calculate the estimated value of each data based on the load model, and when the difference between the real-time collection value and the estimated value of each data exceeds the preset deviation range, the joint pulse generation module 5 is regulated, and the data is uploaded to the central processor 3 for further judgment by the system operator. Through adaptive pulse regulation, the safety of the operator and the patient is effectively guaranteed, and the stability of the energy output system is guaranteed.

[0062] In a specific embodiment, when the ablation electrode is first attached to the target tissue, the attachment state of the ablation electrode is determined based on the current pressure data. After confirming that the ablation electrode and the target tissue are well attached, the current data is predicted based on the current impedance data and the current voltage value. The predicted current data is compared with the actual sampled current data to determine whether the load type of the target tissue is a resistive load or a capacitive load. When the load type is a resistive load, the actual resistance of the target tissue is calculated; when the load type is a capacitive load, the actual capacitance of the target tissue is calculated, thereby generating a load model for the target tissue based on the load type and the corresponding actual load value, and subsequent calculations are carried out on the basis of this model.

[0063] In a specific embodiment, Figure 4 As shown, the system host 1 may further include: a magnetic positioning receiver 18, the central processor 3 is in communication connection with the magnetic positioning receiver 18, the head end of the ablation electrode 2 is also integrated with a magnetic positioning sensor 19, and the magnetic positioning receiver 18 is in communication connection with the magnetic positioning sensor 19 through the electromagnetic isolation interface module 10;

[0064] The magnetic positioning sensor 19 and the magnetic positioning receiver 18 can be used to perform electromagnetic navigation on the ablation electrode 2 so as to deliver the ablation electrode 2 to the target tissue.

[0065] Specifically, the targeted tissue ablation system can work in conjunction with an external magnetic field generating device, which can generate an electromagnetic field for positioning in the cavity range that needs to be positioned. Specifically, the electromagnetic field can cover the targeted tissue. Schematically, taking the targeted tissue as lung tissue as an example, the range that needs to be positioned can be the patient's chest cavity, and then several magnetic sensors (for example, positioning electrodes) are placed at different positions in the electromagnetic field. These fixed magnetic sensors are used as feature points in the magnetic field space to establish a three-dimensional coordinate system of the electromagnetic field. Since the three-dimensional coordinate system requires an origin, an x-axis, a y-axis, and a z-axis. That is, the feature points require at least three points that are not coplanar with each other. The magnetic positioning sensor 19 can be composed of at least one positioning electrode. When the ablation electrode 2 intervenes in the cavity range, the magnetic positioning sensor 19 integrated in the ablation electrode 2 enters the three-dimensional coordinate system to detect the electromagnetic field distribution and other related parameters in the surrounding environment. The magnetic positioning receiver 18 determines the coordinate point information (including: position information and direction information) of the ablation electrode 2 in the three-dimensional coordinate system by receiving and analyzing the electromagnetic field distribution in the surrounding environment sent by the magnetic positioning sensor 19, and generates the actual movement path of the ablation electrode 2 based on the multiple coordinate point information of the ablation electrode 2 moving in the cavity range, and constructs a cavity model of the targeted tissue based on the actual movement path.

[0066] In a specific embodiment, the targeted tissue ablation system can work in conjunction with an endoscope. Before pulsed electric field ablation is performed on the targeted tissue of the target case, the interface display module 9 of the system host can display the visualized three-dimensional reconstruction model constructed for this case and the simulated planning path generated by the virtual endoscope. After the virtual endoscope and the endoscope align the feature points, the virtual endoscope and the endoscope can be moved synchronously, and the simulated planning path generated by the virtual endoscope can be displayed in the moving image of the endoscope. The moving image of the endoscope combined with high-precision electromagnetic navigation can easily deliver the ablation electrode to the target tissue that needs to be treated. Specifically, a path from the entrance of the lung bronchus to the lesion site can be established based on the three-dimensional model of the lung bronchi and the lesion site in the medical image (for example, CT image), and a feature point is set at each lung bronchial bifurcation. When the image of the endoscope matches the image of the virtual endoscope and reaches a certain lung bronchial bifurcation of the virtual endoscope, it is the virtual endoscope and the endoscope alignment feature point.

[0067] Specifically, the central processing control module can realize case management function, ablation parameter setting function, data import and export function, image generation and display function, ablation energy start and stop control function, communication function, etc. In the case management function, ensure that the data of each case is independent, and save the treatment plan of each case and the work log of this system, and perform machine learning and energy plan recommendation calculation here; the ablation parameter setting function performs visual setting of ablation energy, pulse form, start mode, etc.; the communication function interacts with other modules; the data import and export function can import external medical images (for example, CT images) and other data into this system or export the model files of this system; the image generation and display function includes algorithms such as segmentation modeling, which is the most intuitive observation function for the operator; the ablation energy start and stop control function can directly control the output and stop of ablation energy.

[0068] In a specific embodiment, the central processor 3 can be used to input the tissue type information of the target tissue, the lesion degree indication information of the target tissue and the initial dielectric characteristic information of the target tissue into the pulse combination prediction model to perform pulse combination prediction before the joint pulse generation module outputs the pulse energy, so as to obtain a first predicted pulse combination; after the joint pulse generation module outputs the pulse energy, based on the initial dielectric characteristic information of the target tissue and the current dielectric characteristic information of the target tissue, the ablation range of this ablation treatment is evaluated to obtain the ablation range information corresponding to this ablation treatment;

[0069] The interface display module 9 can be used to display the first ablation energy scheme including the first predicted pulse combination before the combined pulse generation module outputs the pulse energy, and to display the ablation range information corresponding to this ablation treatment in the three-dimensional reconstructed model of the target tissue after the combined pulse generation module outputs the pulse energy.

