Puncture planning system and intraoperative puncture planning and ablation information display method

Abstract

The invention relates to a puncture planning system, an intraoperative puncture planning method, an intraoperative ablation information display method, equipment and a storage medium. The puncture mode adjustment efficiency can be improved. The system comprises a medical image device and an operation guidance obtaining device. The medical imaging equipment is used for acquiring an intraoperative medical image of a target object punctured by an ablation needle; the operation guidance acquisition equipment is used for determining a puncture path of the ablation needle in the target object according to the intraoperative medical image, determining an ablation target point according to the puncture path and predicting a predicted ablation area when the ablation needle moves to the ablation target point, and determining an ablation effect corresponding to the ablation target point according to the predicted ablation area, and obtaining an operation guide for the current puncture operation according to the ablation effect.

Description

Technical Field

[0001] The present application relates to the field of medical image processing, and in particular to a puncture planning system, an intraoperative puncture planning method, an intraoperative ablation information display method, a computer device, and a storage medium. Background Art

[0002] With the development of medical technology, in order to reduce damage to normal tissue, puncture needles and other puncture instruments can be used to puncture designated areas and perform targeted ablation treatment on abnormal tissue.

[0003] In the related technology, planning can be done before the operation to determine the appropriate puncture path and ablation parameters. However, in the actual puncture process, the puncture path of the puncture instrument is often affected by factors such as respiratory movement, so that the puncture path may not necessarily reach the pre-planned ideal position accurately. At this time, it is highly dependent on the operator's experience to adjust the relevant operations. It can be seen that the related technology has the problem of low efficiency in adjusting the puncture method during the operation. Summary of the invention

[0004] Based on this, it is necessary to provide a puncture planning system, an intraoperative puncture planning method, an intraoperative ablation information display method, a computer device and a storage medium that can improve the efficiency of puncture mode adjustment in order to address the above-mentioned technical problems.

[0005] In a first aspect, a puncture planning system is provided, the system comprising a medical imaging device and an operation guide acquisition device;

[0006] The medical imaging device is used to obtain intraoperative medical images of the target object punctured by the ablation needle;

[0007] The operation guidance acquisition device is used to determine the puncture path of the ablation needle in the target object based on the intraoperative medical image, determine the ablation target point based on the puncture path, and predict the predicted ablation area when the ablation needle moves to the ablation target point, determine the ablation effect corresponding to the ablation target point based on the predicted ablation area, and obtain the operation guidance for the current puncture operation based on the ablation effect.

[0008] In one embodiment, the operation guide acquisition device is specifically used to:

[0009] In the first stage, a current puncture path of the ablation needle in the target object is determined according to the intraoperative medical image;

[0010] According to the current puncture direction corresponding to the current puncture path, the position of the needle tip of the ablation needle when the preset needle insertion depth is reached is predicted as the ablation target point.

[0011] In one embodiment, the operation guidance acquisition device is specifically configured to:

[0012] If it is determined according to the ablation effect that the predicted ablation region deviates from the region where the clinical target area is located in the target object, obtain an operation guidance for instructing to adjust the current puncture direction.

[0013] In one embodiment, the operation guidance acquisition device is specifically configured to:

[0014] In the second stage, according to the intraoperative medical image, determine the current puncture path of the ablation needle in the target object;

[0015] Determine the extended path between the current puncture path and the clinical target area in the target object, and obtain the ablation target point of the ablation needle according to at least one candidate stop point on the extended path.

[0016] In one embodiment, the operation guidance acquisition device is specifically configured to:

[0017] In the case that there are multiple candidate stop points, determine the candidate stop point with the best ablation effect as the target stop point according to the ablation effects of the candidate stop points;

[0018] Obtain an operation guidance for instructing to adjust the needle insertion depth according to the distance between the target stop point and the current tip point of the ablation needle.

[0019] In one embodiment, the operation guidance acquisition device is specifically configured to:

[0020] Determine a candidate stop point with the best single ablation effect according to the ablation effects of the candidate stop points;

[0021] If the predicted ablation range of this candidate stop point completely covers the range where the clinical target area is located in the target object, use this candidate stop point as the target stop point;

[0022] If the predicted ablation range of this candidate stop point does not cover the range where the clinical target area is located in the target object, combine the candidate stop points and determine a group of candidate stop points with the best combined ablation effect as the target stop point.

[0023] In one embodiment, the operation guidance acquisition device is specifically configured to:

[0024] In the third stage, according to the intraoperative medical image, determine the retraction puncture path corresponding to the retraction of the ablation needle;

[0025] Determine an ablation residual area formed after ablation treatment is performed on the clinical target area of ​​the target object, and determine a candidate puncture path when the ablation needle approaches the ablation residual area again after the needle is withdrawn, based on a line between the candidate needle adjustment point on the needle withdrawal puncture path and the ablation residual area;

[0026] The ablation target point of the ablation needle is obtained according to the candidate stop points on the candidate puncture path.

[0027] In one embodiment, the operation guide acquisition device is specifically used to:

[0028] Determine the re-ablation effect corresponding to each candidate puncture path according to the ablation effect corresponding to the candidate stop point on each candidate puncture path;

[0029] determining a path adjustment angle of each candidate puncture path relative to the current puncture path;

[0030] According to the re-ablation effect and the path adjustment angle, an optimal puncture path is determined from a plurality of candidate puncture paths, and operation guidance for the optimal puncture path and its corresponding optimal needle adjustment point is obtained.

[0031] In one embodiment, the operation guide acquisition device is specifically used to:

[0032] Determine a plurality of candidate needle adjustment points on the needle withdrawal puncture path, and obtain a connecting line between each candidate needle adjustment point and the ablation residual area and a reverse extension line of the connecting line;

[0033] The lines where the reverse extension line intersects with the key tissue are eliminated, and based on the remaining lines after the elimination, the candidate puncture paths when the ablation needle approaches the ablation residual area again after the needle is withdrawn are obtained.

[0034] In a second aspect, the present application also provides a method for intraoperative puncture planning. The method comprises:

[0035] Acquire an intraoperative medical image of a target object for ablation needle puncture;

[0036] Determining a puncture path of the ablation needle in the target object according to the intraoperative medical image, determining an ablation target point according to the puncture path, and predicting a predicted ablation area when the ablation needle moves to the ablation target point;

[0037] Determining an ablation effect corresponding to the ablation target point according to the predicted ablation area;

[0038] According to the ablation effect, an operation guide for the current puncture operation is obtained.

[0039] In a third aspect, the present application also provides a method for displaying ablation information during a surgical operation. The method includes:

[0040] Displaying an intraoperative medical image of the target object punctured by the ablation needle;

[0041] In response to a trigger event for obtaining ablation information, presenting a predicted ablation area and an operation guide for the current puncture operation on the basis of the intraoperative medical image; wherein, the predicted ablation area is the ablation area formed when the ablation needle moves to a predicted ablation target point according to the puncture path in the target object; and the operation guide is determined according to the ablation effect corresponding to the predicted ablation area.

[0042] In a fourth aspect, the present application also provides a computer device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of the intraoperative puncture planning method or the intraoperative ablation information display method described in any one of the above embodiments are implemented.

[0043] In a fifth aspect, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the intraoperative puncture planning method or the intraoperative ablation information display method described in any one of the above embodiments are implemented.

[0044] In a sixth aspect, the present application also provides a computer program product, including a computer program. When the computer program is executed by a processor, the steps of the intraoperative puncture planning method or the intraoperative ablation information display method described in any one of the above embodiments are implemented.

