Readable storage medium, magnetic navigation positioning system and interventional operation system

Abstract

The invention provides a readable storage medium, a magnetic navigation positioning system and an interventional operation system. When a program stored in a readable storage medium is executed by a processor, the following interventional catheter positioning method is realized, and the method comprises the following steps: planning an operation path according to a preset three-dimensional model of a region of interest generated based on a CTA image, and presetting a plurality of target spots; generating an actual three-dimensional model of the target area according to the position information of the magnetic positioning sensor at the tail end when the interventional catheter moves in the region of interest; and performing boundary fitting on the actual three-dimensional model of the target area and a preset three-dimensional model to generate an accurate three-dimensional model of the target area, and synchronously correcting the operation path and the target spot so as to control the intervention catheter to move along the corrected operation path in the region of interest. And controlling the interventional catheter to perform surgical operation at each corrected target spot in sequence. Through the configuration, the operation path and the target spot are more accurate, the operation efficiency is improved, and the safety in the operation process is improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a readable storage medium, a magnetic navigation positioning system, and an interventional surgical system. Background Technology

[0002] Studies have shown that hypertension patients often experience persistently elevated blood pressure due to the abundant sympathetic nerves surrounding the renal arteries. Percutaneous renal nerve denervation (RDN) is a minimally invasive catheter-based interventional procedure that primarily uses radiofrequency energy to ablate the sympathetic nerves distributed along the renal arteries, blocking renal sympathetic nerve signal transmission and reducing renal sympathetic nerve excitation, thereby lowering the patient's blood pressure. During RDN surgery, CTA (computed tomography) images are needed to pre-determine the vessel course, surgical path, target point, and ablation area. However, in actual surgery, it is difficult to effectively combine CTA images with actual angiography or magnetic navigation 3D modeling images. This results in the catheter not being able to accurately enter the pre-determined surgical path and not being able to precisely align with the target point, thus reducing surgical efficiency and safety.

[0003] It should be noted that the information disclosed in the background section of this application is intended only to enhance the understanding of the general background of this application, and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0004] The purpose of this invention is to provide a readable storage medium, a magnetic navigation positioning system, and an interventional surgical system to solve the problem that existing surgical paths and preset target points planned based on CTA images cannot be accurately applied in actual surgery.

[0005] To achieve the above objectives, the present invention provides a readable storage medium storing a program, which, when executed by a processor, implements the following method for locating an interventional catheter, including:

[0006] Based on the pre-defined 3D model of the region of interest generated from CTA images, the surgical path is planned, and several target points are pre-defined.

[0007] Based on the position information of the magnetic positioning sensor at the end of the interventional catheter as it moves in the region of interest, an actual three-dimensional model of the target area in the region of interest is generated.

[0008] The actual three-dimensional model of the target region is fitted to the boundary of the preset three-dimensional model to generate an accurate three-dimensional model of the target region. The surgical path and the target points are corrected simultaneously. The interventional catheter is then controlled to move along the corrected surgical path in the region of interest and to perform surgical operations at each of the corrected target points in sequence.

[0009] Optionally, when the program is executed by the processor, it further includes:

[0010] Based on the preset 3D model of the region of interest, parameters are set for each target point;

[0011] And / or, based on a preset 3D model of the region of interest, the target region is divided into multiple segments along the length direction, and parameters are set for each segment;

[0012] The parameter is at least one of the stimulation parameter and the ablation parameter.

[0013] Optionally, generating the actual 3D model of the target region includes:

[0014] The interventional catheter is controlled to move to a designated position in the region of interest, and at the designated position, the interventional catheter is controlled to abut against the blood vessel wall at multiple angles and form at least three abutment points;

[0015] Based on the position information of the magnetic positioning sensor, obtain the position information of at least three of the contact points;

[0016] Based on the position information of at least three of the aforementioned anchor points, generate an actual three-dimensional model of the target area at the specified location;

[0017] Then, boundary fitting is performed at one or more of the specified locations. During boundary fitting, the diameter and center position of the target region in the actual three-dimensional model at the specified location are used to adjust the boundary and center position of the preset three-dimensional model of the target region, and the surgical path and the target point are corrected simultaneously.

[0018] Optionally, boundary fitting may be performed at least once at a designated location where the vascular intersection in the target area is located. After the initial boundary fitting is completed at the vascular intersection, when the interventional catheter moves to one or more other designated locations, it may be determined whether to perform boundary fitting again based on the ease with which the end of the interventional catheter fits against the vascular wall.

[0019] Optionally, when the program is executed by the processor, it further includes:

[0020] The distance between the magnetic positioning sensor and the target point is obtained, and the bending control parameters are selected based on the distance between the magnetic positioning sensor and the target point. The bending control parameters include at least one of bending type and bending force.

[0021] Based on the selected bending control parameters, the interventional catheter is automatically bent, thereby ensuring that the end of the interventional catheter is close to the blood vessel wall at the corresponding target point.

[0022] Optionally, when automatically bending the interventional catheter, it also includes:

[0023] Select one of two bending control modes to automatically control the bending of the interventional catheter;

[0024] One of the two bending control modes is to change the end bend of the interventional catheter without moving it back and forth, and the other is to move the interventional catheter back and forth without changing the end bend until the distance between the magnetic positioning sensor and the target point falls within the distance range where the current bend is in place.

[0025] Optionally, when the program is executed by the processor, it further includes:

[0026] The model training database is used to obtain the bending control parameters that match the distance between the magnetic positioning sensor and the target point.

[0027] Optionally, when the program is executed by the processor, it further includes:

[0028] Based on the impedance information fed back by the interventional catheter, it is determined whether the end of the interventional catheter has been successfully attached;

[0029] If so, the interventional catheter is controlled to perform surgical procedures at the target site;

[0030] If not, adjust the bending control parameters to automatically bend the interventional catheter again.

[0031] Optionally, when the program is executed by the processor, it further includes:

[0032] After ablation is completed at each target point, a simulated ablation foci of the target point are displayed on a precise three-dimensional model of the target area.

[0033] Optionally, when the program is executed by the processor, it further includes:

[0034] When the interventional catheter is moved to the designated position, based on the existing stimulation results of the target point, it is determined whether to add the target point near the corresponding target point;

[0035] And / or, when the interventional catheter is moved to the designated position, it is determined whether to add the target point at the current designated position based on the ease with which the end of the interventional catheter can adhere to the blood vessel wall.

[0036] Optionally, when the program is executed by the processor, it further includes:

[0037] In the preset three-dimensional model of the region of interest, the ablation method is planned, and then the interventional catheter is controlled to perform ablation according to the preset ablation method;

[0038] The ablation method involves sequentially performing ablation within the target area, either from near to far or from far to near.

[0039] Based on the same inventive concept, the present invention also provides a magnetic navigation and positioning system, including a control device for executing a program stored in a readable storage medium as described in any of the claims.

