Interventional ablation device, system and method with visual auxiliary guiding function

Abstract

The invention belongs to the technical field of medical instruments, and relates to an interventional ablation device, system and method with a visual auxiliary guiding function. The interventional ablation device comprises an interventional ablation body and a shell. The interventional ablation body comprises an ablation needle, a puncture needle and a coaxial sheath. The shell covers the outer side of the interventional ablation body; a visual auxiliary detection structure is arranged on the shell; wherein the visual auxiliary detection structure is provided with an optical fiber acquisition head and an extension structure capable of extending out of the shell; the optical fiber collection head is located at the top end of the extension structure and can collect images; furthermore, based on the returned image picture, the stretching posture of the stretching structure is adjusted, and the specific human body tissue in the specified path is pushed aside to assist the interventional ablation body in completing puncture or ablation operation. According to the invention, a simple image acquisition structure is provided for interventional ablation operation, and the execution process of interventional ablation operation of a doctor can be simplified.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and specifically to an interventional ablation device with visual guidance function. Background Technology

[0002] Interventional ablation technology has many advantages, such as: for small and appropriately located lesions (such as some early-stage liver cancers, small kidney tumors, and some small lung nodules), the local control rate of ablation is very close to that of resection, but with less trauma, faster recovery, fewer complications, and can be repeated if it fails; for elderly patients, those with multiple underlying diseases, or those who have undergone major surgery / radiotherapy, or those with complex anatomical adhesions, ablation can liberate treatment from the threshold of "whether they can tolerate major surgery"; when there is a need to preserve organ function (preserving as many kidneys and livers as possible), interventional ablation plans can also be customized as needed.

[0003] Therefore, when faced with diseases such as tumors and nodules, considering that many patients are not suitable for or unwilling to undergo major surgery, and after evaluating the lesion, doctors also agree that it is possible to use less trauma to achieve the effect of surgical resection as close as possible, in the actual treatment at this time, interventional ablation technology is preferred, that is, without making a big incision, only a thin needle is used to burn, freeze or electrocute the small tumor in situ.

[0004] In current routine procedures, interventional ablation involves accurately inserting a thin needle into the center of the lesion under the guidance of imaging techniques such as ultrasound and CT scans. The lesion is then completely destroyed using heat (radiofrequency, microwave, laser), cold (cryotherapy), electricity (irreversible electroporation), or drugs (alcohol). Therefore, the key to interventional ablation is not the insertion of the needle itself, but rather ensuring that the effective range of the ablation needle's active segment completely covers the tumor and extends beyond the surrounding area to create a safe boundary, avoiding any omissions.

[0005] However, in existing technologies, considering safety and efficacy, multiple CT scans or other imaging studies are often required before and after interventional ablation to confirm the procedure. This is because the effective range of the needle is very precise; a difference of just a few millimeters can result in missing a corner or hitting vital areas such as the bile duct, intestines, or nerves. Furthermore, the human body is a living organism; each breath and heartbeat can cause displacement. Additionally, the needle's insertion slightly pushes aside tissue, and the water or gas injected by the doctor to protect surrounding structures further alters the original positional relationships. Moreover, each energy release changes the state of the local tissue, leading to subsequent changes in geometric relationships.

[0006] Therefore, due to the invisibility of the energy deposition process itself, existing percutaneous interventional ablation generally adopts an image-driven closed-loop control process in clinical practice: first, the puncture path and target coverage volume (including predetermined safety boundaries) are determined based on preoperative images; then, the instrument is advanced step by step under real-time or near-real-time image guidance, with images acquired after each small segment for position verification; if the geometric relationship between the needle tip or active segment and the lesion's central axis or key anatomical structures is found to deviate from the plan, fine adjustments are made immediately and imaging is performed again for confirmation. Energy delivery is only initiated after confirming that the intended area of ​​action can completely cover the lesion and meet the minimum safe distance from dangerous structures.

[0007] Therefore, the entire interventional ablation treatment requires multiple examinations to confirm the puncture and ablation sites, placing high demands on the physician's skills and CT scan techniques. In practice, both patients and physicians may need to undergo multiple CT scans to repeatedly confirm the accuracy of the puncture site, thus increasing the possibility of X-ray radiation exposure or complicating the procedure.