[0070] Specifically, the system can segment and reconstruct a visual three-dimensional model of the target tissue based on the patient's medical images, mark the target tissue in the medical images, obtain tissue type information of the target tissue, lesion degree indication information of the target tissue (for example, grayscale distribution image) and initial dielectric characteristic information of the target tissue, input the tissue type information, lesion degree indication information and initial dielectric characteristic information into a pulse combination prediction model, use the pulse combination prediction model to predict a first predicted pulse combination that can be used to ablate the target tissue, and generate a first ablation energy plan based on the first predicted pulse combination, which can provide a reference for the system operator.

[0071] In an optional embodiment, the model structure of the pulse combination prediction model may be a multi-classification model, such as a vector machine.

[0072] In a specific embodiment, the first predicted pulse combination may include: multiple high-voltage and high-frequency pulses and / or multiple low-voltage and low-frequency pulses, wherein the voltage and frequency of the high-voltage and high-frequency pulses are higher than those of the low-voltage and low-frequency pulses. Schematically, the high-voltage range of the pulse can be 0~6000v, the low-voltage range of the pulse can be 0~3000v, the high-frequency range of the pulse can be 0~5MHz, and the low-frequency range of the pulse can be 0~500KHz.

[0073] In a specific embodiment, the first ablation energy scheme may include: a first predicted pulse combination and an ablation duration corresponding to the first predicted pulse combination. Schematically, the first ablation energy scheme may be expressed as: “Scheme 1: ablation effective time 1ms, composed of 10 500ns 6000V pulses and 10 95us 1000V pulses.

[0074] Solution 2: The effective ablation time is 1us, consisting of 10 100ns 6000V pulses.

[0075] Solution 3: The effective ablation time is 1ms, and it is composed of 10 100us 2000V pulses. "

[0076] Specifically, the system can calibrate the initial dielectric characteristic information before ablation based on the comparison of the dielectric characteristics of the target tissue before and after ablation, measure the current dielectric characteristic information after ablation, analyze and compare the changes in the dielectric characteristics, analyze the scope of this ablation, and display it on the target tissue model established in the early stage to provide a reference for the operator.

[0077] The following describes a targeted tissue ablation method provided in an embodiment of the present application. The method is implemented based on the above-mentioned targeted tissue ablation system. Figure 5 A flowchart of a targeted tissue ablation method provided in an embodiment of the present application. It should be noted that this specification provides method operation steps as described in the embodiment or flowchart, but may include more or fewer operation steps based on routine or non-creative work. The order of steps listed in the embodiment is only one way of executing the steps among many orders, and does not represent the only order of execution. When the system or product is executed in practice, it can be executed in the order shown in the embodiment or the drawings or in parallel (for example, in a parallel processor or multi-threaded processing environment). Specifically, Figure 5 As shown, the above method may include:

[0078] S501, displaying a three-dimensional reconstructed model of the target tissue of the target case in an interface display module.

[0079] S502, based on the three-dimensional reconstruction model, determine the tissue type information of the target tissue, the lesion degree indication information of the target tissue and the preoperative planning path.

[0080] Specifically, the lesion degree indication information may be used to indicate the lesion degree of the target tissue. In a specific embodiment, the lesion degree indication information may be expressed in the form of a grayscale distribution image.

[0081] S503 , when the ablation electrode is attached to the target tissue based on the preoperatively planned path, initial dielectric characteristic information of the target tissue is obtained.

[0082] In a specific embodiment, the initial dielectric characteristic information can be used to characterize the dielectric characteristic information of the target tissue before ablation. Specifically, the dielectric characteristic information may include: dielectric constant and conductivity. The conductivity is obtained by the impedance sampling module after detecting the resistance value on both sides of the ablation electrode according to the conductivity formula (σ=1 / R). The dielectric constant of human tissue has a measured value.

[0083] In a specific embodiment, the preoperative planning path may be a simulated planning path obtained by performing path simulation on the three-dimensional reconstruction model based on a virtual endoscope. After determining the tissue type information of the target tissue, the lesion degree indication information of the target tissue, and the preoperative planning path based on the three-dimensional reconstruction model, as shown in FIG. Figure 6 As shown, the above method may also include:

[0084] S601, aligning feature points of the endoscope and the virtual endoscope.

[0085] Specifically, a path from the entrance of the pulmonary bronchus to the lesion site can be established based on the three-dimensional model of the pulmonary bronchus and the lesion site in the medical image (for example, CT image), and a feature point can be set at each pulmonary bronchial bifurcation. When the image of the endoscope matches the image of the virtual endoscope and reaches a certain pulmonary bronchial bifurcation of the virtual endoscope, the virtual endoscope and the endoscope are aligned with the feature point.

[0086] S602, when the feature points of the endoscope and the virtual endoscope are aligned, the endoscope and the virtual endoscope are controlled to move synchronously, and a real-time moving image of the endoscope is displayed in the interface display module, and a simulated behavior path is displayed in the real-time moving image.

[0087] S603, based on the real-time moving image of the endoscope, the ablation electrode is delivered to the target tissue.

[0088] In a specific embodiment, before obtaining the initial dielectric characteristic information of the target tissue, as described above, Figure 7 As shown, the above method may also include:

[0089] S701, controlling the magnetic field generating device to generate an electromagnetic field covering the target tissue, and establishing a three-dimensional coordinate system of the electromagnetic field.

[0090] S702, during the process of delivering the ablation electrode to the target tissue, the electromagnetic field is subjected to electromagnetic signal detection based on the magnetic positioning sensor to obtain electromagnetic field distribution information.