[0040] Based on the same inventive concept, the present invention provides an interventional surgical system, including an interventional catheter and the magnetic navigation positioning system; a magnetic positioning sensor is installed at the end of the interventional catheter; the interventional catheter is configured to be placed into the region of interest of the target object, and is used to move along the surgical path in the region of interest under the control of the magnetic navigation positioning system, and to perform surgical operations at each target point in sequence.

[0041] In summary, the readable storage medium provided by this invention allows for the execution of a stored program to implement an interventional catheter positioning method. Furthermore, by implementing this method, CTA images can be effectively combined with magnetic navigation 3D modeling images, and the surgical path and target points can be corrected, resulting in more precise surgical paths and target points. This enables accurate intraoperative positioning and navigation, better control of the interventional catheter to reach the target location, effectively improving surgical efficiency and enhancing surgical safety.

[0042] Since the magnetic navigation positioning system and interventional surgery system provided by this invention belong to the same inventive concept as the readable storage medium provided by this invention, the magnetic navigation positioning system and interventional surgery system provided by this invention have at least all the beneficial effects of the readable storage medium provided by this invention. For details, please refer to the relevant descriptions of the beneficial effects of the readable storage medium provided by this invention above. Therefore, the beneficial effects of the magnetic navigation positioning system and interventional surgery system provided by this invention will not be elaborated here. Attached Figure Description

[0043] Those skilled in the art will understand that the accompanying drawings are provided to better understand the invention and do not constitute any limitation on the scope of the invention. Wherein:

[0044] Figure 1 This is a schematic diagram of the interventional catheter positioning method provided in an embodiment of the present invention.

[0045] Figure 2 This is a schematic diagram of a process for stimulation ablation within the renal artery, provided by an embodiment of the present invention.

[0046] Figure 3 This is a preset three-dimensional model of the region of interest provided in an embodiment of the present invention.

[0047] Figure 4 This is a schematic diagram of the principle of planning a surgical path and setting target points on a preset three-dimensional model according to an embodiment of the present invention; wherein, the surgical path is represented by dashed lines, and the preset three-dimensional models of the abdominal aorta and the left and right renal arteries are also represented by dashed lines;

[0048] Figure 5 This is a schematic diagram illustrating the principle of boundary fitting of a preset three-dimensional model based on a real-time three-dimensional model generated by a magnetic positioning sensor at the tip of an interventional catheter, according to an embodiment of the present invention; wherein, Figure 5 (a) in the figure is the fitted diagram of the boundary cylinder. Figure 5 (b) in the figure is the boundary fitting cross section;

[0049] Figure 6 This is a schematic diagram of the automatic bending control principle provided in an embodiment of the present invention; wherein, Figure 6 (a) shows the state when the interventional catheter reaches the designated position and is not bent. Figure 6 (b) shows the state when the angle between the electrode at the location of the magnetic positioning sensor and the main body is ≤45° during bending. Figure 6 (c) represents the state when the angle between the electrode at the location of the magnetic positioning sensor and the main body is ≤90° and >45° during controlled bending. Figure 6 (d) in the figure represents the state when the angle between the electrode at the location of the magnetic positioning sensor and the main body is 90° during bending. Figure 6 In the diagram, (e) represents the state when the angle between the electrode at the location of the magnetic positioning sensor and the main body is greater than 90° and less than or equal to 145° during bending. Figure 6 In the diagram, (f) represents the state when the angle between the electrode at the location of the magnetic positioning sensor and the main body is greater than 145° and less than or equal to 180° during bending.

[0050] Figure 7 This is a schematic diagram of an embodiment of the present invention, in which the interventional catheter is used to stimulate or ablate sequentially along a preset surgical path from proximal to distal or from distal to proximal.

[0051] Figure 8This is a schematic diagram of a single renal artery after the interventional catheter has been stimulated and ablated along a preset surgical path according to an embodiment of the present invention; wherein the left renal artery has been ablated and simulated ablation foci have been generated near each preset target point. Detailed Implementation

[0052] To make the objectives, advantages, and features of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, and are only used to facilitate and clarify the explanation of the embodiments of this invention. Furthermore, the structures shown in the drawings are often part of the actual structures. In particular, different figures may emphasize different aspects and may sometimes use different scales.

[0053] As used in this invention, the singular forms “a,” “an,” “one,” and “the” include plural objects; the term “or” is generally used to mean “and / or”; the term “a number” is generally used to mean “at least one”; the term “at least two” is generally used to mean “two or more”; furthermore, the terms “first,” “second,” and “third” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as “first,” “second,” or “third” may explicitly or implicitly include one or at least two of that feature; “one end” and “the other end,” as well as “proximal end” and “terminal end,” generally refer to two corresponding parts, which include not only endpoints. Furthermore, the terms "installed," "connected," and "attached," as used in this invention, and the term "set" on one element from another, should be interpreted broadly. They generally only indicate a connection, coupling, cooperation, or transmission relationship between the two elements, which can be direct or indirect through an intermediate element. They should not be construed as indicating or implying a spatial relationship between the two elements, meaning one element can be located inside, outside, above, below, or to one side of another element, unless otherwise explicitly stated. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances. Additionally, directional terms such as above, below, up, down, upward, downward, left, and right are used relative to exemplary embodiments as shown in the figures, with upward or upper directions pointing towards the top of the corresponding figure, and downward or lower directions pointing towards the bottom of the corresponding figure.

[0054] The core idea of ​​this invention is to provide a readable storage medium, a magnetic navigation positioning system, and an interventional surgical system to solve the problem that the surgical path and target points planned based on CTA images cannot be accurately applied in actual surgery, resulting in the interventional catheter not being able to accurately enter the preset surgical path and not being able to accurately attach to the preset target points.

[0055] Specifically, the readable storage medium stores a program that, when executed by a processor, implements a method for locating an interventional catheter provided by this invention. The core scheme of this method includes:

[0056] Based on the pre-defined 3D model of the region of interest generated from CTA images, the surgical path is planned, and several target points are pre-defined.

[0057] Based on the position information of the magnetic positioning sensor at the end of the interventional catheter as it moves in the region of interest, an actual three-dimensional model of the target area in the region of interest is generated.

[0058] The actual three-dimensional model of the target region is fitted to the boundary of the preset three-dimensional model to generate an accurate three-dimensional model of the target region. The surgical path and the target points are corrected simultaneously. The interventional catheter is then controlled to move along the corrected surgical path in the region of interest and to perform surgical operations at each of the corrected target points in sequence.

[0059] The target point can be a stimulation target point or a direct ablation target point. Correspondingly, the surgical procedure can be ablation only, or stimulation followed by ablation.

[0060] This configuration enables the interventional catheter positioning method provided by the present invention to effectively combine CTA images with magnetic navigation three-dimensional modeling images, and to correct the surgical path and target points, making the surgical path and target points more accurate. This allows for precise positioning and navigation during the procedure, better control of the interventional catheter to reach the target location, and ultimately, improved surgical efficiency and safety during the procedure.

