Computer readable storage medium, controller of steam ablation equipment and system

Abstract

The invention provides a computer readable storage medium and a controller and system of steam ablation equipment, a program is stored on the medium, and when the program is executed, the following steps are executed: controlling an adjustable power supply to output first electric energy with relatively low voltage to a radio frequency circuit based on a preset PID parameter, so that the radio frequency circuit applies radio frequency energy to an electric heating tube, acquiring first actual output power of the adjustable power supply; whether the state of the electric heating tube is normal or not is judged based on the first actual output power and a first preset output power range, if not, the adjustable power supply is controlled to stop outputting first electric energy, first alarm information is generated and displayed, and if yes, PID parameter adjustment is conducted on the adjustable power supply, and target PID parameters are obtained; and controlling the adjustable power supply to output second electric energy with relatively high voltage to the radio frequency circuit based on the target PID parameter, and controlling the radio frequency circuit to apply radio frequency energy to the electric heating tube. The medium is applied to a controller of steam ablation equipment, and the safety and the treatment effect of the steam ablation operation are improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of medical devices, and particularly relates to a computer-readable storage medium, a controller of a steam ablation device and a system. BACKGROUND

[0002] The working principle of steam ablation is that high-temperature sterile water vapor is injected into the tissue of a lesion area by a steam ablation needle, so that the lesion tissue is inactivated, apoptotic and necrotic under the action of steam energy. Steam ablation is performed by a steam ablation device.

[0003] The steam ablation device includes a steam generating device, a steam ablation needle, an excitation component and the like. The excitation component is connected with the steam ablation needle and is used to excite the steam ablation needle to puncture the tissue. The steam generating device is used to generate high-temperature sterile water vapor. The steam ablation needle is connected with the steam generating device and injects the high-temperature sterile water vapor into the tissue of the lesion area. In the actual treatment process, a controller is used to control the steam ablation device. The control mode of the controller on the steam ablation device has an important influence on the treatment safety and treatment effect. SUMMARY

[0004] The present application aims to provide a computer-readable storage medium, a controller of a steam ablation device and a system, and aims to improve the safety and treatment effectiveness of steam ablation.

[0005] To achieve the above-mentioned purpose, the present application provides a computer-readable storage medium, which stores a program. When the program is executed, a control method of a steam ablation device is executed. The steam ablation device includes an adjustable power supply, a radio frequency circuit and an electric heating tube which are electrically connected. The control method includes the following steps.

[0006] Based on preset PID parameters, the adjustable power supply outputs first electric energy to the radio frequency circuit within a preset time length, so that the radio frequency circuit applies radio frequency energy to the electric heating tube.

[0007] During the process that the adjustable power supply outputs the first electric energy, the first actual output power of the adjustable power supply is acquired.

[0008] Based on the first actual output power and a first preset output power range, it is judged whether the state of the electric heating tube is normal. If not, the adjustable power supply is controlled to stop outputting the first electric energy, and a display device is controlled to display first alarm information. If yes, PID parameter adjustment is performed on the adjustable power supply to obtain target PID parameters; and

[0009] outputting, by the adjustable power supply, second electric energy to the radio frequency circuit based on the target PID parameter, so that the radio frequency circuit applies radio frequency energy to the electric heating tube, and then the sterile water entering the electric heating tube forms sterile water vapor;

[0010] The voltage of the first electric energy is lower than the voltage of the second electric energy.

[0011] Optionally, the control method further comprises:

[0012] acquiring a second actual output power of the adjustable power supply in a process in which the adjustable power supply outputs the second electric energy;

[0013] judging whether the state of the electric heating tube is normal based on the second actual output power and a second preset output power range, if not, generating and controlling the display device to display the first alarm information, and if yes, acquiring an actual radio frequency power of the radio frequency circuit in the process in which the adjustable power supply outputs the second electric energy, and performing PID parameter adjustment on the adjustable power supply when a deviation between the actual radio frequency power and a preset radio frequency power is outside a preset error range, so as to update the target PID parameter.

[0014] Optionally, the preset time length is less than 100 ms, and the voltage of the first electric energy is not greater than 50% of the voltage of the second electric energy.

[0015] Optionally, the control method further comprises:

[0016] acquiring a temperature in the electric heating tube in the process in which the adjustable power supply outputs the second electric energy; and

[0017] adjusting a PID control mode of the adjustable power supply based on the temperature in the electric heating tube.

[0018] Optionally, the step of adjusting the PID control mode of the adjustable power supply based on the temperature in the electric heating tube comprises:

[0019] when the temperature in the electric heating tube is lower than a first preset value, adjusting the PID control mode of the adjustable power supply to a position mode;

[0020] when the temperature in the electric heating tube is between the first preset value and a second preset value, adjusting the PID control mode of the adjustable power supply to an incremental mode;

[0021] The second preset value is greater than the first preset value.

[0022] Optionally, the steam ablation device further comprises a driving unit and a syringe, the syringe comprising a needle cylinder and a piston, one end of the needle cylinder being in communication with the electric heating tube, the piston being partially arranged in the needle cylinder, the piston being further connected with an output end of the driving unit and being capable of moving along an axial direction of the needle cylinder under the driving force output by the driving unit to inject sterile water in the needle cylinder into the electric heating tube.

[0023] The control method further comprises:

[0024] acquiring the temperature in the electric heating tube during the process that the adjustable power supply outputs the second electric energy, and acquiring the pressure between the output end of the driving unit and the piston;

[0025] judging whether the steam ablation device is abnormal based on at least the pressure between the output end of the driving unit and the piston, if yes, controlling the adjustable power supply to stop generating the second electric energy, controlling the driving unit to stop outputting the driving force, and generating and controlling the display device to display second alarm information, if not, adjusting the driving force output by the driving unit and / or the radio frequency energy applied to the electric heating tube by the radio frequency circuit based on the temperature in the electric heating tube and the pressure between the output end of the driving unit and the piston.

[0026] Optionally, the steam ablation device further comprises a driving unit, a syringe and a vibrating device, the syringe comprising a needle cylinder and a piston, the needle cylinder being arranged on the vibrating device and having opposite first and second ends, the first end being in communication with the electric heating tube, the piston being partially arranged in the needle cylinder, the piston being further connected with an output end of the driving unit and being capable of moving along a direction from the second end to the first end under the driving of the driving unit to inject sterile water in the needle cylinder into the electric heating tube; the first end being lower than the second end.

[0027] The control method further comprises:

[0028] controlling the vibrating device to vibrate.