[0091] S703, based on the magnetic positioning receiver, performing positioning analysis on the electromagnetic field distribution information to obtain coordinate point information of the ablation electrode in the three-dimensional coordinate system;

[0092] S704, constructing a cavity model of the target tissue based on the action path corresponding to the multiple coordinate point information obtained during the transportation of the ablation electrode.

[0093] The pulse energy corresponding to the ablation parameter setting instruction outputted by the above-mentioned control combined pulse generation module to the ablation electrode may include:

[0094] S5061, controlling the combined pulse generation module to output pulse energy corresponding to the ablation parameter setting instruction to the ablation electrode, so that the ablation electrode ablates the diseased tissue in the target tissue based on the cavity model.

[0095] Specifically, the targeted tissue ablation system can work in conjunction with an external magnetic field generating device, which can generate an electromagnetic field for positioning in the cavity range that needs to be positioned. Specifically, the electromagnetic field can cover the targeted tissue. Schematically, taking the targeted tissue as lung tissue as an example, the range that needs to be positioned can be the patient's chest cavity, and then several magnetic sensors (for example, positioning electrodes) are placed at different positions in the electromagnetic field. These fixed magnetic sensors are used as feature points in the magnetic field space to establish a three-dimensional coordinate system of the electromagnetic field. Since the three-dimensional coordinate system requires an origin, an x-axis, a y-axis, and a z-axis. That is, the feature points require at least three points that are not coplanar with each other. The magnetic positioning sensor can be composed of at least one positioning electrode. When the ablation electrode intervenes in the cavity range, the magnetic positioning sensor integrated in the ablation electrode enters the three-dimensional coordinate system to detect the electromagnetic field distribution and other related parameters in the surrounding environment. The magnetic positioning receiver determines the coordinate point information (including: position information and direction information) of the ablation electrode in the three-dimensional coordinate system by receiving and analyzing the electromagnetic field distribution in the surrounding environment sent by the magnetic positioning sensor, and generates the actual movement path of the ablation electrode based on the multiple coordinate point information of the ablation electrode moving in the cavity range, and constructs a cavity model of the targeted tissue based on the actual movement path.

[0096] S504, based on the initial dielectric characteristic information and the preset reference dielectric characteristic information, the diseased tissue in the target tissue is identified to obtain the diseased range information of the target tissue, and the diseased range information is displayed in the three-dimensional reconstructed model. The reference dielectric characteristic information is the calibrated dielectric characteristic information of the normal tissue.

[0097] Specifically, since there is usually a significant difference between the dielectric property values ​​of normal biological tissue and malignant biological tissue, the system can identify the range of the diseased tissue by comparing the calibrated dielectric characteristic information of the normal biological tissue with the initial dielectric characteristic information of the collected target tissue.

[0098] S505, input tissue type information, lesion degree indication information and initial dielectric characteristic information into the pulse combination prediction model to perform pulse combination prediction, obtain a first predicted pulse combination, and display the first ablation energy scheme including the first predicted pulse combination on the interface display module; the first predicted pulse combination includes: multiple high-voltage and high-frequency pulses and / or multiple low-voltage and low-frequency pulses.

[0099] In a specific embodiment, Figure 8 As shown, the above method may also include:

[0100] S801, obtaining sample tissue type information corresponding to the sample diseased tissue, sample disease degree indication information corresponding to the sample diseased tissue, sample dielectric characteristic information corresponding to the sample diseased tissue, and a labeled pulse combination corresponding to the sample diseased tissue.

[0101] Specifically, the sample tissue type information, sample lesion degree indication information, sample dielectric characteristic information and labeled pulse combination corresponding to the sample diseased tissue can be used as a set of training data to train the machine learning model to be trained. In an optional embodiment, the sample diseased tissue can be screened from the historical case data of this system.

[0102] S802, inputting the sample tissue type information, the sample lesion degree indication information and the sample dielectric characteristic information into the machine learning model to be trained to perform pulse combination prediction to obtain a sample predicted pulse combination.

[0103] S803, based on the pulse prediction loss information between the labeled pulse combination and the sample predicted pulse combination, the pulse combination prediction training is performed on the machine learning model to be trained to obtain a pulse combination prediction model.

[0104] In a specific embodiment, the pulse prediction loss information can be used to represent the difference information between the labeled pulse combination and the sample predicted pulse combination. Specifically, the labeled pulse combination and the sample predicted pulse combination can be calculated based on a preset loss function to obtain the pulse prediction loss information. Schematically, the preset loss function can include but is not limited to: a cross entropy loss function.

[0105] In a specific embodiment, the model parameters of the machine learning model to be trained can be updated based on the pulse prediction loss information to obtain an updated machine learning model to be trained, and the next round of iterative training can be performed based on the updated machine learning model to be trained until the current machine learning model to be trained meets the preset training iteration end conditions.

[0106] In a specific embodiment, the model structure of the machine learning model to be trained can be a multi-classification model, such as a vector machine.

[0107] S506, in response to the ablation parameter setting instruction triggered based on the first ablation energy scheme, controls the joint pulse generating module to output the pulse energy corresponding to the ablation parameter setting instruction to the ablation electrode, so that the ablation electrode ablates the diseased tissue in the target tissue, and after the ablation treatment is completed, obtains the current dielectric characteristic information of the target tissue.

[0108] Specifically, the ablation parameter setting instruction can be an ablation parameter setting instruction issued by the system operator with reference to the first ablation energy scheme. In a specific embodiment, the ablation parameter setting instruction can be used to set the following ablation parameters: pulse effective time, pulse combination form, pulse voltage of each pulse, pulse frequency and pulse polarity (unipolar or bipolar), etc.