[0061] It should be noted that although the interventional catheter positioning method provided by this invention is particularly suitable for RDN surgery, and can ablate the sympathetic nerves distributed in the renal artery to achieve the purpose of lowering blood pressure, the interventional catheter positioning method provided by this invention is not limited to application in RDN surgery. That is to say, this invention can be used for diagnosis or treatment in various vascular access routes, including but not limited to diagnosis or treatment in the renal artery.

[0062] Furthermore, the interventional catheter provided by this invention can perform ablation only without electrical stimulation, or it can perform electrical stimulation first and then ablation; there is no specific limitation in this regard. The form of ablation energy output by the interventional catheter is not limited; for example, ultrasound ablation, radiofrequency ablation, microwave ablation, cryoablation, etc. For example, in percutaneous renal nerve removal, radiofrequency ablation is currently a commonly used method. Specifically, the interventional catheter is inserted into the renal artery, and then radiofrequency energy is delivered to the interventional catheter to ablate the renal sympathetic nerve, thereby treating hypertension.

[0063] It is also important to understand that a magnetic positioning sensor is installed at the tip of the interventional catheter, enabling the magnetic navigation positioning system to track the catheter's position during the procedure and ensure its accuracy. Specifically, a magnetic navigation positioning system is installed on the outside of the interventional catheter. This system tracks the position of the magnetic positioning sensor in real time based on magnetic field information, thereby determining the catheter's location.

[0064] In some applications, the distal end of the interventional catheter is further provided with one or more electrodes, and the interventional catheter can employ at least one of a pedicle electrode and a ring electrode. When the distal end of the interventional catheter is provided with electrodes, the electrodes can be used for electrical stimulation or radiofrequency ablation. Both the electrodes and the magnetic positioning sensor are located on the flexible section at the distal end of the interventional catheter. The distal end of the interventional catheter provided by this invention is adjustable, and its shape or orientation can be controlled manually or automatically via a magnetic navigation positioning system. For example, in the automatic bending control method described below, both the electrodes and the magnetic positioning sensor at the distal end of the interventional catheter remain stationary; the magnetic positioning sensor, under the influence of a magnetic field, causes the flexible section to deform, thus achieving bending control. In the manual bending control method, the bending control device on the handle at the proximal end of the interventional catheter pulls the flexible section to bend, thus achieving bending control. This invention preferably employs automatic bending control, which can effectively reduce the difficulty and complexity of surgical operations.

[0065] The interventional catheter positioning method provided by this invention can be applied to the magnetic navigation positioning system provided by this invention. The control device in the magnetic navigation positioning system executes the program stored in the readable storage medium to realize the interventional catheter positioning method.

[0066] The following description refers to the accompanying drawings.

[0067] To achieve the above idea, please refer to Figure 1 The diagram illustrates a flowchart of a method for locating an interventional catheter according to an embodiment of the present invention. Figure 1 As shown, the method for locating the interventional catheter includes steps S1 to S6.

[0068] Step S1: Import the CTA image of the target object, which is a vascular computed tomography image.

[0069] Step S2: Generate a preset 3D model of the region of interest based on the CTA image of the target object.

[0070] In this embodiment, the target object is the patient's abdomen. After optimization, the CTA image of the patient's abdomen retains only the CTA image of the region of interest. The region of interest includes the abdominal aorta, renal arteries (left and right) and kidneys (left and right). Therefore, the preset three-dimensional model of the region of interest is the three-dimensional model of the abdominal aorta, renal arteries and kidneys.

[0071] Step S3: Based on the preset 3D model of the region of interest, plan the surgical path and preset several target points.

[0072] In practice, the surgical path can be planned on a preset three-dimensional model of the region of interest according to the blood vessel course. Then, under the control of the magnetic navigation positioning system, the interventional catheter can travel in the region of interest according to the planned surgical path and reach the target position. The specific location and number of the target points can be set according to the length of each blood vessel segment and the treatment requirements (such as blood pressure reduction requirements). This invention does not limit these requirements.

[0073] Considering that doctors still need to manually select parameters for stimulation or ablation during actual surgery, in some embodiments of this application, the method for positioning the interventional catheter further includes the following steps:

[0074] Based on the preset 3D model of the region of interest, parameters are set for each target point.

[0075] Alternatively, the method for locating the interventional catheter may also include the following steps:

[0076] Based on the preset 3D model of the region of interest, the target region within the region of interest is divided into multiple segments along its length, and the parameters are set for each segment. It should be understood that each segment contains a target point.

[0077] The parameter is at least one of the stimulation parameter and the ablation parameter, such as power, time, flow rate, or any parameter that can adjust the output energy. When setting the parameter, one parameter or a combination of multiple parameters can be set.

[0078] Furthermore, the specific number of segments in the target region is set according to the length of the blood vessel, for example, two segments, three segments, or more segments. Figure 4 In the illustration, the renal artery 2 can be divided into a proximal segment 5, a mid-segment 6, a distal segment 7, and a distal segment 8, each with pre-set parameters. Therefore, each target point within a corresponding segment can be stimulated or ablated according to the parameters set for that segment, eliminating the need to set parameters for each target point individually.

[0079] Therefore, by pre-setting parameters, the present invention enables the interventional catheter to automatically output energy for stimulation or ablation according to the pre-set parameters. This eliminates the need for doctors to manually select parameters, which helps to reduce the difficulty and complexity of the operation, and further improves the efficiency and safety of the operation.

[0080] In practice, the set parameters can be stored in advance in the magnetic navigation positioning system and called at any time. The parameters can be input into the magnetic navigation positioning system through input devices (such as keyboards, human-machine interfaces, etc.), so that the magnetic navigation positioning system controls the interventional catheter to output stimulation or ablation energy according to the pre-set parameters.

[0081] Optionally, the positioning method may further include the following steps:

[0082] In the preset three-dimensional model of the region of interest, the ablation method is further planned, and then the interventional catheter is controlled to perform ablation according to the preset ablation method; in practice, the ablation method is to perform ablation sequentially in the target area from proximal to distal or from distal to proximal.

[0083] like Figure 4 As illustrated, the interventional catheter can be used to ablate renal artery 2 sequentially from the proximal end to the distal end, or sequentially from the distal end to the proximal end, to make the procedure more flexible and convenient.

[0084] Further, step S4: Based on the position information of the magnetic positioning sensor at the end of the interventional catheter as it moves along the surgical path in the region of interest, generate an actual three-dimensional model of the target area in the region of interest.

