A multi-needle needle arrangement device and method based on magnetic induction navigation

Abstract

The present invention belongs to the technical field of medical equipment, and discloses a multi-needle arrangement device and method based on magnetic induction navigation, including a puncture needle, a magnetic excitation controller, a body surface electrode sheet and an electromagnetic navigation host. The puncture needle includes a main needle and at least one slave needle. The tips of the main needle and the slave needle are provided with ablation electrodes, and the tails of the needles are provided with electrode caps. An intermittent weak alternating current is injected into the loop formed by the main needle and the body surface electrode sheet through the magnetic excitation controller to generate a positioning magnetic field in the subject's body; the slave needle detects the magnetic field strength through the built-in MEMS magnetic sensor, and combines the angle data of the inclination sensor to achieve precise positioning. The device of the present invention has a reasonable structural design, convenient operation, safety and reliability, and is suitable for multi-needle collaborative ablation surgery in minimally invasive tumor treatment. It solves the problems of external interference and sensor drift in traditional multi-needle navigation, and significantly improves the accuracy and stability of multi-needle arrangement.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical equipment, and in particular relates to a multi-needle arrangement device and method based on magnetic induction navigation. Background Art

[0002] Multi-needle coordinated ablation is a key approach in minimally invasive tumor treatment. For example, irreversible electroporation requires that multiple needle electrodes be strictly parallel or nearly parallel (e.g., inter-needle angle ≤ 5°). Radiofrequency multi-needle ablation requires multiple needles to be stacked at a specific angle to cover the lesion and avoid missing any areas. This is particularly true when treating irregular tumors, where multiple needles are required to fully cover the tumor's three-dimensional morphology and ensure a safe margin. This places extremely high demands on needle positioning; even slight deviations can result in insufficient ablation coverage or damage to surrounding tissue. Common percutaneous surgical navigation systems or manual puncture are effective for single-needle navigation. However, multi-needle positioning is relatively difficult due to interference from existing needles. For multi-needle ablation, even if the initial master needle's actual puncture position deviates slightly from the planned position, the slave needle's position can be fine-tuned based on the master needle's actual position after puncture. Therefore, the navigation accuracy and difficulty of the slave needle are higher than that of the master needle. Existing multi-needle navigation technologies mostly utilize external magnetic fields or pure MEMS navigation. External magnetic field navigation is susceptible to environmental interference and requires additional magnetic field generating devices; pure MEMS navigation has the problem of sensor drift, resulting in large errors and low navigation accuracy. Summary of the Invention

[0003] The object of the present invention is to provide a multi-needle needle arrangement device and method based on magnetic induction navigation to solve the above-mentioned technical problems.

[0004] In order to solve the above technical problems, the specific technical solutions of the multi-needle needle arrangement device and method based on magnetic induction navigation of the present invention are as follows:

[0005] A multi-needle needle arrangement device based on magnetic induction navigation includes a puncture needle, a magnetic excitation controller, a body surface electrode sheet and an electromagnetic navigation host. The puncture needle includes a main needle and one or more slave needles. The needle tips of the main needle and the slave needles have ablation electrodes, and the needle tails have electrode caps. The ablation electrodes are connected to the electrode caps by wire. The body surface electrode sheet is in contact with the surface of the object's body. The electrode cap at the tail of the main needle is connected to the body surface electrode sheet through a magnetic excitation controller. The magnetic excitation controller is communicatively connected to the electromagnetic navigation host. The electromagnetic navigation host controls the magnetic excitation controller to output intermittent weak alternating current. The current loop formed by the main needle and the body surface electrode sheet generates an intermittent positioning magnetic field inside the object's body. The slave needle determines the needle insertion position by detecting the magnetic field strength information when it approaches the main needle.

[0006] Furthermore, the tip of the slave needle has a built-in MEMS magnetic sensor, and the MEMS magnetic sensor is communicatively connected to the electromagnetic navigation host. The electromagnetic navigation host obtains the magnetic field strength information detected by the MEMS magnetic sensor at the tip of the slave needle, calculates the distance between the slave needle and the main needle, and thus controls the insertion position of the slave needle.