[0045] The above-mentioned puncture planning system, intraoperative puncture planning method, intraoperative ablation information display method, computer device and storage medium may include a medical imaging device and an operation guide acquisition device. Among them, the medical imaging device can acquire an intraoperative medical image of the target object punctured by the ablation needle. Furthermore, the operation guide acquisition device can determine the puncture path of the ablation needle in the target object according to the intraoperative medical image, determine the ablation target point according to the puncture path, predict the predicted ablation area when the ablation needle moves to the ablation target point, determine the ablation effect corresponding to the ablation target point according to the predicted ablation area, and obtain the operation guide for the current puncture operation according to the ablation effect. In this embodiment, by determining the ablation target point according to the puncture path, and predicting the predicted ablation area and ablation effect when the ablation needle moves to the ablation target point, it is possible to predict the ablation situation of the ablation needle at the ablation target point, and give the corresponding operation guide in advance, so as to provide a more accurate and reasonable puncture operation method and operation plan for the user in a timely manner, and improve the adjustment efficiency of the puncture operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] To more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the related art. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0047] Figure 1 It is a schematic structural diagram of a puncture planning system in an embodiment;

[0048] Figure 2a It is an intraoperative medical image in an embodiment;

[0049] Figure 2b It is another intraoperative medical image in an embodiment;

[0050] Figure 3 It is a preoperative medical image in an embodiment;

[0051] Figure 4a It is a schematic diagram of an extended path of an intraoperative medical image in an embodiment;

[0052] Figure 4b It is a schematic diagram of candidate stop points of an intraoperative medical image in an embodiment;

[0053] Figure 5 It is a schematic diagram of candidate needle adjustment points and a candidate puncture path of an intraoperative medical image in an embodiment;

[0054] Figure 6 It is a schematic diagram of the range of a candidate needle adjustment point selection section of an intraoperative medical image in an embodiment;

[0055] Figure 7 It is a schematic diagram of a skin entry point of an intraoperative medical image in an embodiment;

[0056] Figure 8 It is a schematic flowchart of a puncture planning method during surgery in an embodiment;

[0057] Figure 9 It is a schematic flowchart of a method for displaying ablation information during surgery in an embodiment;

[0058] Figure 10a It is a schematic diagram of a terminal interface in an embodiment;

[0059] Figure 10b It is a schematic diagram of another terminal interface in an embodiment;

[0060] Figure 10c It is a schematic diagram of another terminal interface in an embodiment;

[0061] Figure 10d Schematic diagram of another terminal interface in an embodiment;

[0062] Figure 10e Schematic diagram of another terminal interface in an embodiment;

[0063] Figure 11 Internal structure diagram of a computer device in an embodiment;

[0064] Figure 12 Internal structure diagram of another computer device in an embodiment. Detailed implementation manners

[0065] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0066] In an embodiment, as Figure 1 shown, a puncture planning system is provided. The puncture planning system may include a medical imaging device 100 and an operation guidance acquisition device 200.

[0067] Specifically, when using an ablation needle to puncture a target object, the medical imaging device 100 may be used to collect medical images of the target object, and the collected medical images are used as intraoperative medical images. Among them, the target object may be an organ tissue of the human body, such as the liver or other organs. The intraoperative medical images may be at least one of the following: Computed Tomography (CT) images, magnetic resonance imaging (MRI); for example, during the insertion of the ablation needle, the CT image or MR image of the target object may be scanned, and the scanned CT image or MR image is used as the intraoperative medical image of the target object.

[0068] After obtaining the intraoperative medical images, the operation guidance acquisition device 200 may analyze the intraoperative medical images collected by the medical imaging device 100. Among them, the operation guidance acquisition device 200 may be a terminal, a server, or a system device composed of a terminal and a server.

[0069] In practical applications, after obtaining the intraoperative medical image, the operation guidance acquisition device 200 can determine the puncture path of the ablation needle in the target object based on the intraoperative medical image. This puncture path can be understood as the path along which the tip of the ablation needle punctures and moves in the target object. In some embodiments, the puncture path of the ablation needle in the target object determined based on the intraoperative medical image can be the current puncture path of the ablation needle in the target object, or an optional puncture path determined based on the intraoperative medical image.

[0070] After determining the puncture path of the ablation needle in the target object, the position where the tip of the ablation needle is to arrive (or will arrive) can be determined based on the puncture path. For the sake of distinction, this position can also be referred to as the ablation target point. In other words, in this embodiment, when the ablation needle punctures and moves according to the puncture path, the ablation target point that the ablation needle will arrive at can be predicted in advance. Then, when the ablation needle has not reached this ablation target point, the ablation area formed by the ablation treatment when the ablation needle moves to the ablation target point can be predicted. Since this ablation area does not actually appear in the target object during prediction, this ablation area can also be referred to as the predicted ablation area. In some optional embodiments, the ablation range generated at the ablation target point can be predicted according to the preset ablation parameters of the ablation needle, and this ablation range can be used as the predicted ablation area. Exemplarily, the preset ablation parameters of the ablation needle can include at least one of the following: the type of ablation needle instrument, the energy value set during ablation treatment, and the duration of ablation treatment.

[0071] It can be understood that in this embodiment, the operation guidance acquisition device 200 can predict the predicted ablation area formed when the ablation needle reaches the ablation target point before the ablation needle reaches the ablation target point. Through this predicted ablation area, the ablation situation of the tissue in the target object when the ablation needle reaches the ablation target point can be predicted, and it can be identified in advance whether it can accurately ablate the target area in the target object, and the ablation effect of the ablation needle at the ablation target point can be predicted. In some examples, the ablation effect can characterize the ablation degree or coverage degree of the predicted ablation area on the lesion or target area in the target object.

[0072] Furthermore, based on the ablation effect, it can be determined whether the selection of the ablation target point is reasonable and correct, and the operation guidance for the user's current puncture operation can be obtained. Among them, this operation guidance can be a guidance for at least one of the following: puncture direction (or puncture angle), puncture depth. For example, if it is determined based on the ablation effect that the selection of the ablation target point is appropriate, the operation guidance for guiding the user to move the ablation needle from the current puncture state to the ablation target point can be obtained. If it is determined based on the ablation effect that the selection of the ablation target point is inappropriate, it can be prompted that there is a large deviation in the predicted ablation range corresponding to the ablation target point to be reached subsequently, reminding the user that the current puncture operation needs to be adjusted.

[0073] In the above-mentioned puncture planning system, a medical imaging device and an operation guidance acquisition device may be included. Among them, the medical imaging device can acquire intraoperative medical images of the target object for ablation needle puncture. Then, the operation guidance acquisition device can determine the puncture path of the ablation needle in the target object according to the intraoperative medical images, determine the ablation target point based on the puncture path, predict the predicted ablation area when the ablation needle moves to the ablation target point, determine the ablation effect corresponding to the ablation target point according to the predicted ablation area, and obtain the operation guidance for the current puncture operation according to the ablation effect. In this embodiment, by determining the ablation target point according to the puncture path, and predicting the predicted ablation area and ablation effect when the ablation needle moves to the ablation target point, it is possible to predict the ablation situation of the ablation needle at the ablation target point, and give the corresponding operation guidance in advance, so as to provide the user with a more accurate and reasonable puncture operation method and operation plan in time, and improve the adjustment efficiency of the puncture operation.

[0074] In addition, in this embodiment, by predicting the predicted ablation area and ablation effect at the ablation target point in time through intraoperative medical images, it is possible to adapt to the movement and migration of the internal tissues of the target object caused by breathing during ablation treatment of chest and abdominal lesions, and adjust the puncture ablation plan in time without the need for complex respiratory gating equipment.

[0075] In one embodiment, the operation guidance acquisition device 200 can specifically be used to perform the following steps:

[0076] In the first stage, determine the current puncture path of the ablation needle in the target object according to the intraoperative medical images; predict the position of the tip point of the ablation needle when reaching the preset needle insertion depth according to the current puncture direction corresponding to the current puncture path, and use it as the ablation target point.