[0109] Specifically, the combined pulse generating module can output pulse energy with combined pulse train characteristics corresponding to the ablation parameter setting instructions to the ablation electrode. Schematically, the combined pulse train characteristics can be expressed as: several high-frequency and high-voltage pulses of 0 to 5 MHz combined with several low-frequency and low-voltage pulses of 0 to 500 KHz, and the output polarity of each pulse.

[0110] S507, based on the current dielectric characteristic information and the initial dielectric characteristic information, the ablation range of the current ablation treatment is evaluated to obtain the ablation range information corresponding to the current ablation treatment, and the ablation range information corresponding to the current ablation treatment is displayed in the three-dimensional reconstruction model.

[0111] Specifically, the system can calibrate the initial dielectric characteristic information before ablation based on the comparison of the dielectric characteristics of the target tissue before and after ablation, measure the current dielectric characteristic information after ablation, analyze and compare the changes in the dielectric characteristics, analyze the scope of this ablation, and display it on the target tissue model established in the early stage to provide a reference for the operator.

[0112] In a specific embodiment, Fig. 9 As shown, after the ablation range of the current ablation process is evaluated based on the current dielectric characteristic information and the initial dielectric characteristic information to obtain the ablation range information corresponding to the current ablation process, the method may further include:

[0113] S508, inputting the tissue type information, the lesion degree indication information and the current dielectric characteristic information into the pulse combination prediction model to perform pulse combination prediction, obtain a second predicted pulse combination, and display a second ablation energy scheme including the second predicted pulse combination on the interface display module;

[0114] S509, generating range comparison information based on the ablation range information and the lesion range information, and displaying the range comparison information in the three-dimensional reconstructed model.

[0115] Specifically, the second predicted pulse combination may be a predicted pulse combination obtained by performing pulse combination prediction based on current dielectric characteristic information after the current ablation operation is completed.

[0116] Specifically, the assessed ablation range can be converted into a visual ablation range and displayed on the operator interface, and a new suggestion plan can be given. The operator can compare the actual diseased tissue size in the interface with the calculated ablation size, and choose the next step based on the comparison results and system suggestions.

[0117] In a specific embodiment, Fig.10 As shown, the above method may also include:

[0118] S1001, in the process of controlling the joint pulse generation module to output the pulse energy corresponding to the ablation parameter setting instruction to the ablation electrode, real-time collection of current data in the energy circuit where the ablation electrode is located, pressure data when the ablation electrode is close to the target tissue, temperature data of the target tissue and impedance data between the two poles of the ablation electrode;

[0119] S1002, determining whether the target sampling data satisfies a preset pulse control condition corresponding to the target sampling data, where the target sampling data is any one of current data, temperature data, pressure data and impedance data;

[0120] S1003, when the target sampling data meets the preset pulse control condition, controlling the joint pulse generation module to perform the pulse control operation corresponding to the preset pulse control condition.

[0121] In a specific embodiment, the preset pulse control conditions may include but are not limited to overcurrent, short circuit, temperature rise, poor electrode contact, electrode arcing caused by body fluids, etc., and the pulse control operations may include but are not limited to: reducing energy, stopping energy or increasing frequency, etc. The pulse control operations corresponding to the preset pulse control conditions can be pre-set in combination with the adaptive control requirements in actual applications.

[0122] In a specific embodiment, Fig.11 As shown, the above method may also include:

[0123] S1101, when the ablation electrode is attached to the target tissue based on the preoperative planned path, initial impedance data between the two poles of the ablation electrode, initial voltage data between the two poles of the ablation electrode, and initial current data flowing through the ablation electrode are collected;

[0124] S1102, comparing the predicted current data between the initial voltage data and the initial impedance data with the initial current data, to determine the load type of the target tissue;

[0125] S1103, establishing a load model for the targeted tissue based on the load type.

[0126] Specifically, when the ablation electrode is first attached to the target tissue, the attachment state of the ablation electrode is judged based on the current pressure data. After confirming that the ablation electrode and the target tissue are well attached, the current data is predicted based on the current impedance data and the current voltage value. The predicted current data is compared with the actual sampled current data to determine whether the load type of the target tissue is a resistive load or a capacitive load. When the load type is a resistive load, the actual resistance of the target tissue is calculated; when the load type is a capacitive load, the actual capacitance of the target tissue is calculated, thereby generating a load model for the target tissue based on the load type and the corresponding actual load value, and subsequent calculations are carried out on the basis of this model.

[0127] S1104, in response to the ablation parameter setting instruction, calculating target prediction data corresponding to the target sampling data based on the load model;

[0128] S1105 , when the difference between the target sampled data and the target predicted data meets the preset data deviation condition, controlling the joint pulse generation module to perform a pulse control operation corresponding to the preset data deviation condition.

[0129] Specifically, the preset data deviation condition can be preset in combination with the adaptive control accuracy in actual applications.