[0007] Furthermore, an inclination sensor is integrated on the electrode cap at the tail of the slave needle, and the inclination sensor is communicatively connected to the electromagnetic navigation host. The electromagnetic navigation host determines the insertion angle of the slave needle through data fed back by the inclination sensor.

[0008] Furthermore, the magnetic excitation controller includes a communication module, an excitation power supply, a first switch, a second switch, a first ablation electrode interface, a first body surface electrode interface, a second ablation electrode interface and a second body surface electrode interface. The first ablation electrode interface and the first body surface electrode interface are respectively connected to the first switch and the second switch. The positive and negative interfaces of the excitation power supply are respectively connected to one contact of the first switch and the second switch. The second ablation electrode interface and the second body surface electrode interface are respectively connected to the other contact of the first switch and the second switch. The communication module is connected to the excitation power supply. The electromagnetic navigation host controls the excitation power supply and the first switch and the second switch through the communication module. The first ablation electrode interface is used to connect the electrode cap of the main needle and connect the ablation electrode of the main needle through the electrode cap of the main needle; the first body surface electrode interface is used to connect the body surface electrode; the second ablation electrode interface and the second body surface electrode interface are used to connect the ablation host; the first switch and the second switch work together to select a magnetic field generation path or an ablation path.

[0009] Furthermore, the electrode cap at the tail of the main needle includes a current interface, a power interface and an indicator light module. The current interface is internally connected to the ablation electrode at the needle tip, the first ablation electrode interface of the magnetic excitation controller is connected to the current interface, the first surface electrode sheet interface of the magnetic excitation controller is connected to the surface electrode sheet, the indicator light module is electrically connected to the current interface, and the power interface is connected to an external power supply or battery for powering the indicator light module.

[0010] Furthermore, the electrode cap at the tail of the slave needle includes a current interface, a power interface, a communication module and a tilt sensor. The current interface is internally connected to the ablation electrode at the needle tip. The current interface is used to connect to the ablation electrode interface on the ablation host. The ablation current is input through the ablation host. The electromagnetic navigation host communicates with the tilt sensor at the tail of the slave needle and the MEMS magnetic sensor built into the tip of the slave needle through the communication module. The power interface is electrically connected to the communication module for powering the communication module.

[0011] Furthermore, the master needle and the slave needle have the same structure, the needle tip includes a MEMS magnetic sensor, and the electrode cap includes a current interface, a power interface, an indicator light module, a communication module and a tilt sensor.

[0012] Furthermore, the intermittent weak alternating current output by the magnetic excitation controller is a pulse current of 0.3-0.5A.

[0013] The present invention also discloses a multi-needle arrangement method of a multi-needle arrangement device based on magnetic induction navigation, comprising the following steps:

[0014] Step 1: Generating the main needle magnetic field: Connect the first ablation electrode interface and the first body surface electrode patch interface of the magnetic excitation controller to the current interface and the body surface electrode patch on the electrode cap of the main needle, respectively. The electromagnetic navigation host controls the first switch and the second switch to connect to the excitation power supply, and controls the magnetic excitation controller to inject a weak alternating current into the circuit. Using a pulse power supply method, an intermittent pulse power supply current closed loop is formed to generate an intermittent stable magnetic field on the main needle.

[0015] Step 2: Slave needle positioning: As the slave needle approaches the main needle, the MEMS magnetic sensor built into the needle tip acquires a magnetic field strength signal and uploads it to the electromagnetic navigation host. The electromagnetic navigation host calculates the relative position of the slave needle and the main needle to determine the insertion position of the slave needle. The inclination sensor acquires the inclination angle of the slave needle and uploads it to the electromagnetic navigation host. The electromagnetic navigation host determines the insertion angle of the slave needle based on the data collected by the inclination sensor.

[0016] Step 3: Dynamic compensation: The magnetic excitation controller obtains the impedance value fed back from the current return in real time and adjusts the output magnetic field current to perform dynamic compensation. At the same time, the positioning accuracy is improved by establishing a current-magnetic field strength-distance calibration database.

