Prostate cancer local ablation decision navigation system

Abstract

A prostate cancer local ablation decision navigation system comprises a probe, an ablation needle, a positioning support and a controller, an ablation needle channel and a probe channel are formed in the positioning support, the probe penetrates through the probe channel to be connected with a probe propeller, and the ablation needle penetrates through the ablation needle channel to be connected with the ablation needle; the front part of the probe is provided with a detection window, and the probe is internally provided with a fixed focus probe; the fixed focus probe is connected with the LC adapter in the probe clamping groove through a first transmission optical cable, the LC adapter is respectively connected with the laser light source and the Raman spectrometer through a second transmission optical cable, and the signal output end of the Raman spectrometer is connected with the signal input end of the controller; the ablation needle is connected with the irreversible electroporation host through the quick-connection socket in the ablation needle clamping groove, and the signal input end of the irreversible electroporation host is connected with the signal output end of the controller. According to the invention, the defects in the prior art are overcome, prostate tissue information can be provided in real time in situ, ablation card clothing is guided, precise ablation of prostate cancer is realized, and the tumor removal rate is improved.

Description

Technical Field

[0001] The present invention relates to human daily necessities, particularly to medical devices, and specifically to a local ablation decision-making navigation system for prostate cancer. Background Art

[0002] Prostate cancer (PCa) is one of the most common malignant tumors in men globally. Radical prostatectomy has significant trauma, a long postoperative recovery time for patients, and a high complication rate. In recent years, local ablation treatment of PCa based on various energy platforms has received increasing attention. While precisely ablating tumors, it can preserve the prostate and its surrounding functional structures, without affecting the patient's urinary control and sexual function.

[0003] Currently, the prostate local ablation technology clinically applied mainly relies on puncture positioning under B-ultrasound guidance. However, prostate cancer is a multifocal tumor. In the past, for prostate puncture under B-ultrasound guidance, the positive puncture rate was only 30%-40%; and the undetected prostate cancer by puncture was between 15%-34%. Therefore, there are potential risks of inaccurate or incomplete ablation in the current ablation technology.

[0004] In addition, since the gold standard for prostate cancer is H&E staining pathological examination, which diagnoses through cell tissue form, cell morphology, nuclear morphology and heterogeneity, as well as special molecular markers of immunohistochemical staining. However, there is currently no relevant prostate local ablation navigation product that can provide tissue information in real time and in situ, realize in situ detection and diagnosis of suspicious target tissues, and guide the placement of ablation needles. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides a local ablation decision-making navigation system for prostate cancer, which overcomes the deficiencies of the prior art, is reasonably designed, can provide prostate tissue information in real time and in situ, guide the placement of ablation needles, realize precise ablation of prostate cancer, and improve the tumor clearance rate.

[0006] To achieve the above objectives, the present invention is realized through the following technical solutions:

[0007] A local ablation decision-making navigation system for prostate cancer includes a probe, an ablation needle, a positioning bracket and a controller. The positioning bracket is provided with an ablation needle channel and a probe channel. A probe pusher and an ablation needle pusher are installed on the positioning bracket. The rear end of the probe passes through the probe channel and is connected to a probe card slot inside the probe pusher. The ablation needle passes through the ablation needle channel and is connected to an ablation needle card slot inside the ablation needle pusher. The probe and the ablation needle are arranged parallel to each other;

[0008] A detection window is provided at the front of the probe, and a focusing probe is provided inside the probe. The detection end of the focusing probe corresponds to the detection window; one end of the focusing probe is connected to one end of a first transmission optical cable. An LC adapter is fixedly installed in the probe card slot. The other end of the first transmission optical cable is connected to one end of the LC adapter through an optical fiber connector. The other end of the LC adapter is connected to one end of a second transmission optical cable through an optical fiber connector. The other end of the second transmission optical cable is respectively connected to the optical fiber interface of a laser light source and the optical fiber interface of a Raman spectrometer. The signal output end of the Raman spectrometer is connected to the signal input end of a controller;

[0009] A quick-connect socket is fixedly installed in the ablation needle card slot. The rear end of the ablation needle is connected to the quick-connect socket. The quick-connect socket is connected to an irreversible electroporation host through a cable. The signal input end of the irreversible electroporation host is connected to the signal output end of the controller. The control ports of the probe pusher and the ablation needle pusher are both connected to the signal output end of the controller through control lines.