[0029] Optionally, a bubble detection element is arranged at the first end of the needle cylinder and is configured to detect whether a bubble enters the electric heating tube.

[0030] The control method further comprises:

[0031] receiving the detection result of the bubble detection element, and generating and controlling the display device to display third alarm information when the bubble detection element detects that a bubble enters the electric heating tube.

[0032] To achieve the above object, the application further provides a controller of a steam ablation device, comprising a computer readable storage medium as any one of the preceding and a processing unit in communication connection with the computer readable storage medium and configured to execute the program stored on the computer readable storage medium.

[0033] To achieve the above object, the application further provides a steam ablation system, comprising a steam ablation device and a controller of the steam ablation device as the preceding, the controller being in communication connection with the steam ablation device.

[0034] Compared with the prior art, the computer readable storage medium, the controller of the steam ablation device and the system of the application have the following advantages:

[0035] The aforementioned computer readable storage medium has a program stored thereon, when the program is executed, a control method of a steam ablation device is executed, the steam ablation device comprising an adjustable power supply, a radio frequency circuit and an electric heating tube in electrical connection; the control method comprising: controlling the adjustable power supply to output first electric energy to the radio frequency circuit within a preset time length based on preset PID parameters, so that the radio frequency circuit applies radio frequency energy to the electric heating tube; acquiring a first actual output power of the adjustable power supply in the process that the adjustable power supply outputs the first electric energy; judging whether the state of the electric heating tube is normal based on the first actual output power and a first preset output power range, if not, controlling the adjustable power supply to stop outputting the first electric energy and generating and controlling a display device to display first alarm information, if yes, PID parameter adjustment is performed on the adjustable power supply to obtain target PID parameters; and controlling the adjustable power supply to output second electric energy to the radio frequency circuit based on the target PID parameters, so that the radio frequency circuit applies radio frequency energy to the electric heating tube, and then the sterile water entering the electric heating tube forms sterile water vapor; the voltage of the first electric energy is lower than the voltage of the second electric energy. The adjustable power supply is operated with the first electric energy of low voltage in advance to identify whether the state of the electric heating tube is normal, and PID parameter adjustment is performed on the adjustable power supply on the premise that the state of the electric heating tube is normal, which reduces the possibility of causing harm to patients and medical staff due to the operation of the electric heating tube in an abnormal state at high voltage, and improves the stability of the radio frequency energy output by the radio frequency circuit when ablation operation is performed at high voltage, which is beneficial to improve the treatment effect. BRIEF DESCRIPTION OF DRAWINGS

[0036] The accompanying drawings are used to better understand the application, and do not constitute undue limitations on the application. Among them:

[0037] Figure 1 is the overall framework schematic diagram of the steam ablation system provided by the application according to an embodiment;

[0038] Figure 2 is a partial structural schematic diagram of a steam ablation device according to an embodiment of the present application;

[0039] Figure 3 is a flow chart of a steam ablation system according to embodiment one of the present application when performing a steam ablation procedure;

[0040] Figure 4 is a partial flow chart of a steam ablation system according to embodiment two of the present application when performing a steam ablation procedure;

[0041] Figure 5 is a partial flow chart of a steam ablation system according to embodiment three of the present application when performing a steam ablation procedure;

[0042] Figure 6 is a partial flow chart of a steam ablation system according to embodiment four of the present application when performing a steam ablation procedure.

[0043] [The following reference signs are used] : 10-steam ablation device, 100-ablation needle, 200-activation device, 300-steam generation device, 310-adjustable power supply, 320-radio frequency circuit, 330-electric heating tube, 341-first information acquisition module, 342-second information acquisition module, 350-temperature detection element, 400-sterile water supply device, 410-driving part, 411-motor, 430-position detection element, 420-syringe, 421-needle cylinder, 4211-first end, 4212-second end, 422-piston, 440-pressure detection element, 450-vibration device, 460-bubble detection element, 500-flushing device, 510-peristaltic pump driving module, 520-peristaltic pump, 530-flushing pipeline, 20-controller, 21-first PID module, 22-second PID module, 30-display device. DETAILED DESCRIPTION

[0044] The present application is described in greater detail by the following specific examples. Other advantages and effects of the present application, which could be readily understood by those skilled in the art, can be easily derived from the content disclosed in the present specification. The present application can also be implemented or applied by other different specific embodiments, and the details in the present specification can be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the drawings provided in the present embodiments only schematically illustrate the basic concepts of the present application, and thus the drawings only show the components related to the present application rather than the number, shape and size of the components when actually implemented. The actual implementation of each component can be randomly changed in terms of the type, number and ratio, and the layout type of the components can also be more complicated.

[0045] In addition, each of the embodiments described below has one or more technical features, but this does not mean that all technical features in any embodiment must be implemented at the same time, or that only one or more technical features in different embodiments can be implemented separately. In other words, under the premise of implementation, those skilled in the art can selectively implement some or all of the technical features in any embodiment, or selectively implement a combination of some or all of the technical features in multiple embodiments, according to the disclosure of the present application, and according to the design specifications or implementation needs, thereby increasing the flexibility of the implementation of the present application.

[0046] As used in this specification, the singular forms "a," "an" and "the" include plural referents unless the content clearly dictates otherwise. As used in this specification, the term "or" is generally employed in its sense of "and / or" unless the content clearly dictates otherwise, and the terms "mounting," "connected," and "connection" should be interpreted broadly, for example, can be fixed connection, can be detachable connection, or integral connection. It can be mechanical connection, or electrical connection. It can be directly connected, or indirectly connected through an intermediate medium, it can be internal communication of two elements or interaction relationship between two elements. The terms "first", "second" and the like are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations, nor indicate or imply relative importance or implicitly indicate the number of technical features indicated.

[0047] The "proximal end" and "distal end" described herein are described based on the relative position and relative orientation of each element and component of the medical device, which is non-limiting, but the "proximal end" is usually closer to the operator, and the "distal end" is closer to the lesion.

[0048] In order to make the purpose, advantages and characteristics of the present application clearer, the present application will be further described in detail below in combination with the drawings. It should be noted that the drawings are very simplified and use non-precise proportions, and are only used to facilitate and clearly assist the purpose of explaining the embodiments of the present application. The same or similar reference numerals in the drawings represent the same or similar parts.