[0085] Taking RDN surgery as an example, during the subsequent RDN surgery, the interventional catheter can be moved to the renal artery orifice (i.e., the vascular intersection, which is also the initial designated position that needs to be fitted) through the advancement device according to the planned surgical path. During the movement of the interventional catheter, since there is a magnetic positioning sensor at the end of the interventional catheter, the position of the magnetic positioning sensor can be obtained in real time by the magnetic navigation positioning system. Therefore, the magnetic navigation positioning system can construct the actual three-dimensional model of the target area in real time based on the position of the magnetic positioning sensor and display it on the monitor.

[0086] Those skilled in the art will understand that the target area mainly refers to the blood vessel that actually needs to be ablated, or the blood vessel with a planned surgical path. In a specific embodiment, the target area is mainly the left and right renal arteries. During the initial boundary fitting, it is necessary to control the interventional catheter to move along the initial surgical path to a designated position, which is at least the location of a vascular intersection, such as the intersection of the renal artery and the abdominal aorta, i.e., the opening of the renal artery.

[0087] Step S5: Fit the actual 3D model of the target area to its preset 3D model to generate an accurate 3D model of the target area and display it on the monitor.

[0088] In practice, boundary fitting under magnetic navigation control can be completed automatically or manually, and finally a precise three-dimensional model is reconstructed and generated on the preset three-dimensional model of the target area, and then displayed on the monitor.

[0089] The preset 3D model and the precise 3D model of the target area may be displayed in different ways to facilitate identification and confirmation. For example, the preset 3D model may be represented by dashed lines, while the precise 3D model may be represented by solid lines, or different colors or other methods may be used to distinguish the preset 3D model and the precise 3D model.

[0090] It should be understood that the boundary fitting is to adjust the diameter and center position of the preset three-dimensional model by using the three-dimensional coordinates of at least three points at a specified location. Then, the surgical path and target point planned on the original preset three-dimensional model can be adjusted synchronously. In other words, the three-dimensional coordinates of the preset surgical path and target point will be shifted as a whole according to the fitting result and adjusted to the accurate surgical path and target point.

[0091] More specifically, generating the actual 3D model of the target region includes:

[0092] The interventional catheter is controlled to move to a designated position in the region of interest, and at the designated position, the interventional catheter is controlled to abut against the blood vessel wall at multiple angles and form at least three abutment points;

[0093] Based on the position information of the magnetic positioning sensor, obtain the position information of at least three of the contact points;

[0094] Based on the position information of at least three of the aforementioned anchor points, generate an actual three-dimensional model of the target area at the specified location;

[0095] Then, boundary fitting is performed at one or more of the specified locations. During boundary fitting, the diameter and center position of the target region in the actual 3D model at the specified location are used to adjust the boundary and center position of the preset 3D model of the target region, and the surgical path and the target point are corrected simultaneously. That is, the surgical path and the target point are offset synchronously. Preferably, performing boundary fitting multiple times can generate a more accurate 3D model.

[0096] In this embodiment, boundary fitting is performed at least once at the designated location where the vascular intersection of the target area is located. After the initial boundary fitting is completed at the vascular intersection, when the interventional catheter moves to one or more other designated locations, it can be further determined whether to perform boundary fitting again based on the ease with which the end of the interventional catheter fits the target area. That is, when moving to the next or the next designated location, the ease with which the end of the catheter fits can be determined in advance, and then it can be determined whether to perform boundary fitting again based on the determination result.

[0097] This design allows the present invention to dynamically adjust the model according to the blood vessel course at any time, making the surgical path and target point position more precise. As those skilled in the art will understand, the ease with which the interventional catheter adheres to the blood vessel wall can be comprehensively evaluated based on factors such as blood vessel size, catheter size, and blood vessel course.

[0098] It should be understood that surgical operations can be performed at the corresponding target point after each boundary fitting is completed, or surgical operations can be performed at each target point in sequence after boundary fitting is completed at all specified locations. That is, boundary fitting is completed first, and then surgical operations are performed.

[0099] Step S6: After completing at least one boundary fitting, under the control of the magnetic navigation positioning system, the interventional catheter moves along the modified surgical path in the region of interest and performs surgical operations at each modified target point in sequence.

[0100] The following description uses renal artery stimulation ablation as an example, but those skilled in the art should be able to modify the following description appropriately to apply it to non-renal artery stimulation ablation.

[0101] Please refer to Figure 2 The diagram illustrates a flowchart of stimulation ablation within the renal artery according to an embodiment of the present invention. Figure 2 As shown, for percutaneous renal nerve resection (RDN), before stimulation or ablation, a boundary fitting needs to be completed, i.e., steps S1 to S5 above are performed. In addition, the interventional catheter needs to be manipulated to control the bending and apposition so that the end of the interventional catheter can appose to the blood vessel wall at the target point and release energy at the target point for stimulation or ablation.

[0102] Based on this, in some embodiments of this application, before performing surgical operations at the target point, the localization method further performs the following steps:

[0103] The distance between the magnetic positioning sensor and the target point is obtained, and the required bending control parameters for the end of the interventional catheter are selected based on the distance between the magnetic positioning sensor and the target point. The bending control parameters include at least one of bending type and bending force. Based on the selected bending control parameters, the interventional catheter is automatically bent so that the end of the interventional catheter is close to the blood vessel wall at the corresponding target point.

[0104] This design eliminates the need for doctors to manually control the bending process, thus reducing the difficulty and complexity of the surgical procedure.

[0105] It should be understood that the distance between the magnetic positioning sensor and the target point refers to the distance calculated in a three-dimensional coordinate system. Because a three-dimensional coordinate system is used, the direction between the magnetic positioning sensor and the target point is also known when calculating the distance. In practice, the magnetic navigation positioning system primarily calculates the distance between the magnetic positioning sensor and the target point, selects the bending control parameters, and automatically controls the bending of the interventional catheter.

[0106] Optionally, the bend shape can be directly selected based on the distance between the magnetic positioning sensor and the target point. Then, based on the selected bend shape, an appropriate bending force is chosen to control the bending of the interventional catheter, ultimately ensuring that the end of the catheter adheres to the blood vessel wall with a specific bend. Alternatively, the bending force can be directly selected based on the distance between the magnetic positioning sensor and the target point; this implementation method is relatively easier to implement and achieve.

[0107] This design further solves the problem in existing technologies where doctors need to manually control the magnetic positioning sensor of the moving catheter or the bending control device on the proximal handle of the catheter to achieve proper bending and contact, based on CTA or angiography images. This invention automatically selects bending control parameters and then automatically manipulates the interventional catheter to bend and contact the catheter based on these parameters. This approach results in higher surgical efficiency, greater accuracy, and improved safety.

[0108] In some embodiments of this application, before performing surgical procedures at the target site, the procedure further includes:

[0109] The interventional catheter is automatically controlled by selectively employing one of two bending control modes.

[0110] One of the two bending control modes is to change the end bend of the interventional catheter without moving it back and forth, and the other is to move the interventional catheter back and forth without changing the end bend until the distance between the magnetic positioning sensor and the target point falls within the distance range where the current bend is in place.