[0130] Exemplarily, when using this system, it is necessary to create a new case or select an existing case for operation. When a two-dimensional tomographic medical image is obtained, the medical image is imported into this system. This system can reconstruct a visual three-dimensional model by segmenting each tissue in the plane image. The target tissue that needs to be treated can be automatically identified or manually marked in the model. This model can be used as a reference for preoperative path planning (combined with a virtual endoscope with high-precision magnetic navigation positioning), electrode selection (integrated ablation catheter electrode or integrated ablation needle electrode), intervention method (through natural cavity or percutaneous puncture), etc., and the user can make an assessment of the actual situation of the case. Before the energy is released during the operation, the system host operator interface will display the visual three-dimensional model constructed for this case and the path planning made using the virtual endoscope. The virtual endoscope and the endoscope can move synchronously after aligning the feature points, and the route planned by the virtual endoscope is displayed in the endoscopic image. Combined with the high-precision electromagnetic navigation module, the ablation electrode can be easily delivered to the target tissue that needs to be treated. After the ablation electrode (for example, an integrated ablation catheter electrode or an integrated ablation needle electrode) contacts the target tissue, the micro pressure sensor installed at the tip of the ablation electrode can confirm that the electrode is well attached; the impedance acquisition module will collect the impedance between the positive and negative poles of the ablation electrode (that is, the impedance of the target tissue portion that is attached to the ablation electrode), thereby inferring the dielectric characteristic value of the target tissue. Since there is usually a significant difference between the dielectric characteristic values ​​of normal and malignant biological tissues, the system can identify the lesion range of the target tissue by comparing the dielectric characteristic values ​​collected several times, and then input the tissue type of the target tissue, the degree of lesion of the target tissue, and the sampling calculation of the dielectric characteristics of the target tissue into the pulse combination prediction model for pulse combination prediction, thereby generating an energy combination plan recommendation. The operator can select an appropriate adaptive combination according to the recommended plan and his own judgment. Pulse train form; during the energy release process, the current sensor in the system and the temperature sensor integrated in the ablation electrode tip will collect the current information in the energy circuit and the temperature information of the target tissue in real time. Once it is found that the current is too high or the tissue temperature rises too quickly, it will actively reduce or stop the energy to avoid unexpected damage to the tissue, and ask the operator how to proceed with the next action; after the energy is released, the impedance acquisition module will continue to collect impedance data at the target tissue. After recalculating the dielectric characteristic value, the system will evaluate the ablation effect this time, and convert the evaluation result into a visual ablation range displayed on the operator interface, and give a new suggestion plan. The operator can compare the actual diseased tissue size in the interface with the calculated ablation size this time, and choose how to proceed with the next action based on the comparison results and system suggestions; schematically, Fig.12 is a schematic diagram of the effect of an interface display module provided in an embodiment of the present application. Specifically, Fig.12It is only used to illustrate the visualization ablation range function of the targeted tissue ablation system. The blue irregular line in the figure is the targeted tissue modeling, the red irregular line in the figure is the identification modeling of the targeted tissue lesion, and the green circle in the figure is the visualization ablation range. Every step of the system operation will be recorded in the case to provide a comprehensive reference for the operator. Similarly, the historical cases in the system can be used as training samples to iteratively update the pulse combination prediction model, thereby providing more and more comprehensive solutions for subsequent case treatments.

[0131] The present application embodiment provides a targeted tissue ablation device, which is implemented based on the targeted tissue ablation system as described above. Fig.13 As shown, the above device may include:

[0132] A three-dimensional reconstruction model display unit 1310 is used to display a three-dimensional reconstruction model of a target tissue of a target case in an interface display module;

[0133] A model analysis unit 1320 is used to determine the tissue type information of the target tissue, the lesion degree indication information of the target tissue, and the preoperative planning path based on the three-dimensional reconstruction model;

[0134] An initial dielectric characteristic information acquisition unit 1330 is used to acquire initial dielectric characteristic information of the target tissue when the ablation electrode is attached to the target tissue based on a preoperatively planned path;

[0135] The lesion range identification unit 1340 is used to identify the range of the lesion tissue in the target tissue based on the initial dielectric characteristic information and the preset reference dielectric characteristic information, obtain the lesion range information of the target tissue, and display the lesion range information in the three-dimensional reconstruction model, where the reference dielectric characteristic information is the calibrated dielectric characteristic information of the normal tissue;

[0136] The first scheme suggestion unit 1350 is used to input tissue type information, lesion degree indication information and initial dielectric characteristic information into a pulse combination prediction model to perform pulse combination prediction, obtain a first predicted pulse combination, and display a first ablation energy scheme including the first predicted pulse combination on an interface display module; the predicted pulse combination includes: a plurality of high-voltage and high-frequency pulses and / or a plurality of low-voltage and low-frequency pulses;

[0137] The pulse energy output unit 1360 is used to control the joint pulse generation module to output the pulse energy corresponding to the ablation parameter setting instruction to the ablation electrode in response to the ablation parameter setting instruction triggered based on the first ablation energy scheme, so that the ablation electrode ablates the lesion tissue in the target tissue, and obtains the current dielectric characteristic information of the target tissue after the ablation treatment is completed;

[0138] The ablation range evaluation unit 1370 is used to evaluate the ablation range of this ablation treatment based on the current dielectric characteristic information and the initial dielectric characteristic information, obtain the ablation range information corresponding to this ablation treatment, and display the ablation range information corresponding to this ablation treatment in the three-dimensional reconstruction model.

[0139] In a specific embodiment, the preoperative planning path is a simulated behavior path generated based on a virtual endoscope, and the above-mentioned device may further include:

[0140] A feature point alignment unit, used for aligning feature points between the endoscope and the virtual endoscope;

[0141] A synchronous movement unit, used for controlling the endoscope and the virtual endoscope to move synchronously when the feature points of the endoscope and the virtual endoscope are aligned, and displaying the real-time moving image of the endoscope in the interface display module, wherein the real-time moving image displays the simulated behavior path;

[0142] The electrode delivery unit is used to deliver the ablation electrode to the target tissue based on the real-time moving image of the endoscope.