[0049] One objective of this invention is to provide a steam ablation system, comprising a steam ablation device 10, a controller 20 for the steam ablation device, and a display device 30, wherein the controller 20 is communicatively connected to both the steam ablation device 10 and the display device 30. In some embodiments, the steam ablation system may not include the display device 30, but instead uses an external display device to display relevant information.

[0050] The steam ablation system is described below through specific embodiments.

[0051] <Example 1>

[0052] like Figure 1 As shown, in the steam ablation system provided in this embodiment, the steam ablation device 10 includes an ablation needle 100, an activation device 200, a steam generating device 300, a sterile water supply device 400, and a flushing device 500. The ablation needle 100 is connected to the activation device 200 and can be extended under the activation of the activation device 200 to pierce the tissue in the lesion area, or withdrawn under the activation of the activation device 200 to withdraw from the tissue in the lesion area. The ablation needle 100 is also connected to the steam generating device 300 via a connecting tube (not shown in the figure), and, provided it has pierced the tissue in the lesion area, introduces sterile water vapor generated by the steam generating device 200 into the tissue in the lesion area, causing the tissue in the lesion area to become inactive and undergo apoptosis. The sterile water supply device 400 is connected to the steam generating device 300 and is used to supply sterile water to the steam generating device 400. The flushing device 500 is used to flush the lesion area or other target components, such as an endoscope as described later.

[0053] The excitation device 200 includes, but is not limited to, an electromagnetic excitation device. The structure of the electromagnetic excitation device can be referred to in the prior art, and will not be described in detail here.

[0054] The steam generating device 300 includes an electrically connected adjustable power supply 310, a radio frequency circuit 320, and a heating element 330. The adjustable power supply 310 provides electrical energy to the radio frequency circuit 320, which in turn applies radio frequency energy to the heating element 330, causing the heating element 330 to generate heat. When the radio frequency energy applied to the heating element 330 by the radio frequency circuit 320 is sufficiently large, it can heat the sterile water entering the heating element 330 to form high-temperature sterile steam. The heating element 330 is a metal tube, and the heating element 330 is as follows... Figure 2The spiral structure shown has an opposing inlet and outlet end, the inlet end being connected to the sterile water supply device 400 to receive sterile water supplied from the sterile water supply device 400, and the outlet end being connected to the ablation needle 100 to allow high-temperature sterile water vapor to enter the ablation needle 100.

[0055] The sterile water supply device 400 includes a drive unit 410 and a syringe 420. For example... Figure 2 As shown, the syringe 420 includes a syringe 421 and a piston 422. The syringe 421 has a first end 4211 and a second end 4212 opposite to each other. The first end 4211 of the syringe 421 is connected to the inlet end of the heating tube 330. The piston 422 is partially disposed inside the syringe 421. The piston 422 is also connected to the drive unit 410, for example, abutting against it, and is able to move along the second end 4212 towards the first end 4211 under the drive force output by the drive unit 410, thereby pushing the sterile water in the syringe 421 to the heating tube 330.

[0056] The drive unit 410 includes a stator and a mover. The stator is immovably disposed in a suitable position, and the mover is kinetically connected to the stator and is capable of linear motion relative to the stator to move closer to or away from the stator. The mover at least partially constitutes the output end of the drive unit 410 and is used to abut against the piston 422. In an optional embodiment, the drive unit 410 includes a through-type screw motor as known in the art. Those skilled in the art know that a through-type screw motor includes a first motor body, a first nut, and a first screw, wherein the first nut is integrated with the rotor of the first motor body, and the first screw passes through the first nut and is threadedly engaged with the first nut. In this case, the first motor body and the first nut together constitute at least a part of the stator, the first screw constitutes at least a part of the mover, and one end of the first screw constitutes the output end of the drive unit 410. In another optional embodiment, the drive unit 410 includes a second motor body, a second lead screw, a second nut, and a push plate, wherein the second lead screw is connected to the output shaft of the second motor body, the second nut is sleeved on the second lead screw, and the push plate is connected to the second nut. In this case, the second motor body and the second lead screw together constitute at least a part of the stator, the second nut and the push plate together constitute at least a part of the mover, and the push plate constitutes the output end of the drive unit 410.

[0057] The flushing device 500 can comprise a peristaltic pump driving module 510, a peristaltic pump 520 and a flushing pipeline 530 connected with each other, and the specific configuration and connection relationship of the peristaltic pump driving module 510, the peristaltic pump 520 and the flushing pipeline 530 can refer to the prior art, which will not be described here.

[0058] The controller is in communication connection with the excitation device 200, the adjustable power supply 310, the radio frequency circuit 320, the driving part 410 and the peristaltic pump driving module 510, and controls the excitation device 200, the adjustable power supply 310, the radio frequency circuit 320, the driving part 410 and the peristaltic pump driving module 510 to work.

[0059] Optionally, the controller 20 comprises a first PID module 21 and a second PID module 22. The first PID module 21 is in communication connection with the adjustable power supply 310 and performs PID control on the output of the adjustable power supply 310. The second PID module 22 is in communication connection with the driving part 410 and performs PID control on the output of the driving part 410.

[0060] The display device 30 is used to display the prompt information generated by the controller 20.

[0061] The process of performing the vapor ablation technique by using the vapor ablation system provided in the embodiment is roughly as shown in the following steps. Figure 3 The process comprises the following steps.

[0062] In step S1, a medical staff turns on the controller 20.

[0063] In step S2, the medical staff connects the vapor ablation device 10 with the controller 20, and performs pipeline connection and perfusion on the vapor ablation device 10 according to the prior art.

[0064] In step S3, the first PID module 21 controls the adjustable power supply 310 to output first electric energy to the radio frequency circuit 320 based on first preset PID parameters, so that the radio frequency circuit 320 applies radio frequency energy to the electric heating tube 330.

[0065] In step S4, the first PID module 21 acquires the first actual output power of the adjustable power supply 310.

[0066] In step S5, the first PID module 21 judges whether the state of the electric heating tube 330 is normal based on the first actual output power and a first preset output power range. If not, step S6 is performed. If yes, step S7 is performed.

[0067] Step S6, the first PID module 21 controls the adjustable power supply 310 to stop outputting the first electric energy, and the first PID module 21 generates first alarm information and controls the display device 30 to display the first alarm information, so as to prompt the medical staff that the state of the electric heating tube 330 is abnormal.

[0068] Step S7, the first PID module 21 performs PID parameter adjustment to obtain the target PID parameter of the adjustable power supply 310.