[0017] The multi-needle arrangement device and method based on magnetic induction navigation of the present invention has the following advantages:

[0018] 1. High-precision navigation

[0019] An intermittent positioning magnetic field is generated in the subject's body through a navigation intermittent excitation current loop with a power lower than the ablation power formed by the main needle and the surface electrode. The electromagnetic navigation host calculates the relative position and angle of the slave needle and the main needle in real time through the MEMS magnetic sensor and tilt sensor built into the needle tip of the slave needle, ensuring the accuracy of multi-needle needle placement and effectively avoiding errors caused by external interference or sensor drift in traditional multi-needle navigation.

[0020] 2. Dynamic compensation and stability

[0021] The magnetic excitation controller can obtain the impedance value of the current loop in real time and dynamically adjust the output magnetic field current to ensure stable magnetic field strength. By establishing a calibration database for current, magnetic field strength, and distance, the system's stability and positioning accuracy are further improved.

[0022] 3. Simplified structure and convenient operation

[0023] The master and slave pins can be designed to have identical structures, allowing them to be randomly selected as either pin based on needs, simplifying the process. The electrode cap integrates functional components such as the current interface, power interface, and communication module, reducing reliance on external devices and improving ease of use.

[0024] 4. Safe and reliable

[0025] The magnetic field current (0.3-0.5A) is a weak alternating current, smaller than the ablation current. The navigation time is short, and the power supply is intermittent pulses. The heat generated is very low and can be absorbed by the body, causing no additional damage to tissues. Furthermore, the indicator light module provides real-time indication of the current circuit status, further ensuring operational safety.

[0026] 5. Wide applicability

[0027] It is suitable for multi-needle coordinated ablation in minimally invasive tumor treatments, such as irreversible electroporation and radiofrequency ablation. It can meet the requirements of strictly parallel needle placement or needle placement at specific angles, making it particularly suitable for treating irregular tumors, ensuring that the ablation range covers the lesion while protecting surrounding healthy tissue.

[0028] 6. Technological advancement

[0029] Compared with traditional external magnetic field navigation or pure MEMS navigation technology, the present invention combines the advantages of magnetic induction and MEMS sensors, avoids environmental interference and sensor drift problems, and significantly improves the navigation accuracy and reliability of the needle.

[0030] 7. Efficient ablation

[0031] Through precise multi-needle arrangement and dynamic compensation technology, three-dimensional coverage of lesions can be completed quickly, ablation efficiency can be improved, operation time can be reduced, and treatment effect can be enhanced.

[0032] In summary, the present invention has significant advantages in terms of accuracy, stability, safety, ease of operation and scope of application, and provides an efficient and reliable technical means for minimally invasive treatment of tumors. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the overall structure of the multi-needle needle-laying device based on magnetic induction navigation of the present invention;

[0034] Figure 2This is a structural block diagram of the multi-needle needle-laying device based on magnetic induction navigation of the present invention;

[0035] Figure 3 This is a schematic diagram of the main needle structure of the present invention;

[0036] Figure 4 This is a schematic diagram of the needle structure of the present invention;

[0037] Figure 5 It is a structural diagram of the magnetic excitation controller of the present invention;

[0038] Figure 6 This is a schematic diagram of the structure of the main needle electrode cap of the present invention;

[0039] Figure 7 This is a schematic diagram of the structure of the needle electrode cap of the present invention;

[0040] Figure 8 This is a schematic diagram of the unified structure of the puncture needle electrode cap of the present invention;

[0041] Figure 9 This is a graph showing the accuracy test data of the present invention;

[0042] Explanation of the marks in the figure: 1. Puncture needle; 11. Main needle; 12. Slave needle; 13. Electrode cap; 131. Current interface; 132. Power interface; 133. Indicator light module; 134. Communication module; 135. Tilt sensor; 14. Ablation electrode; 15. MEMS magnetic sensor; 2. Magnetic excitation controller; 21. Communication module 1; 22. Excitation power supply; 23. Two-choice switch 1; 24. Two-choice switch 2; 25. Ablation electrode interface 1; 26. Surface electrode patch interface 1; 27. Ablation electrode interface 2; 28. Surface electrode patch interface 2; 3. Surface electrode patch; 4. Electromagnetic navigation host; 5. Ablation host. DETAILED DESCRIPTION

[0043] In order to better understand the purpose, structure and function of the present invention, the following is a further detailed description of a multi-needle needle arrangement device and method based on magnetic induction navigation of the present invention in conjunction with the accompanying drawings.