[0010] Preferably, the probe pusher includes a first housing. A first ranging bin is fixedly installed inside the first housing. The first ranging bin is a strip-shaped groove structure with an open front end. A first slider is provided inside the first ranging bin. The first slider and the first ranging bin are arranged as a sliding pair along the length direction of the first ranging bin. A first rack is fixedly installed on the front side of the first slider. The length direction of the first rack is the same as the length direction of the first ranging bin. The probe card slot is fixedly arranged at the front end of the first rack. A first motor is provided inside the first housing. A first gear is fixedly installed on the output shaft of the first motor. The first gear meshes with the first rack. The control port of the first motor is connected to the signal output end of the controller through a control line; A first displacement sensor is arranged beside the sliding path of the first slider inside the first housing. The first displacement sensor is used to detect the displacement of the first slider. The signal output end of the first displacement sensor is connected to the signal input end of the controller.

[0011] Preferably, the ablation needle pusher includes a second housing. A second ranging chamber is fixedly installed inside the second housing. The second ranging chamber is a strip-shaped groove structure with an open front end. A second slider is arranged inside the second ranging chamber. The second slider and the second ranging chamber are arranged as a sliding pair along the length direction of the second ranging chamber. A second rack is fixedly installed on the front side of the second slider. The length direction of the second rack is the same as the length direction of the second ranging chamber. The ablation needle slot is fixedly arranged at the front end of the second rack. A second motor is arranged inside the second housing. A second gear is fixedly installed on the output shaft of the second motor. The second gear meshes with the second rack. The control port of the second motor is connected to the signal output end of the controller through a control line. A second displacement sensor is arranged beside the sliding path of the second slider inside the second housing. The second displacement sensor is used to detect the displacement of the second slider. The signal output end of the second displacement sensor is connected to the signal input end of the controller.

[0012] Preferably, the detection window is a planar transparent quartz window. Three fixed-focus probes are provided. The three fixed-focus probes are equidistantly distributed between the detection windows.

[0013] Preferably, the first transmission optical cable includes 1 excitation optical fiber and 3 collection optical fibers. 1 excitation optical fiber and 3 collection optical fibers are correspondingly arranged inside the second transmission optical cable. The 1 excitation optical fiber and the 3 collection optical fibers of the first transmission optical cable and the 1 laser optical fiber and the 3 collection optical fibers of the second transmission optical cable are connected in one-to-one correspondence through optical fiber connectors. The 1 excitation optical fiber of the second transmission optical cable is connected to the optical fiber interface of the laser light source. The 3 collection optical fibers of the second transmission optical cable are respectively connected to the 3 optical fiber interfaces of the Raman spectrometer.

[0014] Preferably, the controller includes a tissue Raman data analysis unit and a control unit. The tissue Raman data analysis unit is used to collect and analyze the tissue Raman spectral data output by the Raman spectrometer. The control unit generates an ablation strategy according to the analysis result and sends a control instruction to the ablation needle pusher through the signal output end.

[0015] Preferably, two probes are provided and one ablation needle is provided. The positioning bracket is correspondingly provided with two ablation needle channels and one probe channel. The ablation needle channels and the probe channel are arranged side by side, and the probe channel is located between the two ablation needle channels.

[0016] The present invention provides a local ablation decision-making navigation system for prostate cancer, which has the following beneficial effects: by connecting the rear ends of the probe and the ablation needle to the probe pusher and the ablation needle pusher respectively, the probe and the ablation needle can be independently and precisely controlled through the controller, and by combining the precise positioning of the probe with the in-depth analysis of spectral data, efficient and precise diagnosis of prostate cancer is achieved, significantly improving the accuracy of clinical detection and the scientific nature of treatment plan formulation, and providing more reliable medical protection for patients. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the prior art.