[0069] Step S8, the controller 20 controls the peristaltic pump driving module 510 to run, so that the peristaltic pump 520 runs, and then the flushing liquid is introduced into the distal end of the endoscope through the flushing pipeline 530 to flush the distal end of the endoscope, so that the field of view of the endoscope is clear, and the medical staff refers to the prior art to send the distal end of the steam ablation device 10 into the body along the instrument channel of the endoscope and reach the lesion area.

[0070] Step S9, the controller 20 controls the firing module 200 to fire the ablation needle 100 to make the ablation needle 100 move in the direction from the proximal end to the distal end and pierce into the tissue of the lesion area.

[0071] Step S10, the second PID module 22 controls the driving part 410 to output driving force based on the second preset PID parameter, and drives the piston 422 to move in the direction from the second end to the first end of the needle cylinder 421, so as to deliver the sterile water stored in the needle cylinder 421 to the electric heating tube 330, and the first PID module 21 controls the adjustable power supply 310 to output the second electric energy to the radio frequency circuit 320 according to the target PID parameter, so that the radio frequency circuit 320 applies radio frequency energy to the electric heating tube 330, and then the sterile water entering the electric heating tube 330 is heated to form sterile water vapor to perform ablation operation.

[0072] Step S11, the controller 20 controls the firing module 200 to fire the ablation needle 100 to retract, so that the ablation needle 100 moves in the direction from the distal end to the proximal end and withdraws from the tissue of the lesion area.

[0073] And the controller 20 controls the flushing device 500 to flush the lesion tissue at any appropriate time during the execution of the steps S8, S9, S10 and S11.

[0074] The execution time of the step S3 is not more than a preset time length, and the voltage of the second electric energy is higher than that of the first electric energy.

[0075] The steps S4 to S7 are performed during the execution of the step S3, and the steps S4 to S7 are performed cyclically. It can be understood that after the step S6 is executed, the step S7 and the steps thereafter do not need to be executed.

[0076] Generally, when the result of the step S5 is yes, the first PID module 21 can complete the PID parameter adjustment and obtain the target PID parameter within the preset time length. However, in some cases, even if the result of the step S5 is yes, the first PID module 21 cannot complete the PID parameter adjustment and obtain the target PID parameter within the preset time length. At this time, the first PID module 21 can also determine that the state of the electric heating tube 330 is abnormal, and generate the first alarm information, and control the display device 30 to display the first alarm information.

[0077] That is, the steam ablation system provided by the embodiment of the present application identifies the state of the electric heating tube 330 by preoperatively operating the steam generating device 300 at a low voltage before the ablation needle 100 is inserted into the tissue of the lesion area, and adjusts the control parameter (i.e., the PID parameter of the first PID module 21) of the adjustable power supply 10 when the state of the electric heating tube 330 is normal. The reason for preidentifying the state of the electric heating tube 330 is that using the steam ablation device 10 to perform steam ablation when the state of the electric heating tube 330 is abnormal may lead to surgical failure on the one hand, and may cause short circuit and other problems due to the abnormal state of the electric heating tube 330 when the steam generating device 300 operates at a high voltage during ablation, thereby causing unnecessary harm to the patient and / or medical staff. The reason for preadjusting the control parameter of the adjustable power supply 310 at a low voltage is that the electric heating tube 330 of the steam ablation device 10 of different models and different new and old states has different performances, and preadjusting the control parameter of the steam generating device 300 before generating sterile water vapor is beneficial to improve the consistency of the radiofrequency energy output by the radiofrequency circuit 320 during the whole ablation operation, and reduce the problem that the effective treatment time is shorter than the set time and the treatment effect is lower than expected due to the fluctuation of the radiofrequency energy output by the radiofrequency circuit 320 caused by parameter adjustment during the generation of sterile water vapor.

[0078] In the embodiment, the execution time of the step S3 is preferably less than 100 ms (i.e., the preset time length is less than 100 ms), so as to avoid damage to other components caused by short circuit when the state of the electric heating tube 330 is abnormal. The voltage of the first electric energy can be less than or equal to 50% of the voltage of the second electric energy.

[0079] The first actual output power is calculated according to the output voltage and the output current of the adjustable power supply 310 in the step S4. Based on this, the steam generating device 300 further comprises a first information acquisition module 341, which is in communication connection with the adjustable power supply 310 and the first PID module 21, and is configured to acquire the output voltage and the output current of the adjustable power supply 310, and transmit the output voltage and the output current of the adjustable power supply 310 to the first PID module 21, so that the first PID module 21 can calculate the first actual output power according to the output voltage and the output current of the adjustable power supply 310.

[0080] The way of calculating the output power of the adjustable power supply 310 based on the output voltage and the output current of the adjustable power supply 310 is well known to those skilled in the art, and will not be described here.

[0081] In the step S5, if the first actual output power is not within the first preset output power range, it is determined that the state of the electric heating tube 330 is abnormal, and if the first actual output power is within the first preset output power range, it is determined that the state of the electric heating tube 330 is normal.

[0082] The actual radio frequency power of the radio frequency circuit 320 when the adjustable power supply 310 outputs the first electric energy is referred to as the first actual radio frequency power, and the preset radio frequency power of the radio frequency circuit 320 when the adjustable power supply 310 outputs the first electric energy is referred to as the first preset radio frequency power. The step S7 comprises that the first PID module 21 acquires the first actual radio frequency power and the actual inductive reactance of the electric heating tube 330, and performs PID parameter adjustment based on at least the first actual radio frequency power, the first preset radio frequency power, the actual inductive reactance and a preset inductive reactance. The specific adjustment process can refer to the prior art, and will not be described here.

[0083] The first PID module 21 calculates the first actual radio frequency power and the actual inductive reactance according to the voltage and the current on the radio frequency circuit 320. Therefore, the steam generating device 300 further comprises a second information acquisition module 342, which is in communication connection with the radio frequency circuit 320 and the first PID module 21, and is configured to acquire the voltage and the current on the radio frequency circuit 320, and transmit the voltage and the current on the radio frequency circuit 320 to the first PID module 21, so that the first PID module 21 can calculate the first actual radio frequency power and the actual inductive reactance according to the voltage and the current on the radio frequency circuit 320.

[0084] The way to calculate the actual radio frequency power of the radio frequency circuit 320 and the actual inductive reactance of the electrothermal tube 330 based on the voltage and current of the radio frequency circuit 320 is well known to those skilled in the art, and thus is not described here.