[0111] Specifically, the first bending control mode is that the interventional catheter as a whole does not move back and forth, but allows the interventional catheter to move laterally (in the direction of the blood vessel diameter), thereby changing the bending length of the interventional catheter tip and thus achieving the adjustment of different bending shapes; the second bending control mode is that the bending shape of the interventional catheter tip is not changed, but the interventional catheter as a whole is allowed to move back and forth and laterally, thereby changing the distance (d) between the magnetic positioning sensor and the target point. When the distance meets the distance of the bending shape required for the current fit, the catheter is bent at the current distance, which can ensure that the tip of the interventional catheter can fit in place.

[0112] It should be understood that the distance (d) between the magnetic positioning sensor and the target point refers to the straight-line distance from the magnetic positioning sensor to the target point when the end of the interventional catheter is not bent.

[0113] For details, please refer to Figure 6 The diagram illustrates the automatic bending control principle provided by one embodiment of the present invention. Figure 6 As shown, the cross-section of cylinder 15 is a precise three-dimensional model cross-section of the current blood vessel, and the height of the cross-section of cylinder 15 is the maximum radial length that can be achieved by bending without moving the interventional catheter. Figure 6 The diagram shows the flexible section 13 at the end of the interventional catheter. A magnetic positioning sensor 14 and an electrode (not shown) are provided on the flexible section 13. The center position of the magnetic positioning sensor 14 is indicated by the symbol Z. The proximal end of the flexible section 13 is the main body 12 of the interventional catheter (such as the outer tube).

[0114] When the interventional catheter moves to the designated position and is not bent, it presents as follows: Figure 6 In state (a), there are 5 target points A preset at the designated location. 11 ~A 15 These five target points are sequentially set along the length of the blood vessel. Therefore, the center position Z of the magnetic positioning sensor 14 is at a distance of A from each target point. 11 ~A 15 There are different distances, among which the magnetic positioning sensor 14 is at the target point A. 11 distance d A11 The shortest distance to target point A 15 distance d A15 The longest. In this case, the interventional catheter is centered in the blood vessel and needs to be positioned at each target point using different end bends.

[0115] With A 11 When the target point is, such as Figure 6 As shown in (b), after the interventional catheter is in place, the magnetic navigation and positioning system can process and calculate the three-dimensional coordinates of the center position Z of the magnetic positioning sensor 14 and the target point A in real time. 11 The distance d between the three-dimensional coordinatesA11 According to this distance d A11 By selecting the appropriate bending force and bending direction, automatic bending control can be achieved. Figure 6 (b) to Figure 6 (f) represents all the contact forms that can be achieved by performing a bending control operation while keeping the original position of the interventional catheter unchanged. That is, without moving the interventional catheter back and forth, only the bending shape of the end of the interventional catheter is changed to achieve the contact of the catheter end at each target point.

[0116] Specifically, such as Figure 6 As shown in (b), the angle θ between the electrode of the magnetic positioning sensor 14 and the main body 12 is ≤45°, which enables the magnetic positioning sensor to be positioned at target point A. 11 The fit is in place; such as Figure 6 As shown in (c), the angle θ between the electrode of the magnetic positioning sensor 14 and the main body 12 is ≤90° and >45°, thus achieving the positioning of the target point A. 12 The fit is in place; such as Figure 6 As shown in (d), the angle θ between the electrode of the magnetic positioning sensor 14 and the main body 12 is 90°, which enables the magnetic positioning sensor to be positioned at target point A. 13 The fit is in place; such as Figure 6 As shown in (e), the angle θ between the electrode at the location of the magnetic positioning sensor 14 and the main body 12 is greater than 90° and less than or equal to 145°, thus achieving the positioning of the magnetic sensor at target point A. 14 The fit is in place; such as Figure 6 As shown in (f), the angle θ between the electrode of the magnetic positioning sensor 14 and the main body 12 is greater than 145° and less than or equal to 180°, thus achieving the positioning of the magnetic sensor 14 at target point A. 15 It fits perfectly.

[0117] It should be understood that when the distal end of the interventional catheter is moved to its current position, the distance (d) between the magnetic positioning sensor 14 and the target point that allows them to abut in place should satisfy: d A15 ≥d≥0; where d A15 This indicates the maximum bending contact distance, that is, the target point A furthest from the magnetic positioning sensor 14. 15 The required bending control contact distance is the maximum bending control contact distance; 0 represents the minimum bending control contact distance, i.e., the case where the catheter can directly contact the vessel wall without bending control. It should be understood that the target point location is the vessel wall location, and the location of the magnetic positioning sensor 14 is the location of the catheter tip. Therefore, the distance between the magnetic positioning sensor 14 and the target point represents the distance between the catheter tip and the vessel wall. Thus, when the distance between the magnetic positioning sensor 14 and the target point meets the above requirements, it indicates that the interventional catheter can achieve effective contact at that position.

[0118] Further, the ease of apposition can be comprehensively assessed based on the vessel course, vessel size, and catheter size, and a preferred bend type can be selected. In practice, the magnetic navigation positioning system can determine the ease of catheter apposition to the vessel wall at the current location based on the vessel course, vessel size, and catheter size, and further select a higher-priority bend type based on the ease of apposition. A higher-priority bend type refers to one that is easy to apposition under the current conditions. For example, when the vessel course is a relatively flat straight line, a bend type can be used... Figure 6 (b) to Figure 6 (f) The curved shape; if the blood vessel's course is a more challenging S-shape, then a curved shape with an angle θ ≤ 90° is preferred, such as Figure 6 (b) Figure 6 (c) and Figure 6 (d) shows the bend type; if the ratio of vessel size to catheter size is small, i.e., the difference between vessel size and catheter size is not significant, then the bend type requiring more space should not be selected. For example, do not select... Figure 6 (e) and Figure 6 The bend shown in (f) is a curved shape.

[0119] Optionally, in some embodiments of this application, bending control parameters corresponding to the distances between the magnetic positioning sensor and the target point at different distances are obtained through in vitro model training, and a model training database is established. Then, by directly calling the data in the model training database, bending control parameters corresponding to the distances between the magnetic positioning sensor and the target point can be obtained. Preferably, the model training database is an AI model training database.

[0120] In a further improvement, the method for locating the interventional catheter provided by the present invention further includes the following steps:

[0121] Based on the impedance information fed back by the interventional catheter, it is determined whether the distal end of the interventional catheter has been successfully attached;

[0122] If so, the interventional catheter is controlled to perform surgical procedures at the target site;

[0123] If not, adjust the bending control parameters to automatically bend the interventional catheter again.

[0124] Specifically, the magnetic navigation positioning system determines whether the electrodes are properly aligned in real time based on the impedance changes between them, and then adjusts the bending shape and bending force accordingly, thereby improving surgical efficiency and precision.