[0143] In a specific embodiment, the above device may further include:

[0144] An electromagnetic field coordinate system establishing unit, used to control the magnetic field generating device to generate an electromagnetic field covering the target tissue and establish a three-dimensional coordinate system of the electromagnetic field;

[0145] An electromagnetic signal detection unit is used to detect electromagnetic signals of the electromagnetic field based on the magnetic positioning sensor during the process of delivering the ablation electrode to the target tissue to obtain electromagnetic field distribution information;

[0146] A positioning analysis unit, used to perform positioning analysis on the electromagnetic field distribution information based on the magnetic positioning receiver to obtain the coordinate point information of the ablation electrode in the three-dimensional coordinate system;

[0147] A cavity model building unit, used to build a cavity model of the targeted tissue based on the action path corresponding to the multiple coordinate point information obtained during the delivery of the ablation electrode;

[0148] The pulse energy output unit 1360 may include:

[0149] The ablation processing unit is used to control the combined pulse generation module to output the pulse energy corresponding to the ablation parameter setting instruction to the ablation electrode, so that the ablation electrode can ablate the diseased tissue in the target tissue based on the cavity model.

[0150] In a specific embodiment, the above device may further include:

[0151] A sample acquisition unit, in which a user acquires sample tissue type information corresponding to the sample lesion tissue, sample lesion degree indication information corresponding to the sample lesion tissue, sample dielectric characteristic information corresponding to the sample lesion tissue, and a labeled pulse combination corresponding to the sample lesion tissue;

[0152] A sample prediction unit, used for inputting sample tissue type information, sample lesion degree indication information and sample dielectric characteristic information into a machine learning model to be trained to perform pulse combination prediction, and obtain a sample prediction pulse combination;

[0153] The model training unit is used to perform pulse combination prediction training on the machine learning model to be trained based on the pulse prediction loss information between the labeled pulse combination and the sample predicted pulse combination to obtain a pulse combination prediction model.

[0154] In a specific embodiment, the above device may further include:

[0155] A second scheme suggestion unit is used to input tissue type information, lesion degree indication information and current dielectric characteristic information into a pulse combination prediction model to perform pulse combination prediction, obtain a second predicted pulse combination, and display a second ablation energy scheme including the second predicted pulse combination on an interface display module;

[0156] The range comparison unit is used to generate range comparison information based on the ablation range information and the lesion range information, and display the range comparison information in the three-dimensional reconstruction model.

[0157] In a specific embodiment, the above device may further include:

[0158] A real-time data acquisition unit is used to collect in real time the current data in the energy circuit where the ablation electrode is located, the pressure data when the ablation electrode is close to the target tissue, the temperature data of the target tissue and the impedance data between the two poles of the ablation electrode in the process of controlling the joint pulse generation module to output the pulse energy corresponding to the ablation parameter setting instruction to the ablation electrode;

[0159] A condition judgment unit, used to judge whether the target sampling data satisfies a preset pulse control condition corresponding to the target sampling data, where the target sampling data is any one of current data, temperature data, pressure data and impedance data;

[0160] The first control unit is used to control the combined pulse generation module to perform a pulse control operation corresponding to the preset pulse control condition when the target sampling data meets the preset pulse control condition.

[0161] In a specific embodiment, the above device may further include:

[0162] An initial data acquisition unit, used to acquire initial impedance data between the two poles of the ablation electrode, initial voltage data between the two poles of the ablation electrode, and initial current data flowing through the ablation electrode when the ablation electrode is attached to the target tissue based on the preoperatively planned path;

[0163] a load type determination unit, configured to determine a load type of the target tissue based on a comparison between the predicted current data and the initial current data between the initial voltage data and the initial impedance data;

[0164] A load model building unit, used for building a load model for a targeted tissue based on the load type;

[0165] A prediction data calculation unit, configured to calculate target prediction data corresponding to the target sampling data based on the load model in response to the ablation parameter setting instruction;

[0166] The second control unit is used to control the joint pulse generation module to perform a pulse control operation corresponding to the preset data deviation condition when the difference between the target sampling data and the target prediction data meets the preset data deviation condition.

[0167] The device and method embodiments in the above device embodiments are based on the same inventive concept and will not be described one by one here.

[0168] An embodiment of the present application also provides a storage medium, which can be set in a targeted tissue ablation system to store at least one instruction or at least one program related to implementing a targeted tissue ablation method in one of the method embodiments. The at least one instruction or the at least one program is loaded and executed by the processor to implement the targeted tissue ablation method provided by the above method embodiment.

[0169] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: various media that can store program codes, such as read-only memory (ROM), random access memory (RAM), etc.

[0170] It can be seen from the above-mentioned embodiments of the targeted tissue ablation system, method, device and storage medium provided by the present application that the adaptive combined pulse train of the system can effectively expand the ablation range and inhibit adverse reactions such as muscle stimulation; during the energy release process, multiple sensors collect tissue information and energy information, so that the combined pulse train can adapt according to the actual situation to ensure the safety of the operator and the patient and the effectiveness of the operation; the treatment plan recommended by machine learning and judgment can better enable the operator to understand the dose-effect relationship of the pulse energy, and the calculation of the ablation boundary can also enable the operator to better plan the operation; the combination of high-precision electromagnetic navigation positioning and virtual endoscope can guide the operator to more conveniently deliver the ablation electrode to the target tissue, saving operation time and improving the success rate of the operation.

[0171] It should be noted that, for the convenience of description, the aforementioned method embodiments are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, some steps can be performed in other sequences or simultaneously. In addition, the above embodiments can be arbitrarily combined to obtain other embodiments.

[0172] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in certain embodiments, please refer to the relevant description of other embodiments. Those skilled in the art may also understand that the various illustrative logical blocks, units, and steps listed in the embodiments of the present invention may be implemented by electronic hardware, computer software, or a combination of the two. In order to clearly demonstrate the interchangeability of hardware and software, the various illustrative components, units, and steps mentioned above have generally described their functions. Whether such functions are implemented by hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art may use various methods to implement the above functions for each specific application, but such implementation should not be understood as exceeding the scope of protection of the embodiments of the present invention.