[0085] In addition, it can be understood that, in the step S7, when the deviation of the first actual radio frequency power of the radio frequency circuit 320 from the first preset radio frequency power is within the preset first error range, the PID parameters of the first PID module 21 are the target PID parameters.

[0086] In addition, during the execution of the step S10, the controller 20 also performs safety control on the driving part 410 to constrain the maximum moving distance of the mover when moving away from the stator. Specifically, a boundary position away from the stator is set, such as Figure 1 As shown in the figure, the sterile water supply device 400 also includes a position detection element 430, which is arranged at a suitable position to detect whether the output end of the driving part 410 reaches the boundary position when the mover moves away from the stator. The controller 20 is in communication connection with the position detection element 430, and is configured to control the driving force output by the driving part 410 to decrease to zero when the output end of the driving part 410 reaches the boundary position, so as to avoid the mover from being stuck due to excessive movement. The position detection element 430 can include a photoelectric sensor or an infrared sensor, and the embodiments of the present application do not make any limitation in this regard. In addition, the specific arrangement of the position detection element is well known to those skilled in the art, and thus is not described here.

[0087] In addition, the controller 20 executes the step S3, the step S9, the step S10, and the step S11 based on the instructions issued by medical staff. The medical staff can issue the instructions to the controller 20 through mechanical buttons or any other suitable form.

[0088] <Embodiment Two>

[0089] The hardware structure of the steam ablation system provided in the present embodiment is the same as that of the steam ablation system in Embodiment One, and the difference lies in that, when performing steam ablation with the steam ablation system, the first PID module 21 also performs the steps S12, S13, S14, S15, and S16 as shown in the figure during the execution of the step S10. Figure 4

[0090] ​In this article, the actual output power of the adjustable power supply 310 when outputting the second electric energy is referred to as a second actual output power, and a preset output power range of the adjustable power supply 310 when outputting the second electric energy is referred to as a second preset output power range; the actual radio frequency power of the radio frequency circuit 320 when the adjustable power supply 310 outputs the second electric energy is referred to as a second actual radio frequency power, and a preset radio frequency power of the radio frequency circuit 320 when the adjustable power supply 310 outputs the second electric energy is referred to as a second preset radio frequency power.

[0091] The step S12 comprises: the first PID module 21 acquires the second actual output power.

[0092] The step S13 comprises: the first PID module 21 judges whether the state of the electric heating tube 330 is normal based on the second actual output power and the second preset output power range, if not, executes the step S14, if yes, executes the step S15.

[0093] The step S14 comprises: the first PID module 21 generates the first alarm information, and controls the display device 30 to display the first alarm information to prompt medical personnel.

[0094] The step S15 comprises: acquiring the second actual radio frequency power, and judging whether the deviation of the second actual radio frequency power and the second preset radio frequency power is within a preset error range, if not, executes the step S16.

[0095] The step S16 comprises: the first PID module 21 performs PID parameter adjustment to update the target PID parameter.

[0096] It should be understood that after the step S16 is executed, the first PID module 21 performs PID control on the output of the adjustable power supply 310 based on the updated target parameter.

[0097] The second actual output power is calculated according to the actual output voltage and the actual output current of the adjustable power supply 310 in the step S12.

[0098] In the step S13, if the second actual output power is within the second preset output power range, it is determined that the state of the electric heating tube 330 is normal, and if the second actual output power is not within the second preset output power range, it is determined that the state of the electric heating tube 330 is not normal.

[0099] The second actual radio frequency power is calculated according to the voltage and the current on the radio frequency circuit 320 in the step S15.

[0100] The step S16 comprises that the first PID module 21 performs PID parameter adjustment based on at least the second actual radio frequency power, the second preset radio frequency power, and actual and preset inductance of the electric heating tube 330. For details of the adjustment process, refer to the prior art. When the deviation between the second actual radio frequency power and the second preset radio frequency power is within a preset second error range, the step S16 ends.

[0101] The steps S12 to S16 are performed because, even if the electric heating tube 330 is in a normal state before performing the ablation operation, and the first PID module 21 has completed the PID parameter adjustment, the electric heating tube 330 can change from the normal state to an abnormal state or change in performance during the execution of the step S10, so that the original target PID parameter becomes inappropriate. By performing the steps S12 to S16 during the step S10, real-time monitoring of the state of the electric heating tube 330 during the ablation operation can be realized, the target PID parameter can be updated in real time, and the energy output by the radio frequency circuit 320 can be ensured to be stable.

[0102] In addition, the step S14 can further comprise that the first PID module 21 controls the adjustable power supply 310 to stop outputting the second electric energy.

[0103] <Embodiment Three>

[0104] Please refer back to Figure 1 One of the differences between the present embodiment and the embodiments one or two is that the steam generating device 300 further comprises a temperature detection element 350, which is arranged on the electric heating tube 330 and used to detect the temperature in the electric heating tube 330. The controller 20 is in communication connection with the temperature detection element 350.

[0105] The second difference between the present embodiment and the embodiment one is that, when performing the steam ablation operation by using the steam ablation system, the controller 20 further performs steps S17 and S18 as shown in the following table during the execution of the step S10. Figure 5

[0106] The step S17 comprises that the controller 20 receives the temperature detected by the temperature detection element 350 to obtain the temperature in the electric heating tube 330.

[0107] The step S18 comprises that the controller 20 adjusts the control mode of the first PID module 21 on the adjustable power supply 320 based on the temperature in the electric heating tube 330.

[0108] ​At the beginning of the ablation operation, the temperature in the electric heating tube 330 is gradually increased from an initial low temperature to a preset temperature range. During the ablation process, it is desired that the temperature in the electric heating tube 330 is maintained within the preset temperature range. The upper limit of the preset temperature range is a second preset value, and the lower limit of the preset temperature range is a first preset value. It can be understood that the second preset value is greater than the first preset value.

[0109] In this embodiment, the process of increasing the temperature in the electric heating tube 330 from an initial low temperature to the preset temperature range is referred to as a temperature ramping-up period, and the process of maintaining the temperature in the electric heating tube 330 within the preset temperature range is referred to as a temperature stable period. In some cases, although the radio frequency energy applied by the radio frequency circuit 320 to the electric heating tube 330 remains unchanged, when the sterile water supply device 400 supplies too much sterile water to the electric heating tube 330, the temperature in the electric heating tube 330 decreases from the preset temperature range to below the first preset value, which is referred to as a temperature drop period.