[0008] An existing Chinese invention patent, patent document number CN 114469277 A, specifically provides a visual puncture microwave ablation system, including a microwave generator, a functional body connected to the microwave generator, and an imaging illumination device. The functional body has tissue puncture and microwave ablation functions. The imaging illumination device provides illumination and imaging during the tissue puncture and treatment process, and transmits the resulting images or video signals back to an external display system in real time to assist in puncture and microwave ablation. The imaging illumination device is wholly or partially located within the functional body, which also includes an injection cavity open to the tissue. This solution only considers facilitating ablation operations through the combination of illumination and imaging. It takes into account, to some extent, the impact on surrounding blood vessels or tissues during puncture and ablation. However, it can only acquire images near the needle edge and cannot flexibly avoid other tissues along the designated path. In this case, there is still a possibility of damage to blood vessels, nerves, organs, and other tissues along the designated path. Furthermore, after ablation, the surrounding tissue may undergo carbonization, eschar formation, and the boiling of water within the tissue, generating a large number of microbubbles. These conditions make subsequent monitoring less effective, and the field of view of the images that can be acquired will also be reduced accordingly.

[0009] Therefore, how to obtain better transmitted images and ensure that doctors can simplify the operation process during ablation while avoiding fragile or sensitive areas such as blood vessels, nerves, and organs, and correspondingly reduce the number of times the patient has to move back and forth during the ablation process, has become an urgent technical problem to be solved. Summary of the Invention

[0010] The purpose of this invention is to overcome the shortcomings of the prior art and provide an interventional ablation device, system and method with visual assisted guidance function, so as to improve the penetration capability of the detection fiber on the interventional ablation device, thereby obtaining better image images, and simplifying the interventional ablation operation process while making it convenient for doctors to carry the interventional ablation device.

[0011] To achieve the above objectives, the present invention provides the following technical solution: An interventional ablation device with visual guidance function, the interventional ablation device comprising: The interventional ablation body includes an ablation needle and a puncture needle; the interventional ablation body also has a coaxial outer sheath; The housing covers the outside of the interventional ablation body; a visual auxiliary detection structure is provided on the housing; the visual auxiliary detection structure is used to know the puncture status of the puncture needle or the ablation status of the ablation needle along a designated path during the interventional ablation process; wherein, the visual auxiliary detection structure is equipped with an optical fiber acquisition head and an extension structure that can protrude from the housing; the optical fiber acquisition head is located at the top of the extension structure and can acquire images; then, based on the returned images, the extension posture of the aforementioned extension structure is adjusted to separate specific human tissues in the designated path to assist the interventional ablation body in completing the puncture or ablation operation.

[0012] Furthermore, during puncture, the puncture needle can reach the target tissue area through a designated path; the target tissue area is a preset ablation area, which includes the current location of the target tissue and the ablation area within the safety boundary defined for the aforementioned target tissue.

[0013] Furthermore, the coaxial outer sheath is a metal outer tube; the interventional ablation body inside the coaxial outer sheath can be replaced multiple times; wherein, after the puncture is completed, the coaxial outer sheath is left in the patient's target tissue area, and at the same time, the coaxial puncture needle is removed and replaced with an ablation needle that can be inserted coaxially.

[0014] Furthermore, the optical fiber acquisition head and the extension structure are encased in a sleeve made of flexible material; During the puncture, the visual auxiliary detection structure can work with the image obtained during the puncture to determine the condition of the human tissue obstructed by the puncture needle in the needle insertion path and the depth of the puncture needle insertion. In addition, the visual auxiliary detection structure can pull away the human tissue obstructed in the needle insertion path to ensure that the puncture needle is properly positioned. During the ablation process, the visual auxiliary detection structure can obtain corresponding image images based on the ablation area covered by the active segment of the ablation needle, so as to monitor the coverage and ablation effect of the ablation operation.

[0015] Furthermore, the cannula can be filled with gas to control the movable position and retractable posture of the visual auxiliary detection structure along a designated path after it penetrates into the subcutaneous tissue of the human body.