[0018] Figure 1 Structural schematic diagram of the present invention;

[0019] Figure 2 Structural schematic diagram of the probe pusher in the present invention;

[0020] Figure 3 Structural schematic diagram of the ablation needle pusher in the present invention;

[0021] Figure 4 Structural schematic diagram of the positioning bracket in the present invention;

[0022] Figure 5 Schematic diagram of the usage state of the present invention;

[0023] Explanation of the reference numerals in the figures:

[0024] 1. Probe; 2. Ablation needle; 3. Positioning bracket; 4. Controller; 5. Ablation needle channel; 6. Probe channel; 7. Probe pusher; 8. Ablation needle pusher; 9. Detection window; 10. Focusing probe; 11. First transmission optical cable; 12. LC adapter; 13. Second transmission optical cable; 14. Laser light source; 15. Raman spectrometer; 16. Quick-connect socket; 17. Irreversible electroporation host; 40. Tissue Raman data analysis unit; 41. Control unit; 71. Probe card slot; 72. First housing; 73. First ranging chamber; 74. First rack; 75. First slider; 76. First gear; 77. First motor; 78. First displacement sensor; 81. Ablation needle card slot; 82. Second housing; 83. Second ranging chamber; 84. Second rack; 85. Second slider; 86. Second gear; 87. Second motor; 88. Second displacement sensor. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] In order to make the objectives, technical solutions and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention in conjunction with the accompanying drawings in the present invention.

[0026] Example 1, as Figures 1-5 shown, a local ablation decision-making navigation system for prostate cancer includes a probe 1, an ablation needle 2, a positioning bracket 3, and a controller 4. An ablation needle channel 5 and a probe channel 6 are provided in the positioning bracket 3. A probe pusher 7 and an ablation needle pusher 8 are installed on the positioning bracket 3. The rear end of the probe 1 passes through the probe channel 6 and is connected to the probe card slot 71 inside the probe pusher 7. The ablation needle 2 passes through the ablation needle channel 5 and is connected to the ablation needle card slot 81 inside the ablation needle pusher 8. The probe 1 and the ablation needle 2 are arranged in parallel; in this embodiment, one probe 1 and two ablation needles 2 are provided. Correspondingly, one probe channel 6 and two ablation needle channels 5 are provided in the positioning bracket 3. The ablation needle channel 5 and the probe channel 6 are arranged side by side, and the probe channel 6 is located between the two ablation needle channels 5. The positioning bracket 3 is fixed to an external bracket.

[0027] A detection window 9 is provided at the front part of the probe 1. A focusing probe 10 is provided inside the probe 1. The detection end of the focusing probe 10 corresponds to the detection window 9. One end of the focusing probe 10 is connected to one end of a first transmission optical cable 11. An LC adapter 12 is fixedly installed in the probe card slot 71. The other end of the first transmission optical cable 11 is connected to one end of the LC adapter 12 through an optical fiber connector. The other end of the LC adapter 12 is connected to one end of a second transmission optical cable 13 through an optical fiber connector. The other end of the second transmission optical cable 13 is respectively connected to the optical fiber interface of a laser light source 14 and the optical fiber interface of a Raman spectrometer 15. The signal output end of the Raman spectrometer 15 is connected to the signal input end of the controller 4.

[0028] A quick-connect socket 16 is fixedly installed in the ablation needle card slot 81. The rear end of the ablation needle 2 is connected to the quick-connect socket 16. The quick-connect socket 16 is connected to an irreversible electroporation mainframe 17 through a cable. The signal input end of the irreversible electroporation mainframe 17 is connected to the signal output end of the controller 4. The control ports of the probe pusher 7 and the ablation needle pusher 8 are both connected to the signal output end of the controller 4 through control lines.

[0029] Working principle:

[0030] In the application of irreversible electroporation local ablation of prostate lesions under B-ultrasound guidance, first, the rear ends of the probe 1 and the ablation needle 2 are respectively passed through the ablation needle channel 5 and the probe channel 6 on the surface of the positioning bracket 3 and inserted and fixed into the probe card slot 71 inside the probe pusher 7 and the ablation needle card slot 81 inside the ablation needle pusher 8. Then, under B-ultrasound guidance, the controller 4 controls the operation of the probe pusher 7 to push the probe 1 forward so that the probe 1 is inserted into the prostate lesion site, and the insertion depth of the probe 1 is controlled so that the detection window 9 can cover the target area.