[0110] The step S18 specifically includes adjusting the control mode of the first PID module 21 to a position control mode when the electric heating tube 330 is in the ramping-up period and the drop period, so as to quickly increase the temperature of the electric heating tube 330, and adjusting the control mode of the first PID module 21 to an incremental control mode when the electric heating tube 330 is in the stable period, so as to improve the accuracy of temperature control.

[0111] <Embodiment Four>

[0112] Please refer back to Figure 1 The hardware configuration of the steam ablation system provided in this embodiment is different from that of the steam ablation system of Embodiment Three in that the sterile water supply device 400 further includes a pressure detection element 440, which is arranged between the output end of the driving part 410 and the piston 422. In practice, the pressure detection element 440 is arranged on the output end of the driving part 410.

[0113] When performing steam ablation with the steam ablation system provided in this embodiment, the controller 20 further performs the steps S19, S20, S21, and S22 as shown in Figure 6 during the execution of the step S10.

[0114] The step S19 includes that the controller 20 acquires the temperature in the electric heating tube 330 and acquires the pressure between the output end of the driving part 410 and the piston 422.

[0115] The step S20 comprises: the controller 20 judging whether the vapor ablation device is abnormal based on at least the pressure between the driving part 410 and the piston 422, if yes, executing step S21, if not, executing step S22.

[0116] The step S21 comprises: the controller 20 generating second alarm information, and controlling the display device 30 to display the second alarm information to prompt medical staff, while the controller 20 controls the adjustable power supply 310 to stop generating the second electric energy, and controls the driving part 410 to stop outputting driving force.

[0117] The step S22 comprises: the controller 20 adjusting the driving force of the driving part 410 applied to the piston 422 and / or the radio frequency energy of the radio frequency circuit 320 applied to the electric heating tube 330 based on the temperature in the electric heating tube 330 and the pressure between the output end of the driving part 410 and the piston 422.

[0118] It can be understood that the controller 20 adjusts the radio frequency energy of the radio frequency circuit 320 applied to the electric heating tube 330, which is actually achieved by adjusting the second electric energy output by the adjustable power supply 310 through the first PID module 21.

[0119] In the vapor ablation device, the needle cylinder 421, the electric heating tube 330, the ablation needle 100, and the connecting pipe between the electric heating tube 330 and the ablation needle 100 constitute a whole one-way opening pressure container. The pressure between the output end of the driving part 410 and the piston 422 is equal to the pressure in the pressure container.

[0120] The pressure between the output end of the driving part 410 and the piston 422, the temperature in the electric heating tube 330, and the overall state of the vapor ablation device 10 are related. In practice, the vapor ablation device 10 can have the following multiple states:

[0121] The first state: the pressure container is neither blocked nor leaked, and the amount of sterile water supplied by the sterile water supply device 400 to the electric heating tube 330 is appropriate, and the radio frequency energy applied by the radio frequency circuit 320 to the electric heating tube 330 is appropriate. At this time, the temperature in the electric heating tube 330 is within the preset temperature range, and the pressure between the output end of the driving part 410 and the piston 422 is within the preset pressure range. The lower limit of the preset pressure range is a third preset value, and the upper limit is a fourth preset value, which is greater than the third preset value.

[0122] The second state: the pressure container leaks. At this time, the pressure between the output end of the driving part 410 and the piston 422 is less than the fifth preset value.

[0123] The third state: the pressure container is blocked. At this time, the pressure between the output end of the driving part 410 and the piston 422 is higher than the fourth preset value, and the temperature in the electric heating tube 330 is higher than the second preset value.

[0124] The fourth state: the sterile water supply device 400 supplies sterile water to the electric heating tube 330, but the radio frequency circuit 320 has not applied radio frequency energy to the electric heating tube 330. At this time, the temperature in the electric heating tube 330 is lower than the first preset value, and the pressure between the push plate and the piston 422 is less than the third preset value.

[0125] The fifth state: there are sterile water and sterile water vapor in the electric heating tube 330 at the same time. At this time, the temperature in the electric heating tube 330 is lower than the first preset value, and the pressure between the output end of the driving part 410 and the piston 422 is within the preset pressure range.

[0126] The sixth state: the electric heating tube 330 is in the temperature drop period. At this time, the temperature in the electric heating tube 330 is lower than the first preset value, and the pressure between the output end of the driving part 410 and the piston 422 is greater than the fourth preset value.

[0127] The seventh state: the sterile water supplied by the sterile water supply device 400 to the electric heating tube 330 is insufficient, resulting in insufficient steam generated in the electric heating tube 330. At this time, the temperature in the electric heating tube 330 is within the preset temperature range, and the pressure between the output end of the driving part 410 and the piston 422 is less than the third preset value.

[0128] The eighth state: the sterile water supplied by the sterile water supply device 400 to the electric heating tube 330 is excessive, resulting in excessive steam generated in the electric heating tube 330. At this time, the temperature in the electric heating tube 330 is within the preset temperature range, and the pressure between the output end of the driving part 410 and the piston 422 is greater than the fourth preset value.

[0129] The ninth state: the sterile water supplied by the sterile water supply device 400 to the electric heating tube 330 is insufficient, resulting in that the electric heating tube 330 is close to dry burning. At this time, the temperature in the electric heating tube 330 is higher than the second preset value, and the pressure between the output end of the driving part 410 and the piston 422 is less than the third preset value.

[0130] The tenth state: the radio frequency circuit 320 applies too much radio frequency energy to the electric heating tube 330. At this time, the temperature in the electric heating tube 330 is greater than the second preset value, and the pressure between the output end of the driving part 410 and the piston 422 is within the preset pressure range.

[0131] In this embodiment, the abnormality of the steam ablation device 10 refers to a leakage or blockage of the pressure container of the steam ablation device 10 (i.e., the steam ablation device 10 is in the second state or in the third state). Correspondingly, the second alarm information includes first and second sub-alarm information, which are different from each other. The alarm content of the first sub-alarm information is that the steam ablation device leaks, and the alarm content of the second sub-alarm information is that the steam ablation device is blocked.

[0132] The specific operation of the step S20 includes that when the pressure between the output end of the driving part 410 and the piston 422 is less than the fifth preset value, the controller 20 determines that the pressure container leaks (i.e., the steam ablation device is in the second state). Correspondingly, the step S21 includes that the controller 20 generates the first sub-alarm information and controls the display device 30 to display the first sub-alarm information, and controls the adjustable power supply 310 to stop generating the second electric energy and controls the driving part 410 to stop outputting the driving force.