[0077] Among them, the first stage can also be called the initial intervention stage, and this stage can be the stage from when the ablation needle just enters the target object to when the needle insertion angle of the ablation needle is determined to be correct. In the first stage, for example, after detecting the start of puncture using the ablation needle or detecting that the ablation needle enters the target object, the operation guidance acquisition device 200 can determine the puncture path of the ablation needle in the target object according to the intraoperative medical images, and determine the ablation target point according to the puncture path. During the execution of this step, the operation guidance acquisition device 200 can determine the needle track during the actual puncture process of the ablation needle in the target object according to the obtained intraoperative medical images, and use it as the current puncture path of the ablation needle in the target object.

[0078] In some alternative embodiments, the operation guidance acquisition device 200 can segment and identify the needle path instruments from intraoperative medical images, determine the ablation needle that has entered the target object based on the segmentation and identification results, and obtain the needle path, the position of the needle tip, the needle insertion direction, and the needle insertion depth d1 when the ablation needle enters the target object. Thus, the state of the current ablation needle during needle insertion or retraction can be automatically identified through the intraoperative image data. Figure 2a An example of an intraoperative medical image is shown. By segmenting and identifying the needle path instruments from this intraoperative medical image, the ablation needle part 201 that has entered the target object can be identified. Among them, the segmentation of the needle path instruments can be implemented based on a deep learning model (for example, a trained convolutional neural network can be used to identify the needle path instruments). The tip point of the ablation needle is the end point p1 of the needle path (i.e., the end point closer to the lesion / target area in the needle path), and the other end point of the needle insertion depth d1 is the skin entry point p2 (i.e., the end point farther from the lesion / target area in the needle path). In some examples, the skin can be segmented and identified from the intraoperative medical image, and combined with the needle path segmentation result, the intersection point of the needle path and the skin can be calculated, and this intersection point is the skin entry point p2. In other examples, such as in the scenario of robotic puncture, the intervention depth d1 of the current ablation needle can be fed back by combining the positioning of the robotic puncture end system.

[0079] Furthermore, the current puncture path of the ablation needle in the target object can be obtained according to the segmentation and identification results. For example, the identified needle path can be determined as the current puncture path. Then, the puncture direction corresponding to the current puncture path can be determined as the current puncture direction. Subsequently, the user may continue to insert the needle in the current puncture direction until reaching the preset needle insertion depth, that is, reaching the planned puncture depth. Therefore, the position where the tip point of the ablation needle will be when the ablation needle continues to insert in the current puncture direction until reaching the preset needle insertion depth can be predicted, and then this predicted position can be used as the ablation target point.

[0080] In this embodiment, by determining the current puncture direction of the ablation needle, taking the possible position where the tip point of the ablation needle is when it reaches the preset needle insertion depth as the ablation target point, and obtaining the corresponding predicted ablation range, that is, the ablation effect, it is possible to timely monitor whether the current needle insertion method is correct in the initial intervention stage of the ablation needle, timely detect possible operation risks in the puncture operation, and remind the user to make relevant operation adjustments in advance, reducing the user's operation threshold and operation risks.

[0081] In one embodiment, the operation guidance acquisition device 200 is specifically configured to perform the following steps:

[0082] If it is determined according to the ablation effect that the predicted ablation area deviates from the area where the clinical target area is located in the target object, then obtain the operation guidance indicating to adjust the current puncture direction.

[0083] Specifically, when the operation guidance acquisition device 200 executes the step of acquiring the operation guidance for the current puncture operation according to the ablation effect, it can acquire the ablation effect obtained by performing ablation treatment when the ablation needle reaches the preset needle insertion depth to form a predicted ablation range. That is, in this step, the operation guidance acquisition device 200 can determine whether the predicted ablation area matches the area where the clinical target area is located in the target object according to the obtained ablation effect. Among them, the clinical target area is composed of the lesion and the infiltrated area around the lesion.

[0084] If it is determined according to the ablation effect that the predicted ablation area matches the area where the clinical target area is located, for example, the predicted ablation area can completely cover the clinical target area or the size of the overlapping area between the predicted ablation area and the clinical target area is higher than the threshold, it can be determined that the predicted ablation area matches the area where the clinical target area is located. At this time, the operation guidance acquisition device 200 can not give a prompt, or give the operation guidance to prompt the user that the current puncture path is appropriate and there are still x distance units remaining until the preset needle insertion depth is reached.

[0085] If it is determined according to the ablation effect that the predicted ablation area deviates from the area where the clinical target area is located in the target object, for example, there is no overlapping area between the predicted ablation area and the clinical target area or the size of the overlapping area between the predicted ablation area and the clinical target area is lower than the threshold. At this time, affected by factors such as the deviation of the needle insertion angle, there is a large deviation in the ablation heat field and the incomplete ablation rate is very high. Then, the operation guidance indicating the adjustment of the current puncture direction can be obtained, so that the user can timely adjust the current puncture path to make the predicted ablation area more matched with the clinical target area and improve the complete ablation rate.

[0086] In one embodiment, the area where the clinical target area is located in the target object can be determined by the operation guidance acquisition device 200 through the following steps:

[0087] Acquire the preoperative medical image of the target object; the preoperative medical image contains the clinical target area in the target object; register the preoperative medical image with the intraoperative medical image, and obtain the area where the clinical target area is located in the intraoperative medical image according to the registration result.

[0088] In practical applications, the medical image of the target object can be pre-taken before the operation to obtain the preoperative medical image of the target object. The preoperative medical image can be at least one of the following: computed tomography image, magnetic resonance imaging.

[0089] In some embodiments, after obtaining the preoperative medical image, a three-dimensional medical image composed of voxels can be generated. Through tissue image analysis or manual delineation by a doctor, the target object, dangerous tissues, and the clinical target volume (this region is also referred to as the region to be treated) in the preoperative medical image can be determined. Among them, the methods of tissue image analysis include, but are not limited to, deep learning and machine learning. Then, the initial insertion path of the ablation needle can be determined automatically or interactively, and the puncture depth can be determined according to the preset ablation parameters, and the corresponding ablation range can be simulated. Figure 3 A schematic diagram of a preoperative planning result is shown, in which the clinical target volume 301, the ablation range 302 simulated according to the ablation parameters, and the needle track 303 when the ablation needle punctures to the preset depth in the target object are marked in the preoperative medical image.

[0090] Since it is difficult to quickly and accurately determine the location of the clinical target volume (or lesion) in the intraoperative medical image, in order to better evaluate the ablation situation, during the intraoperative puncture process, the operation guidance acquisition device 200 can register the intraoperative image with the preoperative medical image, that is, register the image content including the clinical target volume of the target object in the preoperative medical image to the intraoperative medical image, so that the region where the clinical target volume is located in the intraoperative medical image can be obtained according to the registration result, and the location and morphological distribution of the clinical target volume or lesion during the operation can be quickly and accurately located, which helps the user to accurately evaluate the ablation situation. For example, Figure 2b A schematic diagram showing the predicted ablation region 202 and the clinical target volume 203 superimposed and rendered in the intraoperative medical image is shown. From Figure 2b It can be clearly observed the rendered predicted ablation region 202, the clinical target volume 203, and the degree to which the rendered predicted ablation region 202 deviates from the clinical target volume 203. By visually rendering the predicted ablation region and the clinical target volume, the user can intuitively understand the location of the predicted ablation region and its coverage or ablation situation of the clinical target volume, which helps to quickly evaluate whether the current puncture path needs to be adjusted. It can be understood that by registering the intraoperative medical image with the preoperative medical image, the target volume and tissue information reference can be provided, and it can be predicted whether the lesion can be effectively ablated according to the current puncture path and the reasonable ablation target point can be calculated to ensure complete ablation.