[0173] The above description has fully disclosed the specific embodiments of the present invention. It should be pointed out that any changes made by those skilled in the art to the specific embodiments of the present invention do not deviate from the scope of the claims of the present invention. Accordingly, the scope of the claims of the present invention is not limited to the above specific embodiments.

Claims

1. A targeted tissue ablation system, characterized in that: The system comprises: a system host and an ablation electrode, the system host comprises: a central processing unit, a joint pulse analysis module, a joint pulse generation module, a current sampling module, a voltage sampling module, an impedance sampling module, an interface display module and an electromagnetic isolation interface module; the central processing unit is respectively communicated with the joint pulse analysis module, the joint pulse generation module, the interface display module and the electromagnetic isolation interface module; the joint pulse analysis module is respectively communicated with the current sampling module, the impedance sampling module and the voltage sampling module; The tail end of the ablation electrode is electrically connected to the combined pulse generation module through the electromagnetic isolation interface module; the head end of the ablation electrode is integrated with a pressure sensor and a temperature sensor, and the combined pulse analysis module is respectively communicated with the pressure sensor and the temperature sensor through the electromagnetic isolation interface module; The combined pulse generation module is used to output pulse energy to the ablation electrode, so that the ablation electrode ablates the diseased tissue in the target tissue of the target case; The combined pulse analysis module is used to collect in real time the current data in the energy circuit where the ablation electrode is located, the pressure data when the ablation electrode is in contact with the target tissue, the temperature data of the target tissue and the impedance data between the two poles of the ablation electrode during the process of the combined pulse generation module outputting pulse energy to the ablation electrode, and to adaptively control the combined pulse generation module based on the current data, the pressure data, the temperature data and the impedance data.

2. The system according to claim 1, characterized in that The central processor is used to input the tissue type information of the target tissue, the lesion degree indication information of the target tissue and the initial dielectric characteristic information of the target tissue into the pulse combination prediction model to perform pulse combination prediction before the joint pulse generation module outputs the pulse energy, so as to obtain a first predicted pulse combination; after the joint pulse generation module outputs the pulse energy, based on the initial dielectric characteristic information of the target tissue and the current dielectric characteristic information of the target tissue, perform an ablation range evaluation on the current ablation treatment, so as to obtain the ablation range information corresponding to the current ablation treatment; The interface display module is used to display the first ablation energy scheme including the first predicted pulse combination before the combined pulse generating module outputs the pulse energy, and to display the ablation range information corresponding to the current ablation treatment in the three-dimensional reconstructed model of the target tissue after the combined pulse generating module outputs the pulse energy.

3. The system according to claim 1, characterized in that The system host further includes: a magnetic positioning receiver, the central processor is in communication connection with the magnetic positioning receiver, the head end of the ablation electrode is also integrated with a magnetic positioning sensor, and the magnetic positioning receiver is in communication connection with the magnetic positioning sensor through the electromagnetic isolation interface module; The magnetic positioning sensor and the magnetic positioning receiver are used to perform electromagnetic navigation on the ablation electrode so as to deliver the ablation electrode to the target tissue.

4. A targeted tissue ablation method implemented by the targeted tissue ablation system according to any one of claims 1 to 3, characterized in that: The method comprises: Displaying a three-dimensional reconstruction model of the target tissue of the target case in an interface display module; Based on the three-dimensional reconstruction model, determining tissue type information of the target tissue, lesion degree indication information of the target tissue and a preoperative planning path; When the ablation electrode is attached to the target tissue based on the preoperatively planned path, initial dielectric characteristic information of the target tissue is acquired; Based on the initial dielectric characteristic information and the preset reference dielectric characteristic information, the lesion tissue in the target tissue is identified to obtain the lesion range information of the target tissue, and the lesion range information is displayed in the three-dimensional reconstructed model, wherein the reference dielectric characteristic information is the calibrated dielectric characteristic information of the normal tissue; Input the tissue type information, the lesion degree indication information and the initial dielectric characteristic information into a pulse combination prediction model to perform pulse combination prediction, obtain a first predicted pulse combination, and display a first ablation energy scheme including the first predicted pulse combination on the interface display module; the predicted pulse combination includes: a plurality of high-voltage and high-frequency pulses and / or a plurality of low-voltage and low-frequency pulses; In response to an ablation parameter setting instruction triggered based on the first ablation energy scheme, controlling the joint pulse generation module to output the pulse energy corresponding to the ablation parameter setting instruction to the ablation electrode, so that the ablation electrode ablates the diseased tissue in the target tissue, and after the ablation process is completed, obtaining the current dielectric characteristic information of the target tissue; Based on the current dielectric characteristic information and the initial dielectric characteristic information, the ablation range of the current ablation treatment is evaluated to obtain the ablation range information corresponding to the current ablation treatment, and the ablation range information corresponding to the current ablation treatment is displayed in the three-dimensional reconstruction model.

5. The method according to claim 4, characterized in that The method further comprises: In the process of the control combined pulse generation module outputting the pulse energy corresponding to the ablation parameter setting instruction to the ablation electrode, the current data in the energy circuit where the ablation electrode is located, the pressure data when the ablation electrode is close to the target tissue, the temperature data of the target tissue and the impedance data between the two poles of the ablation electrode are collected in real time; Determine whether the target sampling data satisfies a preset pulse control condition corresponding to the target sampling data, wherein the target sampling data is any one of the current data, the temperature data, the pressure data and the impedance data; When the target sampling data meets the preset pulse control condition, the combined pulse generation module is controlled to perform a pulse control operation corresponding to the preset pulse control condition.