[0016] Furthermore, the visual auxiliary detection structure has multiple optical fibers, and corresponding sleeves are configured for the number of optical fibers; Multiple cannulas can work together to pry open specific human tissue along a designated path, and before the ablation operation is performed, surround the target tissue area to be ablated within the safety boundary defined by the aforementioned target tissue.

[0017] Furthermore, the outer side of the sleeve of the extension structure is also equipped with a climbing extension manipulator, which is a soft knuckle structure with multiple degrees of freedom, capable of unfolding / closing as needed; The extended manipulator has multiple extended robotic arms, and each extended robotic arm can be equipped with multiple movable joints to ensure that the extended manipulator can achieve multi-degree-of-freedom movement as needed during use; Before the aforementioned extended robotic arm is invoked, the extended robotic arm is in a retracted state and clings to the side wall of the sleeve, with a certain distance between the extended robotic arm and the fiber optic acquisition head; In use, the extended robotic arm, through the cooperation of the extended robotic arm and the movable joints on the extended robotic arm, can lift or bypass dense human tissue in an extended posture, thereby adjusting the support, lifting or deflection posture of the sleeve.

[0018] An interventional ablation system with visual auxiliary guidance function includes an interventional ablation device, wherein the image captured by the visual auxiliary detection structure on the interventional ablation device can be transmitted via optical fiber. The system also includes an image processing device for processing the aforementioned images. The image processing device can analyze the aforementioned images and indicate whether the usage status of the aforementioned interventional ablation device needs to be adjusted.

[0019] An interventional ablation method with visually guided function includes: Obtain the current image captured by the interventional ablation device to determine the execution status of the current puncture / ablation operation; By comparing the differences between the puncture / ablation operation performed by the interventional ablation device under actual execution and the puncture / ablation operation performed by the interventional ablation device under the preset ablation plan, feedback information on the differences is obtained. Based on the aforementioned feedback information regarding differences, the usage status of the aforementioned interventional ablation device is adjusted in real time.

[0020] Furthermore, the difference feedback information records the offset information of the puncture position on the specified puncture path, as well as the difference information of the ablation coverage area on the specified ablation path.

[0021] Compared with the prior art, this invention, by adopting the above technical solution, has the following advantages and positive effects: A visual auxiliary detection structure that can extend from the shell is provided on the interventional ablation device. This structure can acquire images using the fiber optic acquisition head at the top. Based on these images, the extension posture of the telescopic structure at the rear end of the fiber optic acquisition head within the human body is adjusted. With the combined operation of both, specific human tissues along a designated path are opened, thereby assisting the interventional ablation body in completing the puncture or ablation operation. The presence of the visual auxiliary detection structure on this device facilitates the use of the interventional ablation body to complete the puncture or ablation operation, and simplifies the procedure of repeatedly traveling to the medical image acquisition room (e.g., CT room, MRI room) to determine the puncture or ablation location when placing the interventional ablation body. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of an interventional ablation device with visual assisted guidance function provided in an embodiment of the present invention.

[0023] Figure 2 This is a schematic diagram of the structure of the interventional ablation body on the interventional ablation device provided in an embodiment of the present invention.

[0024] Figure 3 This is another structural schematic diagram of the interventional ablation body on the interventional ablation device provided in an embodiment of the present invention.

[0025] Figure 4 This is a schematic diagram of a sleeve extension robot in a retracted state, as provided in an embodiment of the present invention.

[0026] Figure 5 This is a schematic diagram of the sleeve extension robot provided in the embodiment of the present invention in use.

[0027] Figure 6 This is a schematic diagram of the structure of an interventional ablation system with visual assisted guidance function provided in an embodiment of the present invention.

[0028] Figure 7 This is a schematic flowchart of an interventional ablation method with visual assisted guidance provided in an embodiment of the present invention. Figure Labels

[0029] Interventional ablation device 010, image processing device 020; Interventional ablation body 100, puncture needle 110, ablation needle 120, coaxial outer sheath 130; Housing 200; visual auxiliary detection structure 210, fiber optic acquisition head 220, extension structure 230, sleeve 240, extension manipulator 250, extension robotic arm 260, movable joint 270; System 300. Detailed Implementation