[0044] like Figure 1-4As shown, a multi-needle arrangement device based on magnetic induction navigation of the present invention includes a puncture needle 1, a magnetic excitation controller 2, a body surface electrode 3 and an electromagnetic navigation host 4. The puncture needle 1 includes a main needle 11 and one or more slave needles 12. The needle tips of the main needle 11 and the slave needle 12 have ablation electrodes 14, and the needle tails have electrode caps 13. The ablation electrodes 14 and the electrode caps 13 are connected by wires similar to SIM card contacts. The surface electrode sheet 3 is in contact with and connected to the surface of the object (human or animal body), the electrode cap 13 at the tail of the main needle 11 is connected to the surface electrode sheet 3 through the magnetic excitation controller 2, the magnetic excitation controller 2 is in communication connection with the electromagnetic navigation host 4, and the electromagnetic navigation host 4 controls the magnetic excitation controller 2 to output intermittent weak alternating current, so that the current loop formed by the main needle 11 and the surface electrode sheet 3 generates a positioning magnetic field inside the object body, and the MEMS magnetic sensor 15 is built into the tip of the slave needle 12, and the MEMS magnetic sensor 15 is in communication connection with the electromagnetic navigation host 4 through the communication module 2 134 inside the electrode cap 13, and the electromagnetic navigation host 4 obtains the magnetic field strength information detected by the MEMS magnetic sensor 15 at the tip of the slave needle 12, calculates the distance of the slave needle 12 relative to the main needle 11, and thus controls the insertion position of the slave needle 12. An inclination sensor 135 is integrated on the electrode cap 13 at the tail of the slave needle 12. The inclination sensor 135 is connected to the electromagnetic navigation host 4 through the communication module 2 134 inside the electrode cap 13. The electromagnetic navigation host 4 determines the insertion angle of the slave needle 12 through the data fed back by the inclination sensor 135.

[0045] In conventional ablation surgery, the ablation current is generated by connecting the electrode of the puncture needle tip and an external electrode through the ablation host 5. The present invention adds a magnetic excitation controller 2 between the ablation host 5 and the puncture needle. Through a two-choice switch, one path is used to generate a magnetic field in the body, and the other path is connected to the ablation host for ablation. Figure 4As shown, the magnetic excitation controller 2 includes a communication module 21, an excitation power supply 22, a two-choice switch 1 23, a two-choice switch 2 24, an ablation electrode interface 1 25, a body surface electrode interface 1 26, an ablation electrode interface 2 27 and a body surface electrode interface 2 28. The ablation electrode interface 1 25 and the body surface electrode interface 1 26 are respectively connected to the two-choice switch 1 23 and the two-choice switch 2 24. The positive and negative pole interfaces of the excitation power supply 22 are respectively connected to one contact of the two-choice switch 1 23 and the two-choice switch 2 24. The ablation electrode interface 2 27 and the body surface electrode interface 2 28 are respectively connected to the other contact of the two-choice switch 1 23 and the two-choice switch 2 24. The communication module 1 21 is connected to the excitation power supply 22. The electromagnetic navigation host 4 controls the excitation power supply and the two-choice switch 1 23 and the two-choice switch 2 24 through the communication module 1 21. Ablation electrode interface 1 25 is used to connect to the electrode cap 13 of the main needle 11, and is connected to the ablation electrode of the main needle 11 through the electrode cap 13 of the main needle 11; surface electrode patch interface 1 26 is used to connect to the surface electrode patch 3; ablation electrode interface 2 27 and surface electrode patch interface 2 28 are used to connect to the ablation host 5. The two-choice switch 1 23 and the two-choice switch 2 24 work together to select the magnetic field generation path or the ablation path. During navigation, the electromagnetic navigation host 4 controls the two-choice switch 1 23 and the two-choice switch 2 24 to connect to the excitation power supply 22, and controls the current size and duty cycle of the excitation power supply 22, forming an intermittent weak alternating current loop between the ablation electrode of the main needle 11 and the surface electrode patch 3, generating an intermittent positioning magnetic field; during ablation, the electromagnetic navigation host 4 controls the two-choice switch 1 23 and the two-choice switch 2 24 to connect to the ablation electrode interface 2 27 and the surface electrode patch interface 2 28, and connects to the ablation host 5 for ablation.