[0091] In one embodiment, the operation guidance acquisition device 200 is specifically configured to perform the following steps:

[0092] In the second stage, according to the intraoperative medical image, determine the current puncture path of the ablation needle in the target object; determine the extension path between the current puncture path and the clinical target volume in the target object, and obtain the ablation target point of the ablation needle according to at least one candidate stop point on the extension path.

[0093] Among them, the second stage can also be called the stage of approaching the lesion. This stage can be the stage when the ablation needle approaches the clinical target area in the target object after the correct needle insertion angle of the ablation needle is determined. In the second stage, the operation guidance acquisition device 200 can determine the puncture path of the ablation needle in the target object according to the intraoperative medical image, and determine the ablation target point according to the puncture path.

[0094] Specifically, during the execution of this step, the operation guidance acquisition device 200 can determine the current puncture path of the ablation needle in the target object according to the acquired intraoperative medical image. The method for determining the current puncture path can refer to the method for determining the current puncture path of the target object in the previous first stage, which will not be elaborated here.

[0095] After determining the current puncture path, since at least one point needs to be selected for the ablation needle to stay during the subsequent puncture process for ablation treatment, and there will be some differences in the ablation heat field and ablation effect formed by the ablation needle when staying at different positions. In this regard, in this embodiment, the extension path between the current puncture path and the clinical target area in the target object can be obtained. For example, Figure 4a As shown, extend the current needle track of the ablation needle, and use the intersection line segment after extension and intersecting with the clinical target area as the extension path.

[0096] Then, the extension path can be discretized, and each point obtained by discretization is used as a candidate stay point. Furthermore, the candidate stay point can be used as the ablation target point of the ablation needle. For example, Figure 4b As shown, the extension path can be discretized into candidate stay point 401.

[0097] In this embodiment, by using the candidate stay points on the extension path between the current puncture path and the clinical target area as the ablation target points, the ablation effects of the ablation needle at each candidate stay point can be predicted in advance, which helps to quickly determine the stay point with a better ablation completion rate before the ablation treatment starts, assist the user in ablation evaluation and decision-making, and improve the ablation completion rate.

[0098] In one embodiment, the operation guidance acquisition device 200 is specifically configured to perform the following steps:

[0099] When there are multiple candidate stay points, determine the candidate stay point with the best ablation effect according to the ablation effects of each candidate stay point as the target stay point; obtain the operation guidance indicating the adjustment of the needle insertion depth according to the distance between the target stay point and the current tip point of the ablation needle.

[0100] In practical applications, after determining the candidate stop point as the ablation target point, when the operation guidance acquisition device 200 obtains the operation guidance for the current puncture operation according to the ablation effect, specifically, if it is determined that there are multiple candidate stop points as the ablation target point, for each candidate stop point, the operation guidance acquisition device can determine the ablation effect when the ablation needle performs ablation treatment at the candidate stop point to form a predicted ablation area. Among them, the predicted ablation area formed by the ablation needle staying at the candidate stop point can be an ellipsoid with an axial length of r, and the size of the axial length r is determined according to the ablation parameters. The tissue within the ellipsoid range is the tissue to be ablated.

[0101] Furthermore, the operation guidance acquisition device 200 can compare the ablation effects of each candidate stop point and determine the candidate stop point with the best ablation effect as the target stop point. In some examples, the candidate stop point with the best ablation effect can be screened and determined according to the ablation completion rate of the clinical target area and the damage condition of the key tissue (also known as the dangerous tissue, which can be understood as the important tissue affecting the normal physiological activities of the patient) in the target object. Among them, the damage condition of the key tissue can be obtained by registering the preoperative medical image and the intraoperative medical image to obtain the spatial position of the key tissue. Since the ablation damage area is a volume area, if there is a key tissue within the range of this area, the number of voxels damaged by the key tissue can be counted to obtain the damage condition of the key tissue.

[0102] After determining the target stop point, in order to help the user move the tip point of the ablation needle to the target stop point more efficiently, the distance between the target stop point and the current tip point of the ablation needle can be determined to obtain the needle insertion depth to be adjusted, and it can be fed back to the user (such as a doctor or a robot) in the form of operation guidance, so as to know the subsequent needle insertion depth. Thus, in this embodiment, during the puncture process, by quickly comparing the ablation effects of each candidate stop point, the target stop point with the best ablation effect can be provided to the user, and the user can be accurately guided to move the ablation needle to the target stop point, reducing the operation experience requirements for the user to determine the stop point and improving the ablation accuracy and ablation efficiency.

[0103] In one embodiment, the operation guidance acquisition device 200 is specifically configured to perform the following steps:

[0104] Determine a candidate stop point with the best single ablation effect according to the ablation effects of each candidate stop point; if the predicted ablation range of this candidate stop point completely covers the range where the clinical target area is located in the target object, then use this candidate stop point as the target stop point; if the predicted ablation range of this candidate stop point does not cover the range where the clinical target area is located in the target object, then combine each candidate stop point and determine a group of candidate stop points with the best combined ablation effect as the target stop point.

[0105] In a specific implementation, when the operation guidance acquisition device 200 determines the candidate stop point with the best ablation effect according to the ablation effects of each candidate stop point, it can first compare the ablation effects of each candidate stop point separately, and determine a candidate stop point with the best single ablation effect from multiple candidate stop points. Herein, the single ablation effect can be understood as the ablation effect obtained when only one candidate stop point is selected from multiple candidate stop points for stopping and ablation processing. For example, it is assumed that the initial number of stop points is 1, the set P is traversed, and a candidate stop point with the best ablation effect is used as a candidate stop point with the best single ablation effect.

[0106] Then, if the predicted ablation range of this candidate stop point (i.e., the candidate stop point with the best single ablation effect) can completely cover the range where the clinical target area is located in the target object, it can be determined that the complete ablation of the clinical target area can be completed only based on this candidate stop point. At this time, this candidate stop point can be used as the target stop point to avoid introducing more stop points for ablation and causing damage to the tissues in the target object.

[0107] If the predicted ablation range of this candidate stop point does not cover the range where the clinical target area is located in the target object, it can be determined that it is difficult to completely eliminate the lesion when stopping and ablating at a single candidate stop point. In this regard, each candidate stop point can be combined, and a group of candidate stop points with the best combined ablation effect can be determined as the target stop point. Herein, the combined ablation effect can be understood as the ablation effect obtained when multiple candidate stop points are selected from multiple candidate stop points for stopping and ablation processing. In some alternative embodiments, when combining, the number of stop points can be adjusted from 1 to 2, and then pairwise combination is performed.

[0108] In this embodiment, according to the ablation effects of each candidate stop point, a candidate stop point with the best single ablation effect can be selected as the target stop point, or multiple candidate stop points can be combined to perform combined ablation on the clinical target area, which can timely adjust the number of stop points according to the predicted ablation situation, take into account the ablation completion rate and the protection of the tissues in the target object, and reduce the damage to normal tissues during the ablation process.

[0109] In one embodiment, the operation guidance acquisition device 200 can specifically be used for:

[0110] In the third stage, according to the intraoperative medical image, determine the retraction puncture path corresponding to the ablation needle when retracting; determine the ablation residual area formed after the ablation needle ablates the clinical target area of the target object, and determine the candidate puncture path when the ablation needle approaches the ablation residual area again after retracting according to the connection line between the candidate needle adjustment points on the retraction puncture path and the ablation residual area; obtain the ablation target point of the ablation needle according to the candidate stop points on the candidate puncture path.

[0111] Among them, the third stage can also be called the needle-withdrawal compensation and elimination stage. For larger lesions, the ablation area of a single needle ablation is limited. Usually, after the current ablation treatment is completed, the ablation needle will be retracted along the current puncture path, and the ablation direction will be adjusted to perform another intervention (if it is a second or more interventions). In order to reduce the damage to the target object, when determining the puncture path of the ablation needle in the target object according to the intraoperative medical image and determining the ablation target point according to the puncture path, the operation guidance acquisition device 200 can, in the third stage, first determine the needle-withdrawal puncture path corresponding to the needle-withdrawal of the ablation needle according to the intraoperative medical image. In some alternative embodiments, the current puncture path can be determined according to the intraoperative medical image, and the path in the opposite direction can be determined as the needle-withdrawal puncture path, that is, the ablation needle can be withdrawn along the current needle track.

