A method, apparatus and device for determining a radio frequency ablation path

Abstract

The application provides a method, device and equipment for determining a radio frequency ablation path, the method comprising: acquiring image examination data; preprocessing the image examination data to obtain target feature data; obtaining a target three-dimensional model according to the target feature data; obtaining an ablation path according to the target three-dimensional model and a preset ablation shape set of a multi-pole radio frequency catheter; and determining an ablation parameter for radio frequency ablation of a target tissue according to the ablation path. The application can improve the precision and safety of radio frequency ablation and make the ablation more thorough.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of radio frequency ablation application, in particular to a radio frequency ablation path determination method, device and equipment. BACKGROUND

[0002] Radio frequency ablation technology mainly relies on a radio frequency therapeutic instrument with ablation and cutting functions, and the treatment mechanism is mainly thermal effect. When radio frequency current flows through human body tissue, the water molecules with polarity in the tissue move at high speed due to the rapid change of electromagnetic field, heat is generated (i.e. endogenous heat effect), which causes the water inside and outside the cells to evaporate, dry, shrink and fall off to cause aseptic necrosis, thereby achieving the treatment purpose.

[0003] Radio frequency ablation technology has good curative effect in the operation of treating benign thyroid nodules. Radio frequency ablation technology can effectively reduce the volume of thyroid nodules, relieve nodule-related symptoms and avoid surgical trauma. Compared with traditional surgery, radio frequency ablation has its own unique advantages in treating benign thyroid nodules, and its safety is acceptable.

[0004] However, for the treatment of malignant tumors, radio frequency treatment needs to establish a 5-10mm safety margin around the lesion to effectively treat the tumor and minimize the probability of recurrence. Due to the complexity of the shape of the tumor and the distribution of nerves or blood vessels around the tumor, it is impossible to simply rely on increasing power or increasing treatment time to achieve this purpose. This requires precise control of the ablation area to avoid damaging the nerves, blood vessels or tissues around the tumor.

[0005] In addition, existing treatment methods are limited to tumors with a diameter of less than 3cm. For larger tumors, the larger the tumor diameter, the less heat conducted around the tumor, and the lower the complete necrosis rate of the tumor tissue; when heating the tumor tissue, tissue gasification, dehydration and carbonization can gradually increase the impedance, reduce the temperature generated by the current, and affect the effect. SUMMARY

[0006] The technical problem to be solved by the present application is to provide a radio frequency ablation path determination method, device and equipment. According to the size of the actual ablation area, a single or multiple ablation channels or paths can be planned, combined with the selection of different electrodes on the catheter, so as to realize the ablation of the set area, achieve different expected ablation lengths and ablation shapes, and ensure complete ablation of the lesion area.

[0007] To solve the above technical problems, the technical scheme of the present application is as follows:

[0008] A radio frequency ablation path determination method, comprising:

[0009] acquiring image examination data;

[0010] Preprocessing the image examination data to obtain target feature data;

[0011] Obtaining a target three-dimensional model according to the target feature data;

[0012] Obtaining an ablation path according to the target three-dimensional model and a preset ablation shape set of a multi-pole radiofrequency catheter;

[0013] Determining an ablation parameter for radiofrequency ablation of target tissue according to the ablation path.

[0014] Optionally, preprocessing the image examination data to obtain target feature data comprises:

[0015] Performing data cleaning on the image examination data to obtain intermediate data;

[0016] Performing format conversion on the intermediate data to obtain target feature data.

[0017] Optionally, obtaining a target three-dimensional model according to the target feature data comprises:

[0018] Performing feature extraction on the target feature data to obtain a segmentation image;

[0019] Performing surface reconstruction according to the segmentation image to obtain a surface mesh;

[0020] Performing smoothing processing according to the surface mesh to obtain a target three-dimensional model.

[0021] Optionally, the preset ablation shape set is determined by a number of working electrodes, an electrode spacing, and electrode polarity.

[0022] Optionally, obtaining an ablation path according to the target three-dimensional model and a preset ablation shape of a multi-pole radiofrequency catheter comprises:

[0023] Setting a safety edge of a first preset distance according to the target three-dimensional model to obtain a first ablation area;

[0024] Setting a protection edge of a second preset distance according to the first ablation area to obtain a second ablation area;

[0025] Obtaining an ablation path according to the first ablation area and the second ablation area.