[0046] like Figure 6 As shown, the electrode cap 13 at the end of the main needle 11 includes a current interface 131, a power interface 132, and an indicator light module 133. The current interface 131 is internally connected to the ablation electrode 14 at the needle tip. The ablation electrode interface 125 of the magnetic excitation controller 2 is connected to the current interface 131 via a cable. The surface electrode patch interface 126 of the magnetic excitation controller 2 is connected to the surface electrode patch 3 via a cable. The indicator light module 133 is electrically connected to the current interface 131 to indicate whether current is connected. If current is connected, the light will turn on. The power interface 132 is connected to an external power source or battery to power the indicator light module 133.

[0047] like Figure 7As shown, the electrode cap 13 at the end of the slave needle 12 includes a current interface 131, a power interface 132, a second communication module 134, and a tilt sensor 135. The current interface 131 is internally connected to the ablation electrode 14 at the needle tip. The current interface 131 is used to connect to the ablation electrode interface on the ablation host 5, and the ablation current is input through the ablation host 5. The electromagnetic navigation host 4 is connected to the tilt sensor 135 at the end of the slave needle 12 and the MEMS magnetic sensor 15 built into the tip of the slave needle 12 through the second communication module 134. The second communication module 134 is preferably a Bluetooth communication module. The power interface 132 is electrically connected to the second communication module 134 for powering the second communication module 134.

[0048] like Figure 8 As shown, for ease of use, the structures of the master needle 11 and the slave needle 12 can be designed to be identical. The needle tips both include a MEMS magnetic sensor 15, and the electrode cap 13 both include a current interface 131, a power interface 132, an indicator light module 133, a second communication module 134, and an inclination sensor 135. During use, you can randomly select one as the master needle and make the corresponding hardware connections based on the desired function.

[0049] A multi-needle arrangement method based on magnetic induction navigation of the present invention comprises the following steps:

[0050] Step 1: Main needle magnetic field generation: The ablation electrode interface 1 25 and the body surface electrode patch interface 1 26 of the magnetic excitation controller 2 are respectively connected to the current interface 131 and the body surface electrode patch 3 on the electrode cap 13 of the main needle 11. The electromagnetic navigation host 4 controls the two-to-one switch 1 23 and the two-to-one switch 2 24 to connect the excitation power supply 22, and controls the magnetic excitation controller 2 to inject a weak alternating current with an amplitude of 0.3-0.5A into the circuit. A pulse power supply mode with a duty cycle of one tenth is adopted, that is, a 1KHz sine wave power supply lasting 10ms, and a power supply stop of 90ms is used to form an intermittent pulse power supply current closed loop, thereby generating an intermittent stable magnetic field on the main needle 11.

[0051] Step 2: Slave Needle Positioning: As the slave needle 12 approaches the master needle 11, the MEMS magnetic sensor 15 built into the needle tip acquires a magnetic field strength signal and uploads it to the electromagnetic navigation host 4 via the second communication module 134. The electromagnetic navigation host 4 calculates the relative position of the slave needle 12 and the master needle 11, thereby determining the insertion position of the slave needle 12. The inclination sensor 135 acquires the inclination angle of the slave needle 12 and uploads it to the electromagnetic navigation host 4 via the second communication module 134. The electromagnetic navigation host 4 determines the insertion angle of the slave needle 12 based on the data collected by the inclination sensor 135.

[0052] Step 3: Dynamic Compensation: The magnetic excitation controller 2 obtains the impedance value of the current feedback in real time and adjusts the output magnetic field current to perform dynamic compensation. At the same time, by establishing a calibration database of current-magnetic field strength-distance, positioning accuracy is further improved.