[0125] Continue to refer to Figure 2After stimulating or ablating the current target point, the system switches to the next target point for stimulation or ablation, with or without moving the interventional catheter. Before stimulating or ablating the next target point, boundary fitting can be performed, or it can be skipped. Specifically, the magnetic navigation positioning system can automatically determine whether to perform boundary fitting again based on the ease of catheter tip placement. If boundary fitting is not performed, it directly enters the controlled bending placement phase. After successful placement, stimulation or ablation is performed. In this way, after all preset target points have been ablated, the interventional catheter automatically exits the body along the preset surgical path, completing the procedure.

[0126] In a preferred embodiment of this application, after ablation is completed at each target point, a simulated ablation foci 19 of the target point is displayed on a precise three-dimensional model of the target region (see...). Figure 6 , Figure 8 This setup facilitates the surgeon's assessment of subsequent target points and ablation extent, avoiding repeated or ineffective ablation, and further improving surgical efficiency and safety. The simulated ablation foci 19 are basically circular and are positioned near the target point. The size of the simulated ablation foci 19 directly reflects the power during ablation; the larger the simulated ablation foci 19, the greater the ablation power.

[0127] Preferably, when the interventional catheter is moved to the designated location for stimulation or ablation, it can be further determined whether to add target points near the corresponding target points based on the stimulation results of existing target points. Taking renal artery ablation as an example, if the stimulation results of each target point at the proximal segment of the renal artery show that the nerves are currently relatively active, then target points can be temporarily added near the target points with good stimulation results, which can more accurately locate the ablation site. In addition, in some application scenarios, it can also be determined whether to add target points at the current designated location based on the ease of contact between the distal end of the interventional catheter and the vessel wall. For example, if contact is difficult, target points can be added at locations with easier contact, thereby further reducing the difficulty and complexity of the surgical procedure.

[0128] For ease of understanding, the method for positioning the interventional catheter provided by this invention will be described in further detail below.

[0129] Please refer to Figure 3 The diagram illustrates a preliminary three-dimensional model of the region of interest provided by one embodiment of the present invention. The region of interest shown in the diagram represents the abdominal aorta, renal artery, and kidney. Figure 3As shown, firstly, the CTA image of the patient's abdomen is imported. Then, CTA vessel segmentation is achieved based on a 3D segmentation algorithm. After establishing the entire vessel tree, three parts are retained: the 3D model 1 of the abdominal aorta, the 3D models 2 of the left and right renal arteries, and the 3D model 3 of the kidney, while other small vessels are removed. Although the interventional catheter does not enter the kidney for ablation, the 3D model 3 of the kidney must be retained to prevent the interventional catheter from entering the renal pelvis along with the vessels, causing unnecessary damage to the kidney during ablation. When segmenting vessels, a corresponding vessel segmentation algorithm can be set according to boundary conditions to achieve CTA vessel segmentation, thereby removing interfering model parts. In this embodiment, the boundary conditions include:

[0130] (1) The largest blood vessel model is preserved, thereby preserving the abdominal aorta 1;

[0131] (2) Preserve the vessels connected to the abdominal aorta 1;

[0132] (3) Preserve the blood vessels connected to both kidneys;

[0133] (4) The blood vessels that overlap with conditions (2) and (3) can be used to select the left and right renal arteries 2.

[0134] Alternatively, blood vessels can be further screened based on their diameter. For example, vessels with a diameter of 0.3-0.8 cm can be further screened.

[0135] As those skilled in the art will understand, there are many blood vessel segmentation algorithms, including but not limited to the specific methods disclosed in the embodiments of this invention. Therefore, various commonly used blood vessel segmentation algorithms can be applied to the segmentation of CTA images in this invention, which will not be described in detail here.

[0136] So, once the initial 3D model of the region of interest is completed, it will appear as follows: Figure 3 The dashed line state model shown represents the initial three-dimensional vascular model obtained after correction of CTA images.

[0137] Then, refer to Figure 4 This illustration demonstrates the principles of surgical path planning and target point presetting provided by an embodiment of the present invention. Figure 4 As shown, in Figure 3Based on a preset 3D model of the region of interest, the surgical path is planned, and the target points are preset. More specifically, based on the preset 3D model of the region of interest, the vascular course can be determined, and the surgical path 4 will be adjusted accordingly along the vascular course. In this embodiment, the surgical path 4 is first set along the abdominal aorta 1, then reaches the bend at the renal artery orifice and enters the renal artery 2, then penetrates deeper into the renal artery 2 until the distal segment 8 of the renal artery. Since some of the tertiary branch 9 of the renal artery has entered the renal pelvis, excessive ablation would cause negative damage to the kidney; therefore, the tertiary branch 9 of the renal artery is not included in the preset surgical path 4. It should be noted that... Figure 4 The image only shows surgical path 4 on one side. Those skilled in the art should understand that... Figure 4 After the left renal artery is ablated, the right renal artery can be stimulated or ablated along surgical path 4. After the ablation is completed, the renal artery can be withdrawn in the opposite direction along surgical path 4.

[0138] When planning surgical path 4, target points are also planned simultaneously. In this example, renal artery 2 is divided into four segments as the target area: proximal segment 5, mid-segment 6, distal segment 7, and distal segment 8, with several target points planned in each segment. For example, three target points A1, A2, and A3 are planned sequentially from proximal to distal in proximal segment 5; three target points B1, B2, and B3 are planned sequentially from proximal to distal in mid-segment 6; three target points C1, C2, and C3 are planned sequentially from proximal to distal in distal segment 7; and two target points D1 and D2 are planned for the ablationable portion (tertiary branch) of distal segment 8. In addition, when stimulation or ablation is required, the interventional catheter is controlled to perform ablation sequentially from distal to proximal (from proximal segment 5 to mid-segment 6 to distal segment 7, and the ablationable portion 8 of the tertiary branch) within renal artery 2, or sequentially from proximal to distal. These can all be planned preoperatively on a preset three-dimensional model. It should also be understood that the number of target points in each segment of renal artery 2 can be selected according to the following criteria:

[0139] (1) Length of each segment of the renal artery;

[0140] (2) Assess the difficulty of catheter entry into the blood vessel; if the segment of the blood vessel is difficult to enter, the target point may not be planned.

[0141] Once the target area is planned, stimulation / ablation parameters for each segment can be selectively set. For example, the ablation power for distal segment 7 and the most distal segment 8 is 1W-8W, for mid-segment 6 it is 8W-12W, and for proximal segment 5 it is 12W-20W. Therefore, decreasing the ablation power sequentially from proximal to distal ensures the safety of the procedure.

[0142] In other embodiments, surgical path 4 can be planned at the abdominal aortorenal ganglion, and a target point can be added. As those skilled in the art will understand, the abdominal aortorenal ganglion is roughly located at the bifurcation of the abdominal aorta and renal artery. Furthermore, if stimulation results indicate that nearby sympathetic nerves are more active, a target point can be temporarily added at a location adjacent to the current target point. The added target point is typically within 1-5 mm of the existing target point.