[0026] Optionally, obtaining an ablation path according to the first ablation area and the second ablation area comprises:

[0027] Obtaining a convolution of a shape in the preset ablation shape set and a coverage area of the first ablation area according to a coverage matrix of the first ablation area;

[0028] In the second ablation region, according to the numerical value of the convolution, an ablation path is obtained.

[0029] Optionally, according to the ablation path, an ablation parameter for radiofrequency ablation of the target tissue is determined, including:

[0030] According to the ablation path, the number of ablation times, the ablation time, the ablation temperature, the number of electrodes and the electrode spacing for ablation of the target tissue are determined.

[0031] Embodiments of the present application also provide a radiofrequency ablation path determination device, including:

[0032] The acquisition module is configured to acquire image inspection data.

[0033] The processing module is configured to pre-process the image inspection data to obtain target feature data, obtain a target three-dimensional model according to the target feature data, obtain an ablation path according to the target three-dimensional model and a preset ablation shape set of a multi-pole radiofrequency catheter, and determine an ablation parameter for radiofrequency ablation of the target tissue according to the ablation path.

[0034] Embodiments of the present application also provide a computing device, including one or more processors, and a storage device configured to store one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the method of the present application.

[0035] Embodiments of the present application also provide a computing device, including one or more processors, and a storage device configured to store one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the method of the present application.

[0036] The above technical solutions of the present application have at least the following technical effects:

[0037] The above radiofrequency ablation path determination method of the present application acquires image inspection data, pre-processes the image inspection data to obtain target feature data, obtains a target three-dimensional model according to the target feature data, obtains an ablation path according to the target three-dimensional model and a preset ablation shape set of a multi-pole radiofrequency catheter, and determines an ablation parameter for radiofrequency ablation of the target tissue according to the ablation path. According to the size of the actual ablation region, a single or multiple ablation channels or paths are planned, and different electrodes on the catheter are selected, so that ablation of the set region is realized, different expected ablation lengths and ablation shapes are achieved, and complete ablation of the lesion region is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1Figure 1 is a flow diagram of the method for determining a radio frequency ablation path according to the present application;

[0039] Figure 2-1 Figure 2 is a first ablation shape diagram of the method for determining a radio frequency ablation path according to the present application;

[0040] Figure 2-2 Figure 3 is a second ablation shape diagram of the method for determining a radio frequency ablation path according to the present application;

[0041] Figure 2-3 Figure 4 is a third ablation shape diagram of the method for determining a radio frequency ablation path according to the present application;

[0042] Figure 2-4 Figure 5 is a fourth ablation shape diagram of the method for determining a radio frequency ablation path according to the present application;

[0043] Figure 2-5 Figure 6 is a fifth ablation shape diagram of the method for determining a radio frequency ablation path according to the present application;

[0044] Figure 2-6 Figure 7 is a sixth ablation shape diagram of the method for determining a radio frequency ablation path according to the present application;

[0045] Figure 3 Figure 8 is an ablation area diagram of the method for determining a radio frequency ablation path according to the present application;

[0046] Figure 4-1 Figure 9 is a first ablation path planning diagram of the method for determining a radio frequency ablation path according to the present application;

[0047] Figure 4-2 Figure 10 is a first ablation path completion diagram of the method for determining a radio frequency ablation path according to the present application;

[0048] Figure 5-1 Figure 11 is a second ablation path planning diagram of the method for determining a radio frequency ablation path according to the present application;

[0049] Figure 5-2 Figure 12 is a second ablation path completion diagram of the method for determining a radio frequency ablation path according to the present application;

[0050] Figure 6-1 Figure 13 is a third ablation path planning diagram of the method for determining a radio frequency ablation path according to the present application;

[0051] Figure 6-2 Figure 14 is a third ablation path completion diagram of the method for determining a radio frequency ablation path according to the present application;

[0052] Figure 7 Figure 15 is a multi-pole radio frequency catheter diagram used in the method for determining a radio frequency ablation path according to the present application;

[0053] Figure 8is a schematic diagram of a radio frequency ablation device of the present application. DETAILED DESCRIPTION

[0054] Exemplary embodiments of the present application will be described in greater detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it is understood that the present application can be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.