[0031] After that, control the laser light source 14 to start emitting a laser beam. In this embodiment, the first transmission optical cable 11 includes 1 excitation optical fiber and 3 collection optical fibers. Correspondingly, 1 excitation optical fiber and 3 collection optical fibers are provided in the second transmission optical cable 13. The 1 excitation optical fiber and 3 collection optical fibers of the first transmission optical cable 11 are respectively and correspondingly connected to the 1 excitation optical fiber and 3 collection optical fibers of the second transmission optical cable 13 through fiber connectors. The 1 excitation optical fiber of the second transmission optical cable 13 is connected to the fiber interface of the laser light source 14, and the 3 collection optical fibers of the second transmission optical cable 13 are respectively connected to 3 fiber interfaces of the Raman spectrometer 15. Therefore, the laser beam emitted by the laser light source 14 can pass through the excitation optical fiber of the second transmission optical cable 13 and the excitation optical fiber of the first transmission optical cable 11 in sequence, and then be focused on the detection window 9 through the fixed-focus probe 10, so as to accurately irradiate the prostate lesion and excite Raman spectral signals, and then be transmitted to the Raman spectrometer 15 through the collection optical fiber, so that the Raman spectrometer 15 filters, denoises and digitizes the Raman spectral signals to obtain the original Raman spectral data and transmits it to the controller 4. In addition, during this process, the probe thruster 7 can be controlled by the controller 4 to drive the probe 1 to adjust the position, so that the prostate lesions in different regions can be irradiated point by point and spectral collection can be realized through the fixed-focus probe 10, ensuring full coverage of the lesion area. Then it is summarized in the controller 4, and finally tissue information with a depth of 3.6 cm can be obtained.

[0032] After that, the controller 4 can formulate an ablation strategy according to the tissue information of the target area, including key information such as whether there is a tumor to be ablated in the target area and the insertion length of the ablation needle. After being reviewed by the doctor and finally confirmed for ablation (this is the prior art, so it will not be elaborated here). When confirmed, the controller 4 sends an instruction to the ablation needle thruster 8 to drive the ablation needle 2 to accurately push into the target area to complete accurate needle placement. Finally, control the irreversible electroporation host 17 to start, generate a high-energy electric field, and act on the prostate lesion through the ablation needle 2 to achieve local ablation.

[0033] Embodiment 2, as a further preferred solution of Embodiment 1, the probe thruster 7 includes a first housing 72. A first ranging chamber 73 is fixedly installed inside the first housing 72. The first ranging chamber 73 is a strip-shaped groove structure with an open front end. A first slider 75 is arranged inside the first ranging chamber 73. The first slider 75 and the first ranging chamber 73 are set as a sliding pair along the length direction of the first ranging chamber 73. A first rack 74 is fixedly installed on the front side of the first slider 75. The length direction of the first rack 74 is the same as the length direction of the first ranging chamber 73. The probe card slot 71 is fixedly arranged at the front end of the first rack 74. A first motor 77 is arranged inside the first housing 72. A first gear 76 is fixedly installed on the output shaft of the first motor 77. The first gear 76 meshes with the first rack 74. The control port of the first motor 77 is connected to the signal output end of the controller 4 through a control line. A first displacement sensor 78 is arranged beside the sliding path of the first slider 75 inside the first housing 72. The displacement of the first slider 75 is detected by the first displacement sensor 78. The signal output end of the first displacement sensor 78 is connected to the signal input end of the controller 4. In this embodiment, the first displacement sensor 78 adopts a linear displacement sensor in the prior art, such as the LZ810A micro-miniature precision displacement sensor, which includes a telescopic rod and a signal output wire. The telescopic rod of the linear displacement sensor is fixedly connected to the first slider 75, and the signal output wire of the linear displacement sensor is connected to the signal input end of the controller 4.