[0133] Alternatively, the step S20 includes that when the pressure between the output end of the driving part 410 and the piston 422 is greater than the fourth preset value and the temperature in the electric heating tube 330 is greater than the second preset value, the controller 20 determines that the pressure container is blocked (i.e., the steam ablation device is in the third state). Correspondingly, the step S21 includes that the controller 20 generates the second sub-alarm information and controls the display device 30 to display the second sub-alarm information, and controls the adjustable power supply 310 to stop generating the second electric energy and controls the driving part 410 to stop outputting the driving force.

[0134] The specific operation of the step S22 includes: when the temperature in the electric heating tube 330 is in the preset temperature range, the pressure between the output end of the driving part 410 and the piston 422 is in the preset pressure range (i.e. the steam ablation device is in the first state), the first PID module 21 controls the radio frequency circuit 320 to keep the radio frequency energy applied to the electric heating tube 330 unchanged, and the second PID module 22 controls the driving part 410 to keep the driving force applied to the piston 422 unchanged. When the temperature in the electric heating tube 330 is lower than the first preset value, and the pressure between the push plate and the piston 422 is less than the third preset value (i.e. the steam ablation device is in the fourth state), the second PID module 22 controls the driving part 410 to stop applying the driving force to the piston 422 to stop supplying sterile water to the electric heating tube 330, while the first PID module 21 controls the radio frequency circuit 32 to increase the radio frequency energy applied to the electric heating tube 330 to heat the electric heating tube 330. When the temperature in the electric heating tube 330 is lower than the first preset value, and the pressure between the output end of the driving part 410 and the piston 422 is in the preset pressure range (i.e. the steam ablation device is in the fifth state), the second PID module 22 controls the driving part 410 to reduce the driving force applied to the piston 422 to reduce the sterile water supplied to the electric heating tube 330, while the first PID module 21 controls the radio frequency circuit 320 to increase the radio frequency energy applied to the electric heating tube 330 to heat the electric heating tube 330. When the temperature in the electric heating tube 330 is lower than the first preset value, and the pressure between the output end of the driving part 410 and the piston 422 is greater than the fourth preset value (i.e. the steam ablation device is in the sixth state), the second PID module 22 controls the driving part 410 to reduce the driving force applied to the piston 422 to reduce the sterile water supplied to the electric heating tube 330, while the first PID module 21 controls the radio frequency circuit 320 to increase the radio frequency energy applied to the electric heating tube 330 to heat the electric heating tube 330. When the temperature in the electric heating tube 330 is in the preset temperature range, and the pressure between the output end of the driving part 410 and the piston 422 is less than the third preset value (i.e. the steam ablation device is in the seventh state), the first PID module 21 controls the radio frequency circuit 320 to keep the radio frequency energy applied to the electric heating tube 330 unchanged, and the second PID module 22 controls the driving part 410 to increase the driving force applied to the piston 422 to increase the sterile water supplied to the electric heating tube 330.When the temperature in the electric heating tube 330 is within the preset temperature range, and the pressure between the output end of the driving part 410 and the piston 422 is greater than the fourth preset value (i.e. the steam ablation device is in the eighth state), the first PID module 21 controls the radio frequency circuit 320 to keep the radio frequency energy applied to the electric heating tube 330 unchanged, and the second PID module 22 controls the driving part 410 to reduce the driving force applied to the piston 422 so as to reduce the sterile water supplied to the electric heating tube 330. When the temperature in the electric heating tube 330 is higher than the second preset value, and the pressure between the output end of the driving part 410 and the piston 422 is less than the third preset value (i.e. the steam ablation device is in the ninth state), the second PID module 22 controls the driving part 410 to increase the driving force applied to the piston 422 so as to increase the sterile water supplied to the electric heating tube 330, while the first PID module 21 controls the radio frequency circuit 320 to reduce the radio frequency energy applied to the electric heating tube 330 so as to cool the electric heating tube 330. When the temperature in the electric heating tube 330 is greater than the second preset value, and the pressure between the output end of the driving part 410 and the piston 422 is within the preset pressure range (i.e. the steam ablation device is in the tenth state), the second PID module 22 controls the driving part 410 to increase the driving force applied to the piston 422 so as to increase the sterile water supplied to the electric heating tube 330, while the first PID module 21 controls the radio frequency circuit 320 to reduce the radio frequency energy applied to the electric heating tube 330 so as to cool the electric heating tube 330.

[0135] In this embodiment, the controller 20 can perform the step S18 or not. It can be understood that when the controller 20 performs the step S18, the step S19 that the controller 20 acquires the temperature in the electric heating tube 330 is the step S17.

[0136] <Embodiment Five>

[0137] It is known to those skilled in the art that it is undesirable to have bubbles enter the electric heating tube 330 with the sterile water during the ablation operation. In this embodiment, the first end 4211 of the syringe 421 is lower than the second end 4212 so as to use the gravity to make the bubbles in the syringe 421 away from the inlet end of the electric heating tube 330. The syringe 421 can be arranged obliquely or vertically, which is not limited in this embodiment.

[0138] Further, please refer back to Figure 1In the embodiment, the sterile water supply device 400 further comprises a vibrating device 450, and the controller 20 is communicatively connected with the vibrating device 450. When performing the vapor ablation by using the vapor ablation system, the controller 20 further performs a step S23, which comprises controlling the vibrating device 450 to vibrate so as to make the needle cylinder 421 vibrate. The step S22 can be performed at any suitable time, for example, during the performance of the step S10.

[0139] By performing the step S23, the bubbles attached to the wall of the needle cylinder 421 can be detached from the wall of the needle cylinder 421 and enter the sterile water, and under the action of gravity, move to the second end 4212 of the needle cylinder 421 and away from the electric heating tube 330, reducing the possibility of bubbles entering the electric heating tube 330.

[0140] In further improvement, the sterile water supply device 400 further comprises a bubble detection element 460, which is arranged at the first end 4211 of the needle cylinder 421 and located at the joint of the needle cylinder 421 and the electric heating tube 330, and the bubble detection element 460 is configured to detect whether bubbles enter the electric heating tube 330. In an optional embodiment, the needle cylinder 421 is a transparent structure, and the bubble detection element 460 is a liquid level sensor capable of identifying bubbles in the sterile water. The liquid level sensor is a commercially available product, and its specific structure is known to those skilled in the art, which will not be described here.