[0112] Moreover, the operation guidance acquisition device 200 can also determine the ablation residual area formed after the ablation needle ablates the clinical target area of the target object. If there are multiple ablation treatments, the ablation residual area formed after the most recent ablation treatment can be determined. In some alternative embodiments, the operation guidance acquisition device can perform an ablation simulation thermal field according to the target stop point and the corresponding ablation parameters during the ablation treatment, estimate the ablation residual area, and can render it in the intraoperative medical image, so that the user can timely understand the ablation residual area after the ablation treatment.

[0113] Furthermore, the operation guidance acquisition device 200 can determine at least one candidate needle-adjustment point on the needle-withdrawal puncture path. For example, the needle-withdrawal puncture path can be discretized, and each point obtained by the discretization process can be used as a candidate needle-adjustment point. Then, according to the connection lines between each needle-adjustment point and the ablation residual area, the candidate puncture path when the ablation needle approaches the ablation residual area again after needle-withdrawal can be determined. For example, as Figure 5 shown, the ablation residual area 501 rendered superimposed in the intraoperative medical image Figure 5 shows 4 exemplary needle-adjustment points. For one of the needle-adjustment points, by connecting it with the ablation residual area 501, a candidate puncture path 502 can be formed.

[0114] After determining the candidate puncture path, a candidate stop point can be determined on the candidate puncture path, and the ablation target point of the ablation needle can be obtained according to the candidate stop point on the candidate puncture path.

[0115] In this embodiment, for lesions that require multiple interventional ablations (such as large-sized lesions), by connecting the needle-adjusting points on the needle-withdrawal puncture path and the ablation residual area, the candidate puncture paths are determined, and based on this, the ablation area is predicted to obtain the predicted ablation range of the ablation target points on the candidate puncture paths, which helps to perform multiple-needle intervention again at a fan-shaped angle from the same needle insertion point and provide corresponding ablation guidance and planning for the user. It can effectively reduce the damage to the patient during the ablation process, shorten the operation time, and improve the ablation efficiency. At the same time, the operation guidance provided in this embodiment for the needle-withdrawal and needle-adjusting ablation method conforms to the clinical operation habits and has strong clinical guiding value.

[0116] In one embodiment, the operation guidance acquisition device 200 can specifically be used for:

[0117] Determine the re-ablation effect corresponding to each candidate puncture path according to the ablation effect corresponding to the candidate stop points on each candidate puncture path; determine the path adjustment angle of each candidate puncture path relative to the current puncture path; determine the optimal puncture path from multiple candidate puncture paths according to the re-ablation effect and the path adjustment angle, and obtain the operation guidance for the optimal puncture path and its corresponding optimal needle-adjusting point.

[0118] In a specific implementation, in the third stage, when the operation guidance acquisition device 200 executes the step of obtaining the operation guidance for the current puncture operation according to the ablation effect, after determining the candidate stop points on the candidate puncture path as ablation target points, for each candidate puncture path, the operation guidance acquisition device 200 predicts the predicted ablation range formed by moving the ablation needle to the candidate stop points on the candidate puncture path and determines the corresponding ablation effect. Among them, there can be one or more candidate stop points on the candidate puncture path, for example, they can be ablated individually or in combination; furthermore, the ablation effect when the ablation needle re-intervenes and ablates along the candidate puncture path can be obtained by combining the candidate stop points on the candidate puncture path, and this ablation effect is also called the re-ablation effect. The determination method of the ablation effect of each candidate stop point on the candidate puncture path can refer to the determination method of the ablation effect of the candidate stop point and the target stop point in the second stage described above, which will not be elaborated here.

[0119] In addition, the operation guidance acquisition device 200 can also determine the path adjustment angle of each candidate puncture path relative to the current puncture path. For example, the angle between the candidate puncture path and the current puncture path can be determined as the path adjustment angle. Furthermore, based on the re-ablation effect and the path adjustment angle, the optimal puncture path can be determined from multiple candidate puncture paths. The candidate needle adjustment points on the optimal puncture path are used as the optimal needle adjustment points, and the operation guidance for the optimal puncture path and its corresponding optimal needle adjustment points can be obtained. For example, the optimal puncture path can be displayed on the intraoperative medical image, as well as the needle insertion depth to move to the optimal needle adjustment point on the optimal puncture path. Subsequently, ablation planning and simulation on the optimal puncture path can refer to the description above and will not be elaborated here.

[0120] In some alternative embodiments, when determining the optimal puncture path according to the re-ablation effect and the path adjustment angle, screening can be performed according to a set angle threshold to avoid too large a path adjustment angle. Then, the optimal puncture path can be determined by combining the minimized angle and the maximized ablation coverage. In one example, it is solved by a multi-objective optimization method. For each candidate puncture path, two parameters, namely the minimized angle and the maximized ablation coverage, can be calculated, and the pareto optimal solution is selected. Among them, the pareto optimal solution is also called the pareto solution. In a multi-objective programming problem, a solution may be the best for one objective but the worst for other objectives. While improving any one objective function, at least one other objective function will be weakened. Such a set of solutions is called the pareto solution or the non-dominated solution. In some other embodiments, multi-objective optimization of minimizing the angle and minimizing the number of stays (i.e., minimizing the number of target stay points) can also be performed under the constraint condition of complete ablation. It can be understood that during the multi-objective optimization process, multiple optimization objectives can be combined according to the actual situation. Exemplarily, the optimization objectives can include at least two of the following: minimizing the angle, maximizing the ablation coverage, and minimizing the number of stays.

[0121] In this embodiment, the optimal puncture path can be quickly determined by combining the path adjustment angle and the re-ablation effect. It can combine ablation effect prediction, provide a reasonable re-needle insertion path while taking into account the re-ablation effect and tissue damage, and effectively improve the decision-making efficiency of the user during the ablation process.

[0122] In one embodiment, the operation guidance acquisition device 200 is specifically configured to perform the following steps:

[0123] Determine multiple candidate needle adjustment points on the needle withdrawal puncture path, and obtain the connection line between each candidate needle adjustment point and the ablation residual area and the reverse extension line of the connection line; eliminate the connection lines where the reverse extension line intersects the critical tissue, and based on the remaining connection lines after elimination, obtain the candidate puncture path when the ablation needle approaches the ablation residual area again after needle withdrawal.

[0124] In practical applications, when the operation guidance acquisition device 200 determines a candidate puncture path when the ablation needle approaches the ablation residue area again after retraction according to the connection line between the needle adjustment points on the retraction puncture path and the ablation residue area, a plurality of discrete candidate needle adjustment points can be determined on the retraction puncture path. For each candidate needle adjustment point, the connection line between the candidate needle adjustment point and the ablation residue area and the reverse extension line of the connection line can be obtained. Then, it can be identified whether the reverse extension line intersects with the critical tissue. If it intersects, there is a situation of damaging or destroying the critical tissue when retracting or advancing the needle along the reverse extension line. In some examples, if the critical tissue includes bone tissue, that is, it can be identified whether the reverse extension line intersects with the bone tissue. If it intersects, it is difficult to adjust the needle track of the ablation needle based on this.

[0125] For the situation where the reverse extension line intersects with the critical tissue, since the operation is risky or has low feasibility, the corresponding connection line can be removed, and the non-intersecting connection lines can be retained. Furthermore, based on the remaining connection lines after removal, a candidate puncture path when the ablation needle approaches the ablation residue area again after retraction can be obtained.