[0055] As shown in Figure 1 , an embodiment of the present application proposes a method for determining a radio frequency ablation path, comprising:

[0056] Step S1, obtaining image examination data;

[0057] Step S2, preprocessing the image examination data to obtain target feature data;

[0058] Step S3, obtaining a target three-dimensional model according to the target feature data;

[0059] Step S4, obtaining an ablation path according to the target three-dimensional model and a preset ablation shape set of a multi-pole radio frequency catheter;

[0060] Step S5, determining ablation parameters for radio frequency ablation of target tissue according to the ablation path.

[0061] In this embodiment, as shown in Figure 1 , in the method for determining a radio frequency ablation path, first, image examination data of a patient is obtained, which can include magnetic resonance imaging (MRI), computed tomography (CT), etc. These image examination data can show the range of the patient's lesion area. Then, the obtained image examination data is preprocessed, such as data cleaning and format conversion, to obtain target feature data for easy processing. Next, according to the target feature data, feature data reverse modeling is performed to obtain a target three-dimensional model. Then, according to the target three-dimensional model and the preset ablation shape set of the multi-pole radio frequency catheter, the shape of the preset ablation shape set of the multi-pole radio frequency catheter is used to reasonably cover the area of the target three-dimensional model to obtain an ablation path. Finally, according to the ablation path, the working parameters of the multi-pole radio frequency catheter are set to determine the ablation parameters for radio frequency ablation of the target tissue.

[0062] The scheme of the present application plans a single or multiple ablation paths according to the size of the actual ablation area, and combines the selection of different electrodes on the multi-pole radio frequency catheter to achieve ablation of a set area, which can achieve different expected ablation lengths and ablation shapes, and ensure complete ablation of the lesion area.

[0063] In an optional embodiment of the present application, in step S2, the image examination data is preprocessed to obtain target feature data, including:

[0064] In step S21, the image examination data is data cleaned to obtain intermediate data.

[0065] In step S22, the intermediate data is format converted to obtain target feature data.

[0066] In the embodiment, the image examination data is preprocessed, first, according to the type of the image examination data, a reasonable threshold range of each parameter data is set, data beyond the reasonable threshold range is discarded as an abnormal value, preventing the influence of data fluctuation on subsequent data processing, then repeated values and missing values in the image examination data are found and invalid data such as repeated values and missing values are removed to obtain intermediate data; then, the intermediate data is format converted, the data is format converted according to a preset rule to obtain target feature data.

[0067] In an optional embodiment of the present application, in step S3, according to the target feature data, a target three-dimensional model is obtained, including:

[0068] In step S31, the target feature data is feature extracted to obtain a segmentation image.

[0069] In step S32, according to the segmentation image, surface reconstruction is performed to obtain a surface mesh.

[0070] In step S33, according to the surface mesh, smoothing processing is performed to obtain a target three-dimensional model.

[0071] In the embodiment, according to the target feature data, feature data reverse modeling is performed, first, an improved active contour model is used to perform image segmentation on organ tissues in the target feature data, the active contour model minimizes energy from coarse to fine through a scale space, expands the capture area, reduces the calculation complexity, realizes fast and accurate segmentation of the target contour; at the same time, visual problems such as edges, lines and target contours are processed according to a unified mechanism, and more high-level information can be combined to guide contour evolution, which is suitable for user interaction. The specific formula of image segmentation is:

[0072] E total =∫ Ω [αE int (v)+βE ext (v)]dv

[0073] Wherein, E totalrepresents the total energy functional, and minimizing this functional achieves precise convergence of the contour from the initial position to the target edge; v represents the parameterized active contour curve; E int (v) represents the internal energy term, E int (v)=|v′| 2 +|v″| 2 v′ represents the first derivative of the parameterized curve, representing the rate of change of the curve's tangential direction; v″ represents the second derivative of the parameterized curve, representing the curvature. By penalizing the stretching and bending of the curve, the contour is forced to maintain smoothness and a regular shape; E ext (v) represents the external energy term. α represents the gradient field of the preprocessed image. The negative sign indicates that the energy decreases as the gradient intensity increases, driving the contour to move towards high gradient regions (such as organ boundaries). α represents the weighting parameter of the internal energy, and β represents the weighting parameter of the external energy. The weighting parameters are used to control the balance between smoothing constraints and edge driving during contour deformation. Ω represents the image domain. The integration operation is performed along the contour curve to ensure that the energy functional is optimized over the entire target region.