[0141] The controller 20 is also communicatively connected with the bubble detection element 460. When performing the vapor ablation by using the vapor ablation system, a step S24 is further included, which is performed during the performance of the step S10, and the step S24 comprises that when the bubble detection element 460 detects that bubbles enter the electric heating tube 330, the controller 20 generates a third alarm information and controls the display device 30 to display the third alarm information to prompt medical staff.

[0142] When the third alarm information is generated, the medical staff should check the sterile water supply device 400 and reinstall the syringe 420.

[0143] The other configurations of the vapor ablation device 10 of the embodiment and the other operations of performing the vapor ablation by using the vapor ablation system provided by the embodiment can refer to the descriptions of Embodiment One to Embodiment Four.

[0144] A second object of the present application is to provide a computer-readable storage medium having stored thereon a program which, when executed, performs a control method of a vapor ablation device 10, said control method comprising at least the steps S3, S4, S5, S6, S7 and S10 as previously described.

[0145] A third object of the present application is to provide a controller of a vapor ablation device, said controller comprising a processing unit and a computer-readable storage medium as previously described, said processing unit being in communication connection with said computer-readable storage medium and being configured for executing a program stored on said computer-readable storage medium.

[0146] While the application has been disclosed in connection with the embodiments presented, it should be understood that modifications and / or improvements can be made to the application without departing from the spirit and scope of the application. Thus, for example, although specific shapes and sizes of the vapor ablation device have been described, other shapes and sizes can be used. Accordingly, other changes in the details of the method and apparatus of the present application will be apparent to those skilled in the art, and it is intended to cover all such changes and modifications of the application within the scope of the claims and their equivalents.

Claims

1. A computer-readable storage medium having stored thereon a program, characterized in that, When the program is executed, a control method of a steam ablation device is executed, the steam ablation device comprising an adjustable power supply, a radio frequency circuit and an electric heating tube electrically connected; the control method comprising: controlling the adjustable power supply to output first electric energy to the radio frequency circuit within a preset time length based on preset PID parameters, so that the radio frequency circuit applies radio frequency energy to the electric heating tube; acquiring a first actual output power of the adjustable power supply in the process that the adjustable power supply outputs the first electric energy; judging whether the state of the electric heating tube is normal based on the first actual output power and a first preset output power range, if not, controlling the adjustable power supply to stop outputting the first electric energy, and generating and controlling a display device to display first alarm information, if yes, performing PID parameter adjustment on the adjustable power supply to obtain target PID parameters; and controlling the adjustable power supply to output second electric energy to the radio frequency circuit based on the target PID parameters, so that the radio frequency circuit applies radio frequency energy to the electric heating tube, and then the sterile water entering the electric heating tube forms sterile water vapor; the voltage of the first electric energy is lower than the voltage of the second electric energy.

2. The computer-readable storage medium of claim 1, wherein, The control method further comprises: acquiring a second actual output power of the adjustable power supply in the process that the adjustable power supply outputs the second electric energy; judging whether the state of the electric heating tube is normal based on the second actual output power and a second preset output power range, if not, generating and controlling the display device to display the first alarm information, if yes, acquiring an actual radio frequency power of the radio frequency circuit in the process that the adjustable power supply outputs the second electric energy, and performing PID parameter adjustment on the adjustable power supply when the deviation between the actual radio frequency power and a preset radio frequency power is outside a preset error range, to update the target PID parameters.

3. The computer-readable storage medium of claim 1 or 2, wherein, The preset time length is less than 100 ms, and the voltage of the first electric energy is not greater than 50% of the voltage of the second electric energy.

4. The computer-readable storage medium of claim 1 or 2, wherein, The control method further comprises: acquiring the temperature in the electric heating tube in the process that the adjustable power supply outputs the second electric energy; and adjusting the PID control mode of the adjustable power supply based on the temperature in the electric heating tube.

5. The computer-readable storage medium of claim 4, wherein, The step of adjusting the PID control mode of the adjustable power supply based on the temperature in the electric heating tube comprises: when the temperature in the electric heating tube is lower than a first preset value, adjusting the PID control mode of the adjustable power supply to a positional mode; when the temperature in the electric heating tube is between the first preset value and a second preset value, adjusting the PID control mode of the adjustable power supply to an incremental mode; The second preset value is greater than the first preset value.

6. The computer-readable storage medium of claim 1 or 2, wherein, The steam ablation device further comprises a driving part and a syringe, the syringe comprising a needle cylinder and a piston, one end of the needle cylinder being in communication with the electric heating tube, the piston being partially arranged in the needle cylinder, the piston being further connected with the output end of the driving part and being capable of moving along the axial direction of the needle cylinder under the driving force output by the driving part, so as to inject the sterile water in the needle cylinder into the electric heating tube; The control method further comprises: acquire the temperature in the electric heating tube during the adjustable power supply outputs the second electric energy, and acquire the pressure between the output end of the driving part and the piston; determine whether the vapor ablation device is abnormal based on at least the pressure between the output end of the driving part and the piston, if yes, control the adjustable power supply to stop generating the second electric energy, control the driving part to stop outputting driving force, and generate and control the display device to display second alarm information, if not, adjust the driving force output by the driving part and / or the radio frequency energy applied to the electric heating tube by the radio frequency circuit based on the temperature in the electric heating tube and the pressure between the output end of the driving part and the piston.

7. The computer-readable storage medium of claim 1 or 2, wherein, The vapor ablation device further comprises a driving part, a syringe and a vibrating device, the syringe comprises a needle cylinder and a piston, the needle cylinder is arranged on the vibrating device and has opposite first and second ends, the first end is in communication with the electric heating tube, the piston is partially arranged in the needle cylinder, the piston is further connected with the output end of the driving part and can move in the direction from the second end to the first end under the driving of the driving part to inject sterile water in the needle cylinder into the electric heating tube; The first end is lower than the second end. The control method further comprises: controlling the vibrating device to vibrate.

8. The computer-readable storage medium of claim 7, wherein, A bubble detection element is arranged at the first end of the needle cylinder and is configured to detect whether a bubble enters the electric heating tube; The control method further comprises: receiving the detection result of the bubble detection element, and generating and controlling the display device to display third alarm information when the bubble detection element detects that a bubble enters the electric heating tube.

9. A controller of a vapor ablation apparatus, characterized in that, A computer readable storage medium comprising a processing unit and any one of claims 1-8, the processing unit is communicatively connected with the computer readable storage medium and is configured to execute the program stored on the computer readable storage medium.

10. A vapor ablation system, comprising: A vapor ablation device and a controller of the vapor ablation device of claim 9, the controller is communicatively connected with the vapor ablation device.

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