[0126] In this embodiment, by removing the connection lines where the reverse extension line intersects with the critical tissue and obtaining a candidate puncture path when the ablation needle approaches the ablation residue area again after retraction based on the remaining connection lines after removal, a suitable path can be planned to advance the needle again to approach the ablation residue area, reducing the interference of the critical tissue during the re-intervention process.

[0127] In one embodiment, the operation guidance acquisition device 200 can be specifically used to perform the following steps:

[0128] Determine the clinical ablation target area according to the predicted ablation area; determine the ablation effect corresponding to the ablation target point according to the ratio of the volume of the clinical ablation target area to the volume of the clinical target area of the target object.

[0129] Among them, the clinical ablation target area can be understood as the predicted clinical target area range to be ablated.

[0130] In practical applications, considering the infiltrating tissues around the lesion, the range of the clinical target area will be larger than the lesion range. At this time, the ablation effect can be determined by the ablation situation of the clinical target area. Specifically, when the operation guidance acquisition device 200 obtains the ablation effect, after determining the predicted ablation area, it can determine the volume of the predicted ablated part in the clinical target area of the target object, that is, the volume of the clinical ablation target area. Furthermore, the ratio of the volume of the clinical ablation target area to the volume of the clinical target area of the target object can be obtained, that is, "volume of clinical ablation target area / volume of clinical target area". This ratio can reflect the ablation coverage rate of the clinical target area of the target object, and then the ablation effect corresponding to the ablation target point can be obtained according to the ratio.

[0131] In some alternative embodiments, the ratio can be directly used as the ablation effect corresponding to the ablation target point; alternatively, based on the ratio of the ablated lesion volume to the volume of the clinical target area of the target object, the ablation effect at the ablation target point can be comprehensively determined in combination with other factors. Exemplarily, other factors related to the ablation effect may include at least one of the following: the damage condition of key tissues in the target object (such as the number of damaged voxels of key tissues), the number of target stop points (also referred to as ablation stop points) during the ablation process. For example, the smaller the damage to key tissues, the more beneficial it is to reduce the surgical risk and improve the patient's prognosis, and the fewer the target stop points, the more beneficial it is to save the surgical time. Therefore, the ablation effect can be determined in combination with one or more of the above factors according to the actual situation.

[0132] It can be understood that the method for obtaining the ablation effect in this embodiment can be applied in the aforementioned step of determining the ablation effect, and the present application will not elaborate on this. When it is necessary to determine the ablation effect in other embodiments, the method in this embodiment can be referred to for obtaining.

[0133] In this embodiment, based on the ratio of the ablated lesion volume to the volume of the clinical target area of the target object, the ablation effect of the ablation needle at the ablation target point can be accurately quantified and evaluated, so that an accurate and reliable ablation plan and ablation guidance can be provided to the user according to the quantifiable ablation effect.

[0134] In some alternative embodiments, when determining the candidate needle adjustment points in the second stage, according to the intersection result of the target object and the needle track of the ablation needle, the needle track section of the ablation needle inside the target object can be identified, and then the needle track section can be discretized, and each point obtained after the discretization process can be used as a candidate needle adjustment point. For example, as Figure 6 shown, for the intersection result of the ablation needle and the target object, that is, the needle track section AB (with a length of approximately 43.39 mm), the needle track section AB can be discretized, and the obtained points can be used as candidate needle adjustment points.

[0135] In some other alternative embodiments, an anatomical key point can also be specified as the optimal needle adjustment point. For example, the needle entry point of the ablation needle on the skin can be used as the optimal needle adjustment point. When retracting the needle and reinserting it, the needle track direction can be adjusted at the skin needle entry point, and the optimal needle track adjustment direction can be calculated. For example, as Figure 7 shown, Figure 7 the points P1 and P2 in are the liver surface needle entry points. When performing subsequent needle track ablation planning in the third stage, each time the needle is retracted, it can be retracted back to near the liver surface needle entry point for needle track adjustment.

[0136] It should also be emphasized that in the present application, the puncture path of the ablation needle in the target object is determined according to the intraoperative medical image, the ablation target point is determined according to the puncture path, and the predicted ablation area when the ablation needle moves to the ablation target point is predicted, the ablation effect corresponding to the ablation target point is determined according to the predicted ablation area, and the operation guidance for the current puncture operation is obtained according to the ablation effect. The foregoing text of the present application describes the respective processing processes in the first stage, the second stage and the third stage through multiple embodiments. It can be understood that in the specific operation process, the intraoperative puncture planning of the first stage, the second stage and the third stage can be performed independently, that is, the intraoperative puncture planning and guidance of the first stage, the second stage or the third stage can be performed separately, or the puncture planning of at least two stages can be combined according to actual conditions, for example, the intraoperative puncture planning and guidance of the first stage and the second stage can be provided successively, or the intraoperative puncture planning and guidance of the second stage and the third stage, or the first stage and the third stage can be provided successively. Of course, it is also optional to perform the intraoperative puncture planning and guidance of the first stage, the second stage and the third stage in sequence. For example, in the stage when the puncture needle approaches the lesion (i.e., the second stage), not only can the needle withdrawal stop point on the extension line (i.e., the stop point when the ablation needle is withdrawn) be calculated, but also the stop point of the secondary path of needle withdrawal and needle arrangement can be considered, and the scan data input of the third stage can be cancelled. For example, in some other puncture scenarios, when the puncture needle moves from the stage of approaching the lesion to the stop point and there is respiratory movement and other factors that affect the actual position, the relevant scan data can be obtained through the processing method of the third stage, and the needle can be inserted again for correction to achieve better clinical application value. For small lesions, in some examples, the stop point on the current puncture path can be directly optimized through the processing method of the second stage. Therefore, for different needle insertion stages, users can set different plan update evaluation methods to completely ablate the lesions in the target object, improve ablation efficiency, and ensure surgical efficacy.

[0137] In addition, the operation instructions for the current puncture operation provided in this application can be provided to the doctor user or the robotic system to guide the puncture and ablation operation of the doctor user or the robotic system and improve the planning efficiency of the intraoperative puncture operation.

[0138] In one embodiment, Figure 8 As shown, a method for intraoperative puncture planning is provided. This embodiment uses the method applied to a terminal as an example for illustration. It can be understood that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In some optional embodiments, the intraoperative puncture planning method provided in this embodiment can be applied to an operation guide acquisition device. In this embodiment, the method includes the following steps:

[0139] S801, obtaining an intraoperative medical image of a target object punctured by an ablation needle.

[0140] S802. Determine the puncture path of the ablation needle in the target object based on the intraoperative medical image, determine the ablation target point according to the puncture path, and predict the predicted ablation area when the ablation needle moves to the ablation target point.

[0141] S803. Determine the ablation effect corresponding to the ablation target point according to the predicted ablation area.

[0142] S804. Obtain the operation guidance for the current puncture operation according to the ablation effect.

[0143] For the specific implementation process, reference can be made to the description of the relevant steps in the foregoing embodiments, which will not be elaborated here.

[0144] The above intraoperative puncture planning method can obtain the intraoperative medical image of the target object punctured by the ablation needle. Then, based on the intraoperative medical image, the puncture path of the ablation needle in the target object can be determined, the ablation target point can be determined according to the puncture path, and the predicted ablation area when the ablation needle moves to the ablation target point can be predicted. Furthermore, the ablation effect corresponding to the ablation target point can be determined according to the predicted ablation area, and the operation guidance for the current puncture operation can be obtained according to the ablation effect. In this embodiment, by determining the ablation target point according to the puncture path and predicting the predicted ablation area and ablation effect when the ablation needle moves to the ablation target point, it is possible to predict the ablation situation of the ablation needle at the ablation target point and give the corresponding operation guidance in advance, so as to provide a more accurate and reasonable puncture operation method and operation plan for the user in a timely manner, and improve the adjustment efficiency of the puncture operation.