[0030] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, provides a further detailed account of the interventional ablation device, system, and method with visual guidance function disclosed in this invention. It should be noted that the technical features or combinations of technical features described in the following embodiments should not be considered isolated; they can be combined to achieve better technical effects. In the accompanying drawings of the following embodiments, the same reference numerals in each drawing represent the same features or components, which can be applied to different embodiments. Therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0031] It should be noted that the structures, proportions, sizes, etc., illustrated in the accompanying drawings are merely for illustrative purposes and to aid those skilled in the art in understanding and reading the invention. They are not intended to limit the conditions under which the invention can be implemented. Any modifications to the structure, changes in proportions, or adjustments to size, provided they do not affect the effectiveness or purpose of the invention, should fall within the scope of the technical content disclosed in the invention. The scope of the preferred embodiments of the present invention includes other implementations, wherein functions may be performed not in the order stated or discussed, including substantially simultaneously or in reverse order, depending on the functions involved. This should be understood by those skilled in the art to which the embodiments of the present invention pertain.

[0032] Techniques, methods, and apparatus known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and apparatus should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0033] In the description of the embodiments of this application, " / " means "or", and "and / or" is used to describe the relationship between related objects, indicating that there can be three relationships. For example, "A and / or B" means: A and B exist alone, B exists alone, and A and B exist simultaneously. In the description of the embodiments of this application, "multiple" refers to two or more. Example

[0034] See Figure 1 As shown, this invention provides an interventional ablation device 100 with visual assisted guidance function.

[0035] The interventional ablation device 010 with visual auxiliary guidance function includes an interventional ablation body 100 and a housing 200.

[0036] Combination Figure 2 , 3 As shown, the interventional ablation body 100 includes a puncture needle 110 and an ablation needle 120; the interventional ablation body also has a coaxial outer sheath 130.

[0037] In this embodiment, in order to perform the ablation operation, it is first necessary to create a puncture path. In this embodiment, the interventional ablation body on the interventional ablation device is first used as a coaxial puncture needle with an outer sheath.

[0038] In use, the puncture needle 110 can reach the target tissue area through a designated path under the guidance of a physician. During puncture, the puncture needle can reach the target tissue area through a designated path.

[0039] In this embodiment, the target tissue region is a preset ablation region, which includes the current location of the target tissue and the ablation region within the safety boundary defined for the aforementioned target tissue.

[0040] When the puncture position is correct, it is preferable to remove the coaxial puncture needle 110 and retain the coaxial outer sheath 130, thereby creating an ablation pathway for the ablation needle 120 during the ablation operation.

[0041] The coaxial outer sheath is a metal outer tube; the interventional ablation body inside the coaxial outer sheath can be replaced multiple times. After puncture, the coaxial outer sheath 130 is preferably left in the patient's target tissue area, while the coaxial puncture needle 110 is removed and replaced with a coaxially insertable ablation needle 120.

[0042] Combination Figure 1 As shown, the interventional ablation device also includes a housing 200, which covers the outside of the interventional ablation body 100; a visual auxiliary detection structure 210 is provided on the housing 200. The visual auxiliary detection structure transmits the visual image to the image display interface of a medical monitor (such as an ultrasound system monitor, CT monitor, MRI console monitor, C-arm monitor, etc.) via a wired connection to facilitate the doctor's observation of the puncture / ablation process.

[0043] Specifically, the visual auxiliary detection structure 210 is used to obtain information about the puncture status of the puncture needle or the ablation status of the ablation needle along a designated path during interventional ablation; wherein, the visual auxiliary detection structure 210 is equipped with an optical fiber acquisition head 220 and an extension structure 230 that can protrude from the housing; the optical fiber acquisition head 220 is located at the top of the extension structure 230 and is capable of acquiring image images.

[0044] The outer sides of the fiber optic acquisition head and the extension structure are covered by a sleeve; the extension posture of the sleeve is adjusted according to the extension posture of the fiber optic acquisition head and the extension structure; based on the aforementioned image, the extension posture of the aforementioned fiber optic acquisition head and the extension structure is adjusted to open up specific human tissue in a designated path, thereby assisting the interventional ablation body to complete the puncture or ablation operation.