[0143] On the other hand, please refer to Figure 5 The diagram illustrates the fitting principle of a preset three-dimensional model 10 and an actual three-dimensional model 11 provided in one embodiment of the present invention. Figure 5 As shown, when the interventional catheter is pressed Figure 4 As the pre-set surgical path 4 moves, the magnetic positioning sensor 14 at the catheter tip allows the magnetic navigation positioning system to retrieve the actual volume data of the catheter tip in real time, model it, and display it on the monitor. When the catheter moves continuously, several volume unit models are superimposed on the real-time three-dimensional coordinates, thus allowing a continuous real-time three-dimensional model of the catheter tip to be observed on the three-dimensional monitor. Shorter volume collection times can reflect the morphology of the catheter tip, while longer volume collection times can scan the catheter path. Figure 5 As shown in (a), the actual 3D model 11 of the target area is displayed as a solid line, and the preset 3D model 10 of the target area is displayed as a dashed line. When the catheter reaches the predetermined target point, the catheter will exert a mechanical force on the blood vessel, which may cause a certain deviation between the actual blood vessel model and the preset 3D model 10. Therefore, it is necessary to perform boundary fitting between the actual 3D model 11 and the preset 3D model 10 to correct the preset 3D model 10 into a real blood vessel model.

[0144] The specific operation method is as follows: keep the main body 12 of the catheter still, and control the bending section 13 to bend through the magnetic navigation positioning system to bring the end of the catheter to the blood vessel wall (the contact can be judged by the impedance change), such as point A, and record the three-dimensional spatial coordinates of the point. Then, perform a 90° controlled bending rotation on the plane of the catheter and record the three-dimensional spatial coordinates of four points: point B, point C, and point D.

[0145] like Figure 5As shown in (b), the three-dimensional coordinates of the blood vessel diameter and the center of the blood vessel can be obtained from the three-dimensional coordinates of points A, B, C, and D in this plane. After obtaining the above information, the diameter R2 of the preset three-dimensional model 10 can be corrected to R1 using software, and the three-dimensional spatial position of the preset three-dimensional model 10 can be corrected from the center point F to point E. The correction in the plane determined by points A, B, C, and D can drive the proportional enlargement or reduction correction of the diameter of subsequent more distal blood vessels and the translation correction of the three-dimensional spatial position, thereby covering the entire area of ​​the blood vessel. Generally, the plane of the renal artery orifice, the plane of the mid-segment of the renal artery, and the plane of the distal end of the renal artery (1-3 planes for each renal artery) can be selected for point fitting correction to obtain an accurate three-dimensional model.

[0146] As mentioned above, boundary fitting can be performed once or multiple times. For renal artery ablation, after at least one boundary fitting at a specific site, such as the renal artery orifice, the preset three-dimensional model 10 of all regions can be fitted simultaneously without repeated point sampling and fitting. This is mainly for vessels with relatively low vascular course complexity. Multiple fitting is mainly for: (a) vessels with relatively complex vascular courses, such as S-shaped vessels; (b) large catheter sizes and rigid catheters; and (c) situations where the vascular course is easily altered.

[0147] Please refer to Figure 7 The diagram illustrates the principle of ablation along a preset surgical path 4 according to one embodiment of the present invention. Figure 7 As shown, in the actual RDN surgery, the interventional catheter will travel along the preset surgical path 4 (dashed line) in the renal artery 2. For example, it will first reach point Z3 in the middle segment 6. After completing the precise three-dimensional model correction at point Z3, the spatial three-dimensional coordinates of the magnetic positioning sensor and the three-dimensional coordinate distance d3 between the magnetic positioning sensor and the target point B3 are calculated (condition 1). At the same time, it is known that point B3 is directly below point Z3 (condition 2), and the volume of the catheter is known to be approximately 1 / 3 of the vessel size (condition 3). Based on the above three points, it can be determined that it is more suitable to adopt the following approach: Figure 6 (b) or Figure 6 (c) or Figure 6 (d) The bend shape; then, moving from point Z3 to points Z2 and Z1 in the middle segment 6, ablation is performed on target points B3, B2, and B1 respectively; after completing the ablation of the middle segment 6, the interventional catheter continues to move along surgical path 4 to the proximal segment 5, and sequentially reaches points Z3, Z2, and Z1 in the proximal segment 5, completing the ablation at points A3, A2, and A1 in sequence. It can also be seen that at points B1 and A3, B1 and A3 are both far from the magnetic positioning sensor 14, and the bending angle will be obtuse. Therefore, considering the above factors, it is more suitable to adopt... Figure 6 (e) or Figure 6 (f) is a curved shape.

[0148] In another scenario, when the catheter is retracted to point Z1 of proximal segment 5, two points A1 and A0 are positioned below Z1. By measuring the distance d0 of point A0 and the distance d1 of point A1, if it is determined that distances d0 and d1 are within the acceptable range for close contact, then, based on the analysis and judgment of the model training database and after selecting an appropriate bending shape and bending control force, the catheter can, while maintaining its overall horizontal position, use magnetic navigation to control the distal electrode to stimulate or ablate points A0 and A1 one by one. The three-dimensional model after unilateral ablation is shown as follows. Figure 8 As shown.

[0149] like Figure 8 As shown, the areas 16 where the catheter did not reach the abdominal aorta and 17 where the right renal artery duct did not reach are still represented by dashed lines, and these areas are still represented by the preset three-dimensional model 10. The areas 18 where the catheter has reached the abdominal aorta and been corrected, and 20 where the right renal artery duct has reached and been corrected, are represented by solid lines. The preset three-dimensional model of these areas has been corrected and overlaps with the actual three-dimensional model 11 generated by the magnetic positioning sensor 14, representing the actual blood vessels. Therefore, during the actual surgery, the blood vessel areas traversed by the catheter can be changed from dashed lines to solid lines in real time, thereby distinguishing between the preset three-dimensional model of the blood vessels and the precise model after correction. In addition, several simulated ablation foci 19 are displayed near each preset target point that has been ablated, indicating that the target point has been ablated at a certain power, producing effective ablation foci. This can avoid doctors repeating or ineffectively ablating the same area, improving surgical efficiency and safety.

[0150] Furthermore, during actual RDN surgery, the magnetic navigation positioning system can assess the ease of attachment to the preset target point in real time, providing a reference for the surgeon to evaluate whether to reselect the point. It can also adjust the target point and parameters as needed before stimulating and ablating the next point, and then perform the catheter placement operation according to the set path after confirmation.

[0151] In summary, in the main application scenarios of this invention, vascular computed tomography (CTA) can be used to optimize and generate a three-dimensional preset model including the abdominal aorta, renal artery (accessory renal artery), and kidney, and to plan the surgical path, ablation and stimulation sites. Subsequently, the catheter can be precisely controlled by a magnetic navigation positioning system to fit the real-time generated three-dimensional model with the preset three-dimensional model, and denervation ablation surgery can be performed according to the preset path and sites, ultimately improving surgical efficiency and increasing the safety of the surgical process.