[0074] Then, based on the segmented image, surface reconstruction is performed. The moving cube algorithm distributes the extraction of isosurfaces across each voxel. For each processed voxel, triangular facets are used to approximate the isosurfaces within it. Each voxel is a small cube, and the process of constructing triangular facets scans each voxel, calculating the precise position of the isosurfaces (e.g., organ surfaces) within the voxel. The formula for calculating the intravoxel intersection point is:

[0075]

[0076] Where γ represents the interpolation ratio along the voxel edge at the intersection point; T represents the isosurface extraction threshold; d0 and d1 represent the gray values ​​of adjacent voxels (cube vertices).

[0077] Finally, based on the surface mesh, smoothing is performed. Laplace smoothing ensures that each event has a non-zero probability, avoiding the zero-probability problem and thus improving the model's robustness. Furthermore, in some cases, the training data may be very sparse, causing some events to almost never occur. Using Laplace smoothing can alleviate the data sparsity problem and improve the model's generalization ability. The smoothing formula is as follows:

[0078]

[0079] Where Ui is the coordinate of vertex i; Let U be the smoothed coordinates of vertex i; N(i) be the set of adjacent vertices of vertex i; U j Let be the coordinates of vertex j; λ be the smoothing coefficient.

[0080] In an optional embodiment of the present invention, the preset ablation shape set is determined by the number of working electrodes, the electrode spacing, and the electrode polarity.

[0081] In this embodiment, the shape in the preset ablation shape set is determined by the number of working electrodes, the electrode spacing, and the electrode polarity. Different selections of the number of electrodes and different electrode spacings will produce different ablation shapes. Several cases are described below; the ablation shapes represent only a portion of the cases, and not all shapes can be listed.

[0082] like Figure 2-1 As shown: When single-needle ablation is selected, the ablation shape is similar to a sphere; such as... Figure 2-2 As shown, when dual-needle ablation is selected, the ablation shape resembles a gourd; as... Figure 2-3 , Figure 2-4 As shown, when a three-electrode system is selected, if the polarities of the two end electrodes are opposite, the ablation shape resembles a three-section gourd. The polarity of the middle electrode determines the orientation of the shape. Figure 2-5 As shown, when a three-electrode configuration is selected, and the polarities of the two electrodes are the same, the ablation shape resembles an olive shape; as... Figure 2-6 As shown, when a three-electrode configuration is selected, the ablation shape resembles a pear when the distance between the two electrodes on the left is shortened and their polarities are the same.

[0083] In an optional embodiment of the present invention, step S4, obtaining the ablation path based on the target three-dimensional model and the preset ablation shape of the multipolar radiofrequency catheter, includes:

[0084] Step S41: Based on the target three-dimensional model, set a safety edge at a first preset distance to obtain the first ablation area;

[0085] Step S42: Based on the first ablation area, set a protection edge at a second preset distance to obtain the second ablation area;

[0086] Step S43: Obtain the ablation path based on the first ablation region and the second ablation region.

[0087] In this embodiment, as Figure 3 As shown, this represents the ablation area required for the patient. The innermost line 31 represents the lesion outline, the middle line 32 represents the minimum ablation area (the first ablation area), and the outermost line 33 represents the maximum ablation area (the second ablation area). Considering that radiofrequency ablation requires establishing a 5-10mm safety margin around the lesion to achieve complete ablation of tumor cells, the minimum ablation area must cover the entire tumor. The maximum ablation area takes into account the presence of surrounding tissues or nerves that need protection; if the ablation area exceeds the maximum ablation area, there is a risk of damaging surrounding tissues or nerves. Therefore, when planning the ablation path, it is necessary to ensure that the ablation path covers the entire first ablation area but does not exceed the second ablation area.

[0088] In an optional embodiment of the present application, in step S43, the ablation path is obtained according to the first ablation region and the second ablation region, comprising:

[0089] In step S431, a convolution of a shape in the preset ablation shape set and the covered region of the first ablation region is obtained according to the covered matrix of the first ablation region.

[0090] In step S432, the ablation path is obtained according to the numerical value of the convolution in the second ablation region.