[0034] Therefore, when controlling the operation of the probe thruster 7 through the controller 4, first, the controller 4 issues a control signal to control the operation of the first motor 77 through the control line, and drives the first gear 76 to rotate through the output shaft of the first motor 77. Also, since the first gear 76 meshes with the first rack 74, the first rack 74 can be driven to move back and forth along the first ranging chamber 73 through the rotation of the first gear 76, thereby pushing the probe card slot 71 and the probe 1 to move. By detecting the displacement of the first slider 75, the first displacement sensor 78 can monitor the moving distance and position of the probe 1 in real time to ensure accurate positioning. The controller 4 can accurately obtain the accurate position information of the probe 1 in the target area, providing reliable data support for the subsequent ablation operation and making the subsequent needle placement more accurate.

[0035] Embodiment 3, as a further preferred solution of Embodiment 1, the ablation needle pusher 8 includes a second housing 82. A second ranging bin 83 is fixedly installed in the second housing 82. The second ranging bin 83 is a strip-shaped groove structure with an open front end. A second slider 85 is arranged in the second ranging bin 83. The second slider 85 and the second ranging bin 83 are arranged as a sliding pair along the length direction of the second ranging bin 83. A second rack 84 is fixedly installed on the front side of the second slider 85. The length direction of the second rack 84 is the same as the length direction of the second ranging bin 83. The ablation needle card slot 81 is fixedly arranged at the front end of the second rack 84. A second motor 87 is arranged in the second housing 82. A second gear 86 is fixedly installed on the output shaft of the second motor 87. The second gear 86 meshes with the second rack 84. The control port of the second motor 87 is connected to the signal output end of the controller 4 through a control line. A second displacement sensor 88 is arranged beside the sliding path of the second slider 85 in the second housing 82. The displacement of the second slider 85 is detected by the second displacement sensor 88. The signal output end of the second displacement sensor 88 is connected to the signal input end of the controller 4. In this embodiment, the second displacement sensor 88 adopts a linear displacement sensor in the prior art, such as the LZ810A micro-miniature precision displacement sensor, which includes a telescopic rod and a signal output wire. The telescopic rod of the linear displacement sensor is fixedly connected to the second slider 85, and the signal output wire of the linear displacement sensor is connected to the signal input end of the controller 4.

[0036] Therefore, when controlling the operation of the ablation needle pusher 8 through the controller 4, first, the controller 4 receives the probe position signal information sent by the first displacement sensor 78 and calculates the target position of the ablation needle accordingly. Subsequently, the controller 4 issues a control signal to drive the second motor 87 to operate through the control line, so as to drive the second gear 86 to rotate through the output shaft of the second motor 87. And because the second gear 86 meshes with the second rack 84, the second rack 84 can be driven to move back and forth along the second ranging bin 83 by the rotation of the second gear 86, thereby pushing the ablation needle card slot 81 and the ablation needle 2 to move. The second displacement sensor 88 can monitor the moving distance and position of the ablation needle 2 in real time by detecting the displacement of the second slider 85, ensuring accurate positioning.

[0037] Embodiment 4, as a further preferred solution of Embodiment 1, the detection window 9 is a planar transparent quartz window, and three groups of fixed-focus probes 10 are provided. The three groups of fixed-focus probes 10 are equally spaced between the detection windows 9. In this embodiment, the probe 1 is designed to be made of steel, with a needle length of 25 cm and a needle diameter of 3.5 mm. The detection window 9 is located at a position 1 cm from the tip of the probe 1. By designing the detection window 9 as a planar transparent quartz window, the tissue can be flattened through the detection window 9, so that the internal structure of the tissue can be clearly observed, improving the detection accuracy. In addition, by providing three groups of fixed-focus probes 10, different depths of the tissue are scanned by the three groups of fixed-focus probes 10 respectively, so that the depth of the detection area can reach 3.6 cm, effectively improving the detection efficiency and being able to obtain tissue information more completely, ensuring the accuracy and comprehensiveness of the diagnosis.