6. The method according to claim 5, characterized in that The method further comprises: When the ablation electrode is attached to the target tissue based on the preoperatively planned path, initial impedance data between the two poles of the ablation electrode, initial voltage data between the two poles of the ablation electrode, and initial current data flowing through the ablation electrode are collected; Determining a load type of the target tissue based on comparing predicted current data between the initial voltage data and the initial impedance data with the initial current data; Based on the load type, establishing a load model for the target tissue; In response to the ablation parameter setting instruction, based on the load model, calculating target prediction data corresponding to the target sampling data; In the case where the difference between the target sampling data and the target prediction data meets a preset data deviation condition, the combined pulse generation module is controlled to perform a pulse control operation corresponding to the preset data deviation condition.

7. The method according to claim 4, characterized in that The preoperative planning path is a simulated behavior path generated based on a virtual endoscope. After determining the tissue type information of the target tissue, the lesion degree indication information of the target tissue and the preoperative planning path based on the three-dimensional reconstruction model, the method further includes: Aligning feature points of an endoscope and the virtual endoscope; When the feature points of the endoscope and the virtual endoscope are aligned, the endoscope and the virtual endoscope are controlled to move synchronously, and a real-time moving image of the endoscope is displayed in the interface display module, wherein the simulated behavior path is displayed in the real-time moving image; The ablation electrode is delivered to the target tissue based on the real-time moving image of the endoscope.

8. The method according to claim 4, characterized in that Before acquiring the initial dielectric characteristic information of the target tissue, the method further includes: Controlling a magnetic field generating device to generate an electromagnetic field covering the target tissue, and establishing a three-dimensional coordinate system of the electromagnetic field; During the process of delivering the ablation electrode to the target tissue, the electromagnetic field is subjected to electromagnetic signal detection based on a magnetic positioning sensor to obtain electromagnetic field distribution information; Based on the magnetic positioning receiver, the electromagnetic field distribution information is positioned and analyzed to obtain the coordinate point information of the ablation electrode in the three-dimensional coordinate system; Constructing a cavity model of the target tissue based on the action path corresponding to the multiple coordinate point information obtained during the delivery of the ablation electrode; The controlling combined pulse generation module outputs the pulse energy corresponding to the ablation parameter setting instruction to the ablation electrode, including: The combined pulse generation module is controlled to output the pulse energy corresponding to the ablation parameter setting instruction to the ablation electrode, so that the ablation electrode ablates the diseased tissue in the target tissue based on the cavity model.

9. The method according to any one of claims 4 to 8, characterized in that: The method further comprises: Acquire sample tissue type information corresponding to the sample diseased tissue, sample disease degree indication information corresponding to the sample diseased tissue, sample dielectric characteristic information corresponding to the sample diseased tissue, and a labeled pulse combination corresponding to the sample diseased tissue; Inputting the sample tissue type information, the sample lesion degree indication information and the sample dielectric characteristic information into the machine learning model to be trained to perform pulse combination prediction to obtain a sample predicted pulse combination; Based on the pulse prediction loss information between the labeled pulse combination and the sample predicted pulse combination, pulse combination prediction training is performed on the machine learning model to be trained to obtain the pulse combination prediction model.

10. The method according to any one of claims 4 to 8, characterized in that: After the ablation range of the current ablation process is evaluated based on the current dielectric characteristic information and the initial dielectric characteristic information to obtain the ablation range information corresponding to the current ablation process, the method further includes: Inputting the tissue type information, the lesion degree indication information and the current dielectric characteristic information into a pulse combination prediction model to perform pulse combination prediction, obtain a second predicted pulse combination, and displaying a second ablation energy scheme including the second predicted pulse combination on the interface display module; Based on the ablation range information and the lesion range information, range comparison information is generated, and the range comparison information is displayed in the three-dimensional reconstructed model.

11. A targeted tissue ablation device implemented based on the targeted tissue ablation system according to any one of claims 1 to 3, characterized in that: The device comprises: A three-dimensional reconstruction model display unit, used to display a three-dimensional reconstruction model of a target tissue of a target case in an interface display module; A model analysis unit, configured to determine, based on the three-dimensional reconstruction model, tissue type information of the target tissue, lesion degree indication information of the target tissue, and a preoperative planning path; An initial dielectric characteristic information acquisition unit, configured to acquire initial dielectric characteristic information of the target tissue when the ablation electrode is attached to the target tissue based on the preoperatively planned path; a lesion range identification unit, configured to identify the range of the lesion tissue in the target tissue based on the initial dielectric characteristic information and preset reference dielectric characteristic information, obtain the lesion range information of the target tissue, and display the lesion range information in the three-dimensional reconstructed model, wherein the reference dielectric characteristic information is the calibrated dielectric characteristic information of the normal tissue; A first scheme suggestion unit is used to input the tissue type information, the lesion degree indication information and the initial dielectric characteristic information into a pulse combination prediction model to perform pulse combination prediction, obtain a first predicted pulse combination, and display a first ablation energy scheme including the first predicted pulse combination on the interface display module; the predicted pulse combination includes: a plurality of high-voltage and high-frequency pulses and / or a plurality of low-voltage and low-frequency pulses; a pulse energy output unit, configured to respond to an ablation parameter setting instruction triggered based on the first ablation energy scheme, control the joint pulse generation module to output the pulse energy corresponding to the ablation parameter setting instruction to the ablation electrode, so that the ablation electrode ablates the diseased tissue in the target tissue, and obtain the current dielectric characteristic information of the target tissue after the ablation treatment is completed; An ablation range evaluation unit is used to evaluate the ablation range of the current ablation treatment based on the current dielectric characteristic information and the initial dielectric characteristic information, obtain the ablation range information corresponding to the current ablation treatment, and display the ablation range information corresponding to the current ablation treatment in the three-dimensional reconstruction model.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the targeted tissue ablation method as described in any one of claims 4 to 10.

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