[0091] In the embodiment, the region covered by the first ablation region is represented in the form of a matrix, different values are respectively assigned to the covered region and the uncovered region, and then the convolution of each shape in the preset ablation shape set and the covered region of the first ablation region is calculated. The convolution calculation formula is:

[0092] C k = G current * S k

[0093] Wherein, C k is the convolution result, G current is the current covered matrix, and S k is the kth shape in the preset ablation shape set.

[0094] According to the numerical value of the convolution, the maximum value of the convolution result and its coordinates are found in the second ablation region, and the formula is:

[0095] (x k , y k ) = argmax C k (x, y)

[0096] Wherein, x k is the horizontal coordinate of the convolution maximum value, y k is the vertical coordinate of the convolution maximum value, the argmax function is used to find the independent variable that makes the given function take the maximum value, C k is the convolution result, x is the horizontal coordinate of the point, and y is the vertical coordinate of the point.

[0097] When ∑ (x，y) G current (x, y) = 0, it indicates that the target region has been completely covered, and the ablation path planning is completed.

[0098] Specifically, for the lesion region 31, the ablation path planning is performed in the order from top to bottom, so as to ensure that the ablation region completely covers the first ablation region and does not exceed the second ablation region.

[0099] AsFigure 4-1 As shown in FIG. 5, path 1 covers the uppermost part of the lesion area 31, a gourd-like shape and a circle are planned on path 1, and ablation operation is performed according to the planned path and shape, and after path 1 completes ablation, as shown in FIG. 6. Figure 4-2

[0100] As shown in FIG. 7, path 2 covers the middle part of the lesion area 31, a gourd-like shape and a large circle are planned on path 2, and ablation operation is performed according to the planned path and shape, and after path 2 completes ablation, as shown in FIG. 8. Figure 5-1 Figure 5-2

[0101] As shown in FIG. 9, path 3 covers the lowermost part of the lesion area 31, a gourd-like shape is planned on path 3, and ablation operation is performed according to the planned path and shape, and after path 3 completes ablation, as shown in FIG. 10. Figure 6-1 Figure 6-2

[0102] In an optional embodiment of the present application, in step S5, the ablation parameters for radiofrequency ablation of the target tissue are determined according to the ablation path, including:

[0103] The ablation times, ablation time, ablation temperature, electrode number and electrode spacing for ablation of the target tissue are determined according to the ablation path.

[0104] Further, the radiofrequency catheter is controlled to perform radiofrequency ablation of the target tissue according to the ablation parameters.

[0105] In this embodiment, according to the ablation path, the preset ablation temperature, electrode selection, electrode spacing when each shape in the preset ablation shape set is formed, and the ablation times and ablation time of the multi-pole radiofrequency catheter are set, and the multi-pole radiofrequency catheter is started to perform radiofrequency ablation of the target tissue; as shown in FIG. 11, the multi-pole radiofrequency catheter includes uniformly distributed first electrode 71, second electrode 72, third electrode 73, fourth electrode 74, and fifth electrode 75, and an electrode inter-insulation catheter 76 is arranged between each electrode, a handle 77 is arranged at the rear end of the insulation catheter, a puncture needle inlet 78 is arranged at one end of the handle 77, and the handle 77 is connected to the cable connector 710 through the cable 79. Figure 7

[0106] The implementation process of the present application is described below with an application example:

[0107] (1) The patient is subjected to imaging examination before the operation, and imaging data of the patient's lesion is obtained.

[0108] (2) The three-dimensional model of the tumor is formed by reverse modeling according to the imaging data.

[0109] (3) The obtained three-dimensional model is imported into the host of the radiofrequency treatment system.​​​​​​

[0110] (4) The host plans the ablation path according to the tumor size and shape, or the ablation path is set by the operator according to the patient's condition and the positions of other tissues, organs, nerves, blood vessels, etc.

[0111] (5) The host calculates the specific parameters such as the number of ablations, ablation time, ablation temperature, electrode selection, and electrode spacing on each path according to the final confirmed path.

[0112] (6) The operator inserts the catheter according to the planned path and starts the host to perform ablation. If it is a multi-point ablation, the catheter is withdrawn to the designated position for the second point ablation, and so on.

[0113] (7) After completing the ablation of the first path, ablation of other paths is performed.

[0114] (8) The entire ablation process is completed.