[0145] In one embodiment, step S802, determining the puncture path of the ablation needle in the target object based on the intraoperative medical image and determining the ablation target point according to the puncture path may include the following steps:

[0146] In the first stage, determine the current puncture path of the ablation needle in the target object according to the intraoperative medical image; predict the position of the tip point of the ablation needle when reaching the preset needle insertion depth according to the current puncture direction corresponding to the current puncture path, and use it as the ablation target point.

[0147] Correspondingly, in one embodiment, S804, obtaining the operation guidance for the current puncture operation according to the ablation effect may include the following steps:

[0148] If it is determined according to the ablation effect that the predicted ablation area deviates from the area where the clinical target area is located in the target object, obtain the operation guidance indicating to adjust the current puncture direction.

[0149] In another embodiment, step S802, according to the intraoperative medical image, determining the puncture path of the ablation needle in the target object, and determining the ablation target point according to the puncture path may include the following steps:

[0150] In the second stage, according to the intraoperative medical image, determining the current puncture path of the ablation needle in the target object; determining the extension path between the current puncture path and the clinical target area in the target object, and obtaining the ablation target point of the ablation needle according to at least one candidate stop point on the extension path.

[0151] Correspondingly, in one embodiment, S804, obtaining an operation guide for the current puncture operation according to the ablation effect may include the following steps:

[0152] When there are multiple candidate stop points, determining the candidate stop point with the best ablation effect as the target stop point according to the ablation effects of the candidate stop points; obtaining an operation guide for indicating the adjustment of the needle insertion depth according to the distance between the target stop point and the current tip point of the ablation needle.

[0153] In one embodiment, determining the candidate stop point with the best ablation effect as the target stop point according to the ablation effects of the candidate stop points may include the following steps:

[0154] Determining a candidate stop point with the best single ablation effect according to the ablation effects of the candidate stop points; if the predicted ablation range of the candidate stop point completely covers the range where the clinical target area in the target object is located, using the candidate stop point as the target stop point; if the predicted ablation range of the candidate stop point does not cover the range where the clinical target area in the target object is located, combining the candidate stop points and determining a group of candidate stop points with the best combined ablation effect as the target stop point.

[0155] In one embodiment, step S802, according to the intraoperative medical image, determining the puncture path of the ablation needle in the target object, and determining the ablation target point according to the puncture path may include the following steps:

[0156] In the third stage, according to the intraoperative medical image, determining the retraction puncture path corresponding to the ablation needle when retracting the needle; determining the ablation residual area formed after the ablation needle ablates the clinical target area of the target object, and determining the candidate puncture path when the ablation needle approaches the ablation residual area again after retracting the needle according to the connection line between the candidate needle adjustment points on the retraction puncture path and the ablation residual area; obtaining the ablation target point of the ablation needle according to the candidate stop points on the candidate puncture path.

[0157] Accordingly, in one embodiment, S804, obtaining operation guidance for the current puncture operation according to the ablation effect may include the following steps:

[0158] According to the ablation effect corresponding to the candidate stop points on each candidate puncture path, determining the re-ablation effect corresponding to each candidate puncture path; determining the path adjustment angle of each candidate puncture path relative to the current puncture path; according to the re-ablation effect and the path adjustment angle, determining the optimal puncture path from multiple candidate puncture paths, and obtaining operation guidance for the optimal puncture path and its corresponding optimal needle adjustment point.

[0159] In one embodiment, according to the connection line between the candidate needle adjustment points on the retraction puncture path and the ablation residual area, determining the candidate puncture path when the ablation needle approaches the ablation residual area again after retraction may include the following steps:

[0160] Determining multiple candidate needle adjustment points on the retraction puncture path, obtaining the connection line between each candidate needle adjustment point and the ablation residual area and the reverse extension line of the connection line; excluding the connection lines where the reverse extension line intersects the critical tissue, and obtaining the candidate puncture path when the ablation needle approaches the ablation residual area again after retraction according to the remaining connection lines after exclusion.

[0161] The specific implementation process of the above embodiments may refer to the description of the relevant previous embodiments, and will not be elaborated here.

[0162] In one embodiment, as Figure 9 shown, a method for displaying ablation information during surgery is provided. In this embodiment, this method is exemplified by being applied to a terminal. In this embodiment, the method includes the following steps:

[0163] S901, displaying the intraoperative medical image of the target object punctured by the ablation needle.

[0164] In practical applications, the intraoperative medical image of the target object can be obtained and displayed on the terminal interface. Figure 10a A schematic diagram of a terminal interface is shown. The user can click the "Image Scanning" function key on the interface to control the intraoperative scanning time and load the intraoperative medical image.

[0165] S902, in response to a trigger event for obtaining ablation information, presenting a predicted ablation area and operation guidance for the current puncture operation on the basis of the intraoperative medical image; wherein, the predicted ablation area is the ablation area formed when the ablation needle moves to the predicted ablation target point according to the puncture path in the target object; the operation guidance is determined according to the ablation effect corresponding to the predicted ablation area.

[0166] Among them, the ablation information may include the ablation area visualized during the ablation process and the guidance for the corresponding puncture operation.

[0167] In this step, when the terminal detects a trigger event for obtaining ablation information, for example, when the terminal detects that the user clicks a preset button on the interface or determines that the trigger condition for obtaining ablation information is met according to the recognition result of the intraoperative medical image, the corresponding predicted ablation area and the operation guidance for the current puncture operation can be superimposed and rendered on the basis of the intraoperative medical image. The predicted ablation area and the operation guidance can be obtained in the manner of any of the foregoing embodiments, which will not be elaborated here.

[0168] In some alternative embodiments, the user can click the "registration and fusion" function key in the interface to map the clinical target area marked in the preoperative medical image to the intraoperative medical image, and indicate the lesion area in the intraoperative medical image to facilitate puncture guidance and timely adjustment of the surgical plan. For example, as Figure 10b shown, the lesion rendering can be represented by a dotted line or a solid area with adjustable transparency.

[0169] In some alternative embodiments, the terminal can provide a "plan update" function key in the interface, which includes three application scenarios, namely "simulation of original planned ablation", "recommended ablation for current needle", and "recommended ablation for subsequent needles". Among them, "simulation of original planned ablation" can be applicable to the case where there is pre-operative planned puncture depth information. Combining the needle track recognition and skin segmentation algorithms, calculate the "current penetration depth", determine the original planned target point, calculate the ablation coverage rate according to the ablation parameters set in advance, and perform 3D rendering. In Figure 10c the "3D rendering" area, the effect after ablation is shown.

[0170] "Recommended ablation for current needle" is applicable to the stage of approaching the lesion, where the needle intersects the lesion. Combining the needle track recognition and update algorithms, calculate the ablation point coordinates, calculate the ablation coverage rate, and perform 3D rendering. For example, as Figure 10d shown, the predicted ablation area of the candidate stop point can be marked by a dotted line in the upper left corner of the interface, and the corresponding ablation effect is shown in the 3D rendering area.

[0171] "Recommended ablation for subsequent needles" can be applicable to the scenario of multi-needle ablation of large lesions. After the current needle path has been ablated, the ablation strategy for the subsequent needle path can be determined. As Figure 10e shown, the ablation residual area (the overlapping area of the two dotted circles) can be calculated and shown in the interface, and then the coordinates of the needle adjustment point and the ablation point coordinates of the subsequent needle path can be calculated, and 3D ablation rendering can be performed. Thus, the ablation result can be visually simulated, enabling the user to intuitively evaluate the remaining unablated area.