[0152] Finally, based on the same inventive concept, the present invention also provides a magnetic navigation positioning system, including a control device. The control device is used to execute a program stored in the readable storage medium described above, that is, to execute the interventional catheter positioning method described above. The control device provided by the present invention may include a processor and a memory, wherein the memory stores a program, and when the program is executed by the processor, it implements the interventional catheter positioning method described above.

[0153] The present invention also provides an interventional surgical system, including an interventional catheter and a magnetic navigation positioning system; a magnetic positioning sensor is installed at the end of the interventional catheter; the interventional catheter is configured to be placed into the region of interest of the target object, and is used to move along the surgical path in the region of interest under the control of the magnetic navigation positioning system, and to perform surgical operations at each target point in sequence.

[0154] Since the magnetic navigation positioning system and interventional surgery system provided by this invention belong to the same inventive concept as the readable storage medium provided by this invention, the magnetic navigation positioning system and interventional surgery system provided by this invention have at least all the beneficial effects of the readable storage medium provided by this invention. For details, please refer to the relevant descriptions of the beneficial effects of the readable storage medium provided by this invention above. Therefore, the beneficial effects of the magnetic navigation positioning system and interventional surgery system provided by this invention will not be elaborated here.

[0155] The readable storage medium provided by this invention can be any combination of one or more computer-readable media. The readable medium can be a computer-readable signal medium or a computer-readable storage medium. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in combination with an instruction execution system, apparatus, or device.

[0156] It should be noted that the above embodiments can be combined with each other. The above description is only a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the present invention.

Claims

1. A readable storage medium, characterized in that, The readable storage medium stores a program that, when executed by a processor, implements the following method for locating the interventional catheter: Based on the pre-defined 3D model of the region of interest generated from CTA images, the surgical path is planned, and several target points are pre-defined. Based on the position information of the magnetic positioning sensor at the end of the interventional catheter as it moves in the region of interest, an actual three-dimensional model of the target area in the region of interest is generated. The actual three-dimensional model of the target region is fitted to the boundary of the preset three-dimensional model to generate an accurate three-dimensional model of the target region. The surgical path and the target points are corrected simultaneously. The interventional catheter is then controlled to move along the corrected surgical path in the region of interest and to perform surgical operations at each of the corrected target points in sequence.

2. The readable storage medium as claimed in claim 1, characterized in that, When the program is executed by the processor, it also includes: Based on the preset 3D model of the region of interest, parameters are set for each target point; And / or, based on a preset 3D model of the region of interest, the target region is divided into multiple segments along the length direction, and parameters are set for each segment; The parameter is at least one of the stimulation parameter and the ablation parameter.

3. The readable storage medium as described in claim 1, characterized in that, Generating the actual 3D model of the target region includes: The interventional catheter is controlled to move to a designated position in the region of interest, and at the designated position, the interventional catheter is controlled to abut against the blood vessel wall at multiple angles and form at least three abutment points; Based on the position information of the magnetic positioning sensor, obtain the position information of at least three of the contact points; Based on the position information of at least three of the aforementioned anchor points, generate an actual three-dimensional model of the target area at the specified location; Then, boundary fitting is performed at one or more of the specified locations. During boundary fitting, the diameter and center position of the target region in the actual three-dimensional model at the specified location are used to adjust the boundary and center position of the preset three-dimensional model of the target region, and the surgical path and the target point are corrected simultaneously.

4. The readable storage medium as described in claim 3, characterized in that, At least one boundary fitting is performed at the designated location where the vascular intersection in the target area is located. After the initial boundary fitting is completed at the vascular intersection, when the interventional catheter moves to one or more other designated locations, it is determined whether to perform boundary fitting again based on the ease with which the end of the interventional catheter fits against the vascular wall.

5. The readable storage medium as claimed in claim 1, characterized in that, When the program is executed by the processor, it also includes: The distance between the magnetic positioning sensor and the target point is obtained, and the bending control parameters are selected based on the distance between the magnetic positioning sensor and the target point. The bending control parameters include at least one of bending type and bending force. Based on the selected bending control parameters, the interventional catheter is automatically bent, thereby ensuring that the end of the interventional catheter is close to the blood vessel wall at the corresponding target point.

6. The readable storage medium as described in claim 5, characterized in that, The automatic bending control of the interventional catheter also includes; Select one of two bending control modes to automatically control the bending of the interventional catheter; One of the two bending control modes is to change the end bend of the interventional catheter without moving it back and forth, and the other is to move the interventional catheter back and forth without changing the end bend until the distance between the magnetic positioning sensor and the target point falls within the distance range where the current bend is in place.

7. The readable storage medium as claimed in claim 5, characterized in that, When the program is executed by the processor, it also includes: The model training database is used to obtain the bending control parameters that match the distance between the magnetic positioning sensor and the target point.

8. The readable storage medium as claimed in claim 5, characterized in that, When the program is executed by the processor, it also includes: Based on the impedance information fed back by the interventional catheter, it is determined whether the end of the interventional catheter has been successfully attached; If so, the interventional catheter is controlled to perform surgical procedures at the target site; If not, adjust the bending control parameters to automatically bend the interventional catheter again.

9. The readable storage medium as claimed in claim 1, characterized in that, When the program is executed by the processor, it also includes: After ablation is completed at each target point, a simulated ablation foci of the target point are displayed on a precise three-dimensional model of the target area.

10. The readable storage medium as claimed in claim 1, characterized in that, When the program is executed by the processor, it also includes: When the interventional catheter is moved to the designated position, based on the existing stimulation results of the target point, it is determined whether to add the target point near the corresponding target point; And / or, when the interventional catheter is moved to the designated position, it is determined whether to add the target point at the current designated position based on the ease with which the end of the interventional catheter can adhere to the blood vessel wall.

11. The readable storage medium as claimed in claim 1, characterized in that, When the program is executed by the processor, it also includes: In the preset three-dimensional model of the region of interest, the ablation method is planned, and then the interventional catheter is controlled to perform ablation according to the preset ablation method; The ablation method involves sequentially performing ablation within the target area, either from near to far or from far to near.

12. A magnetic navigation and positioning system, characterized in that, It includes a control device for executing a program stored in a readable storage medium as described in any one of claims 1-11.

13. An interventional surgical system, characterized in that, The device includes an interventional catheter and the magnetic navigation positioning system as described in claim 12; a magnetic positioning sensor is installed at the end of the interventional catheter; the interventional catheter is configured to be placed into the region of interest of the target object and to move along the surgical path within the region of interest under the control of the magnetic navigation positioning system, and to perform surgical operations sequentially at each target point.

Images