[0115] The method of the present application uses a radio frequency treatment system including a radio frequency host and a multi-pole radio frequency catheter. The radio frequency host can receive the input of external data, which contains the minimum ablation area and the maximum ablation area that need to be treated. The radio frequency host can autonomously complete the planning of the surgical path in combination with the input data; the radio frequency host can perform manual surgical path planning. The operator manually plans the ablation path in combination with the input data and the patient's own condition. The radio frequency host outputs ablation parameters and ablation points according to the planned path. The multi-pole radio frequency catheter includes multiple electrodes, which can be connected according to the needs. When one electrode is connected, the treatment process needs to be performed in cooperation with a negative plate. Each electrode in the multi-pole radio frequency catheter is connected to the core pin of the cable connector. The radio frequency host activates the required electrodes according to the output ablation parameters. The superposition of different ablation points can completely cover the required ablation range.

[0116] As shown in Figure 8 , the embodiment of the present application also provides a radio frequency ablation device 80, which comprises:

[0117] An acquisition module 81 is configured to acquire image inspection data.

[0118] A processing module 82 is configured to pre-process the image inspection data to obtain target feature data, obtain a target three-dimensional model according to the target feature data, obtain an ablation path according to the target three-dimensional model and a preset ablation shape set of a multi-pole radio frequency catheter, and determine ablation parameters for radio frequency ablation of a target tissue according to the ablation path.

[0119] Optionally, the pre-processing of the image inspection data to obtain the target feature data comprises:

[0120] data cleaning is performed on the image inspection data to obtain intermediate data.

[0121] Converting the intermediate data to obtain target feature data.

[0122] Optionally, according to the target feature data, a target three-dimensional model is obtained, including:

[0123] Feature extraction is performed on the target feature data to obtain a segmentation image.

[0124] Surface reconstruction is performed according to the segmentation image to obtain a surface mesh.

[0125] Smoothing processing is performed according to the surface mesh to obtain a target three-dimensional model.

[0126] Optionally, the preset ablation shape set is determined by the number of working electrodes, electrode spacing, and electrode polarity.

[0127] Optionally, according to the target three-dimensional model and a preset ablation shape of a multi-pole radiofrequency catheter, an ablation path is obtained, including:

[0128] According to the target three-dimensional model, a safety edge of a first preset distance is set to obtain a first ablation area.

[0129] According to the first ablation area, a protection edge of a second preset distance is set to obtain a second ablation area.

[0130] According to the first ablation area and the second ablation area, an ablation path is obtained.

[0131] Optionally, according to the first ablation area and the second ablation area, an ablation path is obtained, including:

[0132] According to a coverage matrix of the first ablation area, a convolution of a shape in the preset ablation shape set and a coverage area of the first ablation area is obtained.

[0133] According to a numerical value of the convolution, an ablation path is obtained in the second ablation area.

[0134] Optionally, according to the ablation path, an ablation parameter for radiofrequency ablation of target tissue is determined, including:

[0135] According to the ablation path, an ablation number, an ablation time, an ablation temperature, a number of electrodes, and an electrode spacing for ablation of target tissue are determined.

[0136] All implementation manners in the method embodiments are applicable to the device embodiments and can achieve the same technical effects.

[0137] The embodiment of the present application further provides a computing device, comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, so that the one or more processors implement the method for determining a radiofrequency ablation path. All implementation manners in the above method embodiment are suitable for the embodiment of the computing device, and the same technical effects can also be achieved.

[0138] The embodiment of the present application further provides a computing device, comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, so that the one or more processors implement the method for determining a radiofrequency ablation path. All implementation manners in the above method embodiment are suitable for the embodiment of the computing device, and the same technical effects can also be achieved.

[0139] Those skilled in the art can clearly understand that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software mode depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0140] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be described here.

[0141] In the embodiments provided by the present application, it should be understood that the disclosed device and method can be implemented by other ways. For example, the device embodiments described above are only schematic, and the division of units is only a logical function division, and there can be another division way in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between the units can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0142] The units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0143] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0144] If the functions are realized in the form of software functional units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of software products. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk, and various program code storage media.

[0145] In addition, it should be noted that in the device and method of the present application, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be considered as equivalent solutions of the present application. Moreover, the steps of performing the above series of processes can naturally be executed in time sequence according to the order of description, but do not necessarily have to be executed in time sequence. Some steps can be executed in parallel or independently of each other. It can be understood by those skilled in the art that all or any steps or components of the method and device of the present application can be realized in hardware, firmware, software or their combination in any computing device (including processors, storage media, etc.) or network of computing devices, which can be realized by those skilled in the art using their basic programming skills after reading the description of the present application.