[0045] Preferably, the sleeve is made of a flexible material, meaning that the optical fiber acquisition head and the extension structure are encased in a sleeve made of flexible material. The extension structure is preferably an optical fiber integrally connected to the aforementioned optical fiber acquisition head. The sleeve made of flexible material reduces damage to human tissues along the path of the optical fiber acquisition head and the extension structure when they move within the human body, while also protecting the optical fiber acquisition head and the extension structure. The flexible material used here is conventional prior art in this field and will not be described in detail here.

[0046] It is worth noting that the fiber optic acquisition head and its connected extension structure can work together to separate other human tissues in the target area during puncture or ablation procedures, thereby obtaining a good puncture or ablation field of view. The human tissues include, but are not limited to, blood vessels, nerves, and organs.

[0047] Specifically, regarding the usage status of visual auxiliary detection structures: During the puncture, the visual auxiliary detection structure can work with the image obtained during the puncture to determine the condition of the human tissue obstructed by the puncture needle in the designated puncture path and the depth of the puncture needle insertion. Furthermore, the visual auxiliary detection structure can retract the human tissue obstructed in the designated puncture path to ensure that the puncture needle is properly positioned.

[0048] During the ablation process, the visual auxiliary detection structure can obtain corresponding image images based on the ablation area covered by the active segment of the ablation needle, so as to monitor the coverage and ablation effect of the ablation operation.

[0049] Here, since the visual auxiliary detection structure can extend from the housing and assist the doctor in performing puncture or ablation operations, it greatly facilitates the doctor / image processing equipment in effectively judging the progress of each step in the puncture / ablation process and determining the location of the corresponding target tissue by relying on the transmitted image.

[0050] As another preferred embodiment of this invention, the cannula can be filled with gas to control the movable position and retractable posture of the visual auxiliary detection structure along a designated path after it penetrates into the subcutaneous tissue of the human body.

[0051] The sleeve can also be configured as a double-layer sleeve, in which gas or liquid can be filled between the double-layer sleeves to isolate the optical fiber from the gas or liquid. Based on this, the movable position and retractable posture of the visual auxiliary detection structure after penetrating into the subcutaneous tissue of the human body can be controlled along a designated path.

[0052] The movable position and flexible posture here are determined based on the acquired images, the preset puncture / ablation plan, and the actual puncture / ablation situation.

[0053] Furthermore, the flexible catheter is preferably configured as a cannula carrying an airbag and / or a balloon, which facilitates inflation control of the retractable posture and accessible location of the visual auxiliary detection structure. The number of airbags or balloons is not limited.

[0054] In addition, considering that there may be fragile structures such as blood vessels, nerves or organs around the target path during interventional ablation, after acquiring images involving signs of active bleeding (such as jet / flow shadows, rapid hematoma enlargement and sonographic enhancement changes), suspected organ wall ruptures or obvious tissue fragility, or signs of nerve involvement (such as patient pain radiation, stimulation response and anatomical proximity), the corresponding bleeding points or tissue damage points in these images are compressed and sealed on-site using an inflatable balloon / balloon on the cannula.

[0055] When an image of nerve involvement or suspected damage is detected, differential filling or slight deflection is used to maintain a safe distance between the retractable posture of the visual auxiliary detection structure and the nerve, reducing contact and traction.

[0056] It is also worth noting that after inflating the balloon / balloon on the cannula and achieving temporary risk control, emergency treatment can be performed using coaxially insertable local hemostatic materials / drugs while the sheath remains in place, until imaging confirms that there is no progressive bleeding, no leakage, and no new damage. Only then can a decision be made on whether to continue the original ablation protocol or remove the sheath to terminate the interventional ablation operation.

[0057] The local hemostatic materials / drugs that allow for coaxial insertion are existing technologies in the field, such as fluid / injectable hemostatic matrix, local thrombin, and local tranexamic acid, and therefore will not be elaborated upon here. Before using the local hemostatic material / drug, it is preferable to remove the original puncture needle and ablation needle from the sheath to preserve a better drug delivery channel.

[0058] Preferably, the visual auxiliary detection structure has multiple optical fibers, and corresponding sleeves are configured for the number of optical fibers.

[0059] Multiple sleeves, each covered with an optical fiber acquisition head and an extension structure, can work together to pry open specific human tissue along a designated path. Before the ablation operation is performed, they surround the target tissue area to be ablated within the safety boundary defined by the aforementioned target tissue, thereby protecting other human tissue outside the safety boundary.