[0053] The process of using this device:

[0054] First, the needle placement plan and the insertion point and puncture angle of the first main needle 11 on the body surface are determined based on the CT scan image. The user inserts the main needle 11 according to the insertion point determined on the CT image (for the main needle 11 integrated with a MEMS magnetic sensor, the puncture angle can be further determined by the MEMS magnetic sensor). The main needle 11 completes the puncture, and the position and angle of the main needle 12 can be determined based on the CT scan image. The surface electrode 3 is then fixed to the subject's body surface (which can be the thigh or back). The ablation electrode interface 1 25 and the surface electrode interface 1 26 of the magnetic excitation controller 2 are then connected to the current interface 131 and the surface electrode 3 on the electrode cap 13 of the main needle 11, respectively. The electromagnetic navigation host 4 controls the two-way switch 1 23 and the two-way switch 2 24 to connect to the excitation power supply 22, and controls the magnetic excitation controller 2 to inject an intermittent weak alternating current of 0.3-0.5A into the circuit, forming a current closed loop. This generates an intermittent stable magnetic field on the main needle 11, and the indicator light module 133 lights up, indicating that the magnetic field loop has been generated.

[0055] Then, as the slave needle 12 approaches the main needle 11, the magnetic field strength signal is obtained by the MEMS magnetic sensor 15 built into the tip of the slave needle 12, and the data collected by the inclination sensor 135 of the slave needle 12 are used to determine the insertion position and angle of the slave needle 12, thereby completing the puncture of the slave needle. The position and posture of the slave needle 12 can be adjusted in real time according to the CT image. The above operation is repeated for multiple slave needles 12 to complete multi-needle puncture.

[0056] Finally, the electromagnetic navigation host 4 controls the two-choice switches 1 23 and 24 of the magnetic excitation controller 2 to connect the ablation electrode interface 2 27 and the body surface electrode patch interface 2 28, connecting the ablation host 5 to perform ablation. The ablation current is input through the current interface 131 of the main needle 11 and the slave needle 12 to ablate the lesion tissue.

[0057] The magnetic field current (0.3-0.5A) generated by this device in the object's body loop is smaller than the ablation current and is a safe current. The magnetic field navigation current has low power, short navigation time, and uses intermittent power supply. The heat generated is extremely low and can be absorbed by the human body, making it safe and reliable.

[0058] Accuracy test:

[0059] The present invention uses 0.3A, 0.4A, and 0.5A current excitation respectively, and conducts comparative accuracy tests with two existing in vitro magnetic navigation systems (Magnetic Navigation 1 and Magnetic Navigation 2). Magnetic Navigation 1: A commercial navigation system using a commercially available induction coil working mode. Magnetic Navigation 2: Using pure MEMS navigation. The test results are as follows: Figure 9 As shown, it can be seen that the positioning accuracy of the present invention is higher and the error fluctuation is more stable.

[0060] It will be understood that the present invention is described by way of some embodiments, and it will be appreciated by those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are intended to be protected by the present invention.

Claims

1. A multi-needle needle-laying device based on magnetic induction navigation, characterized in that: The invention comprises a puncture needle (1), a magnetic excitation controller (2), a body surface electrode sheet (3) and an electromagnetic navigation host (4), wherein the puncture needle (1) comprises a main needle (11) and one or more slave needles (12), the needle tips of the main needle (11) and the slave needles (12) are provided with ablation electrodes (14), the needle tails are provided with electrode caps (13), the ablation electrodes (14) are connected to the electrode caps (13) by wire, the body surface electrode sheet (3) is in contact with the surface of the object, the electrode cap (13) at the needle tail of the main needle (11) is connected to the body surface electrode sheet (3) via the magnetic excitation controller (2), the magnetic excitation controller (2) is in communication connection with the electromagnetic navigation host (4), and the electromagnetic navigation host (4) controls the ablation electrodes (14) and the electrode caps (13) at the needle tail. The magnetic excitation controller (2) outputs intermittent weak alternating current, and the current loop formed by the main needle (11) and the body surface electrode sheet (3) generates an intermittent positioning magnetic field inside the object body. The slave needle (12) determines the needle insertion position by detecting the magnetic field strength information when it approaches the main needle (11); the tip of the slave needle (12) is equipped with a built-in MEMS magnetic sensor (15), and the MEMS magnetic sensor (15) is connected to the electromagnetic navigation host (4) for communication. The electromagnetic navigation host (4) obtains the magnetic field strength information detected by the MEMS magnetic sensor (15) at the tip of the slave needle (12), calculates the distance of the slave needle (12) relative to the main needle (11), and thus controls the needle insertion position of the slave needle (12).