[0146] Therefore, the object of the present application can also be realized by running a program or a set of programs on any computing device. The computing device can be a commonly known general-purpose device. Therefore, the object of the present application can also be realized only by providing a program product containing program code for realizing the method or device. That is, such a program product also constitutes the present application, and the storage medium storing such a program product also constitutes the present application. Obviously, the storage medium can be any commonly known storage medium or any storage medium developed in the future. It should be noted that in the device and method of the present application, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be considered as equivalent solutions of the present application. Moreover, the steps of performing the above series of processes can naturally be executed in time sequence according to the order of description, but do not necessarily have to be executed in time sequence. Some steps can be executed in parallel or independently of each other.

[0147] The above is the preferred embodiment of the present application, it should be noted that for those skilled in the art, without departing from the principles described in the present application, can also be made several improvements and refinements, these improvements and refinements should also be considered the scope of protection of the present application.

Claims

1. A method of determining a radio frequency ablation path, characterized by, The method comprises: acquiring image examination data; preprocessing the image examination data to obtain target feature data; obtaining a target three-dimensional model according to the target feature data; obtaining an ablation path according to the target three-dimensional model and a preset ablation shape set of a multi-pole radiofrequency catheter, the preset ablation shape set being determined by a working electrode quantity, an electrode spacing and an electrode polarity; determining an ablation parameter for radiofrequency ablation of target tissue according to the ablation path; wherein the ablation path is obtained according to the target three-dimensional model and the preset ablation shape of the multi-pole radiofrequency catheter, comprising: setting a safety margin of a first preset distance according to the target three-dimensional model to obtain a first ablation area; setting a protection margin of a second preset distance according to the first ablation area to obtain a second ablation area; obtaining the ablation path according to the first ablation area and the second ablation area.

2. The method of determining a radio frequency ablation path according to claim 1, wherein, The preprocessing of the image examination data to obtain the target feature data comprises: performing data cleaning on the image examination data to obtain intermediate data; performing format conversion on the intermediate data to obtain the target feature data.

3. The method of determining a radio frequency ablation path of claim 1, wherein, The target three-dimensional model is obtained according to the target feature data, comprising: performing feature extraction on the target feature data to obtain a segmentation image; performing surface reconstruction according to the segmentation image to obtain a surface mesh; performing smoothing processing according to the surface mesh to obtain the target three-dimensional model.

4. The method of determining a radio frequency ablation path of claim 1, wherein, The ablation path is obtained according to the first ablation area and the second ablation area, comprising: obtaining a convolution of a shape in the preset ablation shape set and a coverage area of the first ablation area according to a coverage matrix of the first ablation area; obtaining the ablation path according to a numerical value of the convolution within the second ablation area.

5. The method of determining a radio frequency ablation path of claim 1, wherein, The ablation parameter for radiofrequency ablation of target tissue is determined according to the ablation path, comprising: determining an ablation time, an ablation temperature, an electrode quantity and an electrode spacing for ablation of target tissue according to the ablation path.

6. A device for determining a radio frequency ablation path, characterized by The method comprises: an acquisition module configured to acquire image examination data; a processing module configured to preprocess the image examination data to obtain target feature data; a target three-dimensional model is obtained according to the target feature data; an ablation path is obtained according to the target three-dimensional model and a preset ablation shape set of a multi-pole radiofrequency catheter, the preset ablation shape set being determined by a working electrode quantity, an electrode spacing and an electrode polarity; an ablation parameter for radiofrequency ablation of target tissue is determined according to the ablation path; wherein the ablation path is obtained according to the target three-dimensional model and the preset ablation shape of the multi-pole radiofrequency catheter, comprising: a safety margin of a first preset distance is set according to the target three-dimensional model to obtain a first ablation area; a protection margin of a second preset distance is set according to the first ablation area to obtain a second ablation area; the ablation path is obtained according to the first ablation area and the second ablation area.

7. A computing device, comprising: The method comprises: one or more processors; A storage device for storing one or more programs, which when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a program, which when executed by a processor, implements the method of any one of claims 1-5.

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