[0172] The above method for displaying ablation information during the operation can display the intraoperative medical image of the target object punctured by the ablation needle, and in response to the triggering event of obtaining ablation information, present the predicted ablation area and the operation guidance for the current puncture operation on the basis of the intraoperative medical image; wherein, the predicted ablation area is the ablation area formed when the ablation needle moves to the predicted ablation target point according to the puncture path in the target object; the operation guidance is determined according to the ablation effect corresponding to the predicted ablation area. In this embodiment, on the one hand, it can predict the ablation situation of the ablation needle at the ablation target point and give the corresponding operation guidance in advance, and timely provide the user with a more accurate and reasonable puncture operation method and operation plan; on the other hand, it can timely display the predicted ablation area and the corresponding operation guidance, enabling the user to intuitively understand the ablation effect and make corresponding adjustments to the ablation operation, thereby effectively improving the adjustment efficiency of the puncture operation.

[0173] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps does not have a strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or steps or stages in other steps.

[0174] Based on the same inventive concept, the embodiments of the present application also provide an intraoperative puncture planning device for implementing the intraoperative puncture planning methods involved in the above various embodiments. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the intraoperative puncture planning device provided below can refer to the limitations on the intraoperative puncture planning method in the above text, and will not be repeated here.

[0175] In an exemplary embodiment, an intraoperative puncture planning device is provided, including:

[0176] An intraoperative image acquisition module, configured to acquire an intraoperative medical image of the target object punctured by the ablation needle;

[0177] A predicted ablation area determination module, configured to determine the puncture path of the ablation needle in the target object according to the intraoperative medical image, determine the ablation target point according to the puncture path, and predict the predicted ablation area when the ablation needle moves to the ablation target point;

[0178] An ablation effect determination module, configured to determine the ablation effect corresponding to the ablation target point according to the predicted ablation region;

[0179] An operation guidance module, configured to obtain an operation guidance for the current puncture operation according to the ablation effect.

[0180] Each module in the above-mentioned puncture planning device during the operation can be implemented in whole or in part by software, hardware, and their combination. Each of the above modules can be embedded in or independent of a processor in a computer device in the form of hardware, or stored in a memory in the computer device in the form of software, so as to facilitate the processor to call and execute the operations corresponding to each of the above modules.

[0181] In an exemplary embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as Figure 11 shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store medical image data. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements a puncture planning method or an ablation information display method during the operation.

[0182] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as Figure 12As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface, the display unit, and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a puncture planning method during surgery or an ablation information display method during surgery. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covering the display screen, or a button, a trackball, or a touchpad provided on the housing of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0183] Those skilled in the art can understand that Figure 11 and Figure 12 the structure shown in

[0184] is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0185] In one embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps in the above method embodiments are implemented.

[0186] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by the processor, the steps in the above method embodiments are implemented.

[0187] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0188] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in this application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., and are not limited thereto. The processors involved in the embodiments provided in this application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., and are not limited thereto.

[0189] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0190] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A puncture planning system, characterized in that, the system includes a medical imaging device and an operation guidance acquisition device; the medical imaging device is used to obtain intraoperative medical images of the target object for ablation needle puncture; the operation guidance acquisition device is used to determine the puncture path of the ablation needle in the target object according to the intraoperative medical images, determine the ablation target point according to the puncture path, predict the predicted ablation area when the ablation needle moves to the ablation target point, determine the ablation effect corresponding to the ablation target point according to the predicted ablation area, and obtain the operation guidance for the current puncture operation according to the ablation effect.

2. The system according to claim 1, characterized in that, the operation guidance acquisition device is specifically used for: in the first stage, determine the current puncture path of the ablation needle in the target object according to the intraoperative medical images; predict the position of the tip point of the ablation needle when reaching the preset needle insertion depth according to the current puncture direction corresponding to the current puncture path, and use it as the ablation target point.

3. The system according to claim 2, characterized in that, the operation guidance acquisition device is specifically used for: if it is determined according to the ablation effect that the predicted ablation area deviates from the area where the clinical target area is located in the target object, obtain the operation guidance indicating to adjust the current puncture direction.

4. The system according to claim 1, characterized in that, the operation guidance acquisition device is specifically used for: in the second stage, determine the current puncture path of the ablation needle in the target object according to the intraoperative medical images; determine the extended path between the current puncture path and the clinical target area in the target object, and obtain the ablation target point of the ablation needle according to at least one candidate stop point on the extended path.

5. The system according to claim 4, characterized in that, the operation guidance acquisition device is specifically used for: in the case that there are multiple candidate stop points, determine the candidate stop point with the best ablation effect according to the ablation effects of each candidate stop point, and use it as the target stop point; obtain the operation guidance indicating to adjust the needle insertion depth according to the distance between the target stop point and the current tip point of the ablation needle.

6. The system according to claim 5, characterized in that, the operation guidance acquisition device is specifically used for: determine a candidate stop point with the best single ablation effect according to the ablation effects of each candidate stop point; if the predicted ablation range of this candidate stop point completely covers the range where the clinical target area is located in the target object, use this candidate stop point as the target stop point; if the predicted ablation range of this candidate stop point does not cover the range where the clinical target area is located in the target object, combine each candidate stop point and determine a group of candidate stop points with the best combined ablation effect, and use it as the target stop point.

7. The system according to any one of claims 1 to 6, characterized in that, the operation guidance acquisition device is specifically used for: in the third stage, determine the retraction puncture path corresponding to the ablation needle retraction according to the intraoperative medical images; Determine an ablation residual area formed after ablation treatment is performed on the clinical target area of ​​the target object, and determine a candidate puncture path when the ablation needle approaches the ablation residual area again after the needle is withdrawn, based on a line between the candidate needle adjustment point on the needle withdrawal puncture path and the ablation residual area; The ablation target point of the ablation needle is obtained according to the candidate stop points on the candidate puncture path.

8. The system according to claim 7, It is characterized in that The operation guide acquisition device is specifically used for: Determine the re-ablation effect corresponding to each candidate puncture path according to the ablation effect corresponding to the candidate stop point on each candidate puncture path; determining a path adjustment angle of each candidate puncture path relative to the current puncture path; According to the re-ablation effect and the path adjustment angle, an optimal puncture path is determined from a plurality of candidate puncture paths, and operation guidance for the optimal puncture path and its corresponding optimal needle adjustment point is obtained.

9. The system according to claim 7, It is characterized in that The operation guide acquisition device is specifically used for: Determine a plurality of candidate needle adjustment points on the needle withdrawal puncture path, and obtain a connecting line between each candidate needle adjustment point and the ablation residual area and a reverse extension line of the connecting line; The lines where the reverse extension line intersects with the key tissue are eliminated, and based on the remaining lines after the elimination, the candidate puncture paths when the ablation needle approaches the ablation residual area again after the needle is withdrawn are obtained.

10. A method for intraoperative puncture planning, It is characterized in that The method comprises: Acquire an intraoperative medical image of a target object for ablation needle puncture; Determining a puncture path of the ablation needle in the target object according to the intraoperative medical image, determining an ablation target point according to the puncture path, and predicting a predicted ablation area when the ablation needle moves to the ablation target point; Determining an ablation effect corresponding to the ablation target point according to the predicted ablation area; According to the ablation effect, an operation guide for the current puncture operation is obtained.

11. A method for displaying ablation information during surgery. It is characterized in that The method comprises: Intraoperative medical images showing the target object for ablation needle puncture; In response to a triggering event for obtaining ablation information, a predicted ablation area and operational instructions for the current puncture operation are presented based on the intraoperative medical image; wherein the predicted ablation area is the ablation area formed when the ablation needle moves to the predicted ablation target point according to the puncture path in the target object; and the operational instructions are determined according to the ablation effect corresponding to the predicted ablation area.

12. A computer device comprising a memory and a processor, wherein the memory stores a computer program. It is characterized in that When the processor executes the computer program, the steps of the method according to claim 10 or 11 are implemented.

13. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the computer program is executed by a processor, the steps of the method according to claim 10 or 11 are implemented.

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