2. The multi-needle needle arrangement device based on magnetic induction navigation according to claim 1, characterized in that: An inclination sensor (135) is integrated on the electrode cap (13) at the tail of the slave needle (12). The inclination sensor (135) is in communication with the electromagnetic navigation host (4). The electromagnetic navigation host (4) determines the insertion angle of the slave needle (12) through data fed back by the inclination sensor (135).

3. The multi-needle needle arrangement device based on magnetic induction navigation according to claim 1, characterized in that: The magnetic excitation controller (2) includes a communication module 1 (21), an excitation power supply (22), a two-choice switch 1 (23), a two-choice switch 2 (24), an ablation electrode interface 1 (25), a body surface electrode interface 1 (26), an ablation electrode interface 2 (27) and a body surface electrode interface 2 (28), wherein the ablation electrode interface 1 (25) and the body surface electrode interface 1 (26) are respectively connected to the two-choice switch 1 (23) and the two-choice switch 2 (24), the positive and negative interfaces of the excitation power supply (22) are respectively connected to a contact of the two-choice switch 1 (23) and the two-choice switch 2 (24), and the ablation electrode interface 2 (27) and the body surface electrode interface 2 (28) are respectively connected to the two-choice switch 1 (23) and the two-choice switch 2 (24). Another contact, the communication module 1 (21) is connected to the excitation power supply (22), the electromagnetic navigation host (4) controls the excitation power supply and the two-selection switch 1 (23) and the two-selection switch 2 (24) through the communication module 1 (21), the ablation electrode interface 1 (25) is used to connect the electrode cap (13) of the main needle (11), and is connected to the ablation electrode (14) of the main needle (11) through the electrode cap (13) of the main needle (11); the surface electrode sheet interface 1 (26) is used to connect the surface electrode sheet (3); the ablation electrode interface 2 (27) and the surface electrode sheet interface 2 (28) are used to connect the ablation host (5); the two-selection switch 1 (23) and the two-selection switch 2 (24) work together to select the magnetic field generation path or the ablation path.

4. The multi-needle needle arrangement device based on magnetic induction navigation according to claim 3, characterized in that: The electrode cap (13) at the needle tail of the main needle (11) includes a current interface (131), a power interface (132) and an indicator light module (133). The current interface (131) is internally connected to the ablation electrode (14) at the needle tip. The ablation electrode interface 1 (25) of the magnetic excitation controller (2) is connected to the current interface (131). The surface electrode sheet interface 1 (26) of the magnetic excitation controller (2) is connected to the surface electrode sheet (3). The indicator light module (133) is electrically connected to the current interface (131). The power interface (132) is connected to an external power source or a battery for powering the indicator light module (133).

5. The multi-needle needle arrangement device based on magnetic induction navigation according to claim 4, characterized in that: The electrode cap (13) at the tail of the slave needle (12) includes a current interface (131), a power interface (132), a communication module 2 (134) and a tilt sensor (135). The current interface (131) is internally connected to the ablation electrode (14) at the needle tip. The current interface (131) is used to connect to the ablation electrode interface on the ablation host (5). The ablation current is input through the ablation host (5). The electromagnetic navigation host (4) is connected to the tilt sensor (135) at the tail of the slave needle (12) and the MEMS magnetic sensor (15) built into the needle tip of the slave needle (12) through the communication module 2 (134). The power interface (132) is electrically connected to the communication module 2 (134) and is used to power the communication module 2 (134).

6. The multi-needle needle arrangement device based on magnetic induction navigation according to claim 5, characterized in that: The main needle (11) and the slave needle (12) have the same structure, the needle tip includes a MEMS magnetic sensor (15), and the electrode cap (13) includes a current interface (131), a power interface (132), an indicator light module (133), a second communication module (134) and an inclination sensor (135).

7. The multi-needle needle arrangement device based on magnetic induction navigation according to claim 1, characterized in that: The intermittent weak alternating current output by the magnetic excitation controller (2) is a pulse current of 0.3-0.5A.

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