[0038] Embodiment 5, as a further preferred solution of Embodiment 1, the controller 4 includes a tissue Raman data analysis unit 40 and a control unit 41. The tissue Raman data analysis unit 40 is used to collect and analyze the tissue Raman spectral data output by the Raman spectrometer 15. The control unit 41 generates an ablation strategy according to the analysis result and sends a control instruction to the ablation needle pusher 8 through the signal output terminal. In this embodiment, the tissue Raman data analysis unit 40 is built-in with a prostate cancer tissue Raman spectral diagnosis model and calculation software. The prostate cancer tissue Raman spectral diagnosis model trains the Raman spectral data of prostate cancer and benign prostatic hyperplasia tissues through a deep learning convolutional network (CNN), performs binary classification learning and modeling, and forms a prostate cancer CNN diagnosis model that can automatically operate, with high efficiency and high accuracy. The calculation software can comprehensively analyze the tissue information of the target detection area (this is the prior art, so it will not be elaborated). Through this model and software, the collected Raman spectral data is quickly analyzed to accurately identify the characteristics of prostate cancer cells, providing a reliable diagnosis basis for doctors. At the same time, the control unit 41 accurately regulates the probe position and scanning depth according to the analysis result, further improving the accuracy and efficiency of the detection.

[0039] In the present invention, the rear ends of the probe 1 and the ablation needle 2 are respectively connected to the probe pusher 7 and the ablation needle pusher 8, so that the probe 1 and the ablation needle 2 can be independently and accurately controlled by the controller 4. By combining the precise positioning of the probe with the in-depth analysis of spectral data, an efficient and accurate diagnosis of prostate cancer is achieved, significantly improving the accuracy of clinical detection and the scientific nature of treatment plan formulation, providing a more reliable medical guarantee for patients.

[0040] Specifically, the ablation needle 2, focusing probe 10, LC adapter 12, laser light source 14, Raman spectrometer 15, quick-connect socket 16, irreversible electroporation host 17, tissue Raman data analysis unit 40, control unit 41, first displacement sensor 78, and second displacement sensor 88 in the present invention all adopt well-known technical solutions in the prior art and will not be elaborated here. For example, the control unit 41 can be composed of a single-chip microcomputer and a computer, both of which adopt prior art solutions, and the tissue Raman data analysis unit 40 is software running on the computer and is also prior art.

[0041] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or equivalently replace some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A local ablation decision-making navigation system for prostate cancer, characterized in that: It includes a probe (1), an ablation needle (2), a positioning bracket (3) and a controller (4). An ablation needle channel (5) and a probe channel (6) are provided in the positioning bracket (3). A probe pusher (7) and an ablation needle pusher (8) are installed on the positioning bracket (3). The rear end of the probe (1) passes through the probe channel (6) and is connected to a probe card slot (71) inside the probe pusher (7). The ablation needle (2) passes through the ablation needle channel (5) and is connected to an ablation needle card slot (81) inside the ablation needle pusher (8). The probe (1) and the ablation needle (2) are arranged in parallel with each other. A detection window (9) is provided at the front part of the probe (1). A focusing probe (10) is arranged inside the probe (1). The detection end of the focusing probe (10) corresponds to the detection window (9). One end of the focusing probe (10) is connected to one end of a first transmission optical cable (11). An LC adapter (12) is fixedly installed in the probe card slot (71). The other end of the first transmission optical cable (11) is connected to one end of the LC adapter (12) through an optical fiber connector. The other end of the LC adapter (12) is connected to one end of a second transmission optical cable (13) through an optical fiber connector. The other end of the second transmission optical cable (13) is respectively connected to the optical fiber interface of a laser light source (14) and the optical fiber interface of a Raman spectrometer (15). The signal output end of the Raman spectrometer (15) is connected to the signal input end of the controller (4). A quick-connect socket (16) is fixedly installed in the ablation needle card slot (81). The rear end of the ablation needle (2) is connected to the quick-connect socket (16). The quick-connect socket (16) is connected to an irreversible electroporation mainframe (17) through a cable. The signal input end of the irreversible electroporation mainframe (17) is connected to the signal output end of the controller (4). The control ports of the probe pusher (7) and the ablation needle pusher (8) are both connected to the signal output end of the controller (4) through control lines.

2. The local ablation decision-making navigation system for prostate cancer according to claim 1, characterized in that: The probe thruster (7) includes a first housing (72). A first ranging chamber (73) is fixedly installed inside the first housing (72). The first ranging chamber (73) is a strip-shaped groove structure with an open front end. A first slider (75) is arranged inside the first ranging chamber (73). The first slider (75) and the first ranging chamber (73) are arranged as a sliding pair along the length direction of the first ranging chamber (73). A first rack (74) is fixedly installed on the front side of the first slider (75). The length direction of the first rack (74) is the same as the length direction of the first ranging chamber (73). The probe card slot (71) is fixedly arranged at the front end of the first rack (74). A first motor (77) is arranged inside the first housing (72). A first gear (76) is fixedly installed on the output shaft of the first motor (77). The first gear (76) meshes with the first rack (74). The control port of the first motor (77) is connected to the signal output end of the controller (4) through a control line. A first displacement sensor (78) is arranged beside the sliding path of the first slider (75) inside the first housing (72). The first displacement sensor (78) is used to detect the displacement of the first slider (75). The signal output end of the first displacement sensor (78) is connected to the signal input end of the controller (4).

3. The local ablation decision-making navigation system for prostate cancer according to claim 1, wherein: The ablation needle thruster (8) includes a second housing (82). A second ranging chamber (83) is fixedly installed inside the second housing (82). The second ranging chamber (83) is a strip-shaped groove structure with an open front end. A second slider (85) is arranged inside the second ranging chamber (83). The second slider (85) and the second ranging chamber (83) are arranged as a sliding pair along the length direction of the second ranging chamber (83). A second rack (84) is fixedly installed on the front side of the second slider (85). The length direction of the second rack (84) is the same as the length direction of the second ranging chamber (83). The ablation needle card slot (81) is fixedly arranged at the front end of the second rack (84). A second motor (87) is arranged inside the second housing (82). A second gear (86) is fixedly installed on the output shaft of the second motor (87). The second gear (86) meshes with the second rack (84). The control port of the second motor (87) is connected to the signal output end of the controller (4) through a control line. A second displacement sensor (88) is arranged beside the sliding path of the second slider (85) inside the second housing (82). The second displacement sensor (88) is used to detect the displacement of the second slider (85). The signal output end of the second displacement sensor (88) is connected to the signal input end of the controller (4).

4. The local ablation decision-making navigation system for prostate cancer according to claim 1, wherein: The detection window (9) is a planar transparent quartz window. There are three groups of fixed-focus probes (10), and the three groups of fixed-focus probes (10) are equidistantly distributed between the detection windows (9).

5. The local ablation decision-making navigation system for prostate cancer according to claim 1, wherein: The first transmission optical cable (11) includes one excitation optical fiber and three collection optical fibers. One excitation optical fiber and three collection optical fibers are correspondingly arranged in the second transmission optical cable (13). The one excitation optical fiber and the three collection optical fibers of the first transmission optical cable (11) and the one excitation optical fiber and the three collection optical fibers of the second transmission optical cable (13) are connected in one-to-one correspondence through optical fiber connectors. The one excitation optical fiber of the second transmission optical cable (13) is connected to the optical fiber interface of the laser light source (14), and the three collection optical fibers of the second transmission optical cable (13) are respectively connected to three optical fiber interfaces of the Raman spectrometer (15).

6. The local ablation decision-making navigation system for prostate cancer according to claim 1, wherein: The controller (4) includes a tissue Raman data analysis unit (40) and a control unit (41). The tissue Raman data analysis unit (40) is used to collect and analyze the tissue Raman spectral data output by the Raman spectrometer (15). The control unit (41) generates an ablation strategy according to the analysis result and sends a control instruction to the ablation needle pusher (8) through the signal output terminal.

7. The local ablation decision-making navigation system for prostate cancer according to claim 1, characterized in that: Two probes (1) are provided, and one ablation needle (2) is provided. The positioning bracket (3) is correspondingly provided with two ablation needle channels (5) and one probe channel (6). The ablation needle channels (5) and the probe channel (6) are arranged side by side, and the probe channel (6) is located between the two ablation needle channels (5).

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