[0060] In this process, the target tissue area can be surrounded by the tension of the aforementioned cannula within the safety boundary. When the ablation operation of the same lesion is divided into multiple ablation stages, the images generated after each ablation are evaluated using the images acquired by the fiber optic acquisition head. Considering that the energy release of the ablation needle (e.g., thermal ablation) can lead to carbonization, eschar, and the generation of numerous microbubbles due to boiling of tissue water in the ablation area, thus affecting the visibility of the images, it is preferable to change (e.g., fine-tune) the extendable posture and reachable position of the fiber optic acquisition head and extension structure during image acquisition to obtain clearer images. This facilitates the evaluation of the ablation status at each stage using existing image processing techniques or physician experience. Furthermore, based on the images obtained at each ablation stage, the ablation operation plan is adjusted, and the safety boundary of the ablated target tissue is redefined.

[0061] In addition, it is also considered that it is difficult to perform the traction operation in areas with dense nerves and blood vessels to avoid nerves, blood vessels and other tissues, and that pushing the cannula too much at this time may easily pull or compress more delicate tissues such as nerves or blood vessels.

[0062] Using only the aforementioned sleeve covering the extension structure and fiber optic acquisition head to pull these tissues apart is technically difficult. Therefore, as another preferred embodiment, in combination with... Figure 4 , 5 As shown, the outer side of the sleeve of the extension structure is also equipped with a clinging extension manipulator. The extension manipulator is a multi-degree-of-freedom knuckle soft structure that can unfold / close as needed. The extension manipulator has multiple extension arms, and multiple movable joints can be configured on the extension arms to ensure that the extension manipulator can achieve multi-degree-of-freedom movement as needed during use.

[0063] Before the aforementioned extended robotic arm is invoked, the extended robotic arm is in a retracted state and clings to the side wall of the sleeve. The extended robotic arm is kept at a certain distance from the fiber optic acquisition head to avoid affecting the image acquisition effect of the fiber optic acquisition head.

[0064] In use, in order to avoid large movements of the cannula's location, the extension manipulator can be activated. The extension manipulator, through the cooperation of the aforementioned extension arm and the movable joints on the aforementioned extension arm, lifts or bypasses dense human tissues (such as nerves, blood vessels, nodules, etc.) in an extended posture, thereby achieving the adjustment of the cannula's position by supporting, lifting, or deflecting it.

[0065] Furthermore, this is taken as an example, not a limitation, in conjunction with Figure 5 As shown, the extended robotic arm is equipped with three extended robotic arms, each with three movable joints. The multiple extended robotic arms 260 can extend, separate, and / or close as needed via the movable joints 270.

[0066] When all operations are completed and the ablation device is ready to be retrieved, preferably, the extension structure on the visual auxiliary detection structure is retracted in the reverse direction along the extension path until the extension structure is housed in the visual auxiliary detection structure, and then the sheath removal operation is performed.

[0067] Other technical features are described in the previous embodiments and will not be repeated here.

[0068] In addition, combined Figure 6 As shown, this embodiment of the invention also provides an interventional ablation system with visual auxiliary guidance function, including an interventional ablation device, wherein the image captured by the visual auxiliary detection structure on the interventional ablation device can be transmitted via optical fiber.

[0069] The system also includes an image processing device for processing the aforementioned images. The image processing device can analyze the aforementioned images and indicate whether the usage status of the aforementioned interventional ablation device needs to be adjusted.

[0070] Other technical features are described in the previous embodiments and will not be repeated here.

[0071] In addition, combined Figure 7 As shown, this embodiment of the invention also provides an interventional ablation method with visual assisted guidance, including step S400: S401, Obtain the current image captured by the interventional ablation device and determine the execution status of the current puncture / ablation operation.

[0072] S402, compare the differences between the puncture / ablation operation performed by the interventional ablation device under actual execution and the puncture / ablation operation performed by the interventional ablation device under the preset ablation plan, and obtain difference feedback information.

[0073] The difference feedback information records the offset information of the puncture position on the specified puncture path, as well as the difference information of the ablation coverage area on the specified ablation path.

[0074] S403, based on the aforementioned difference feedback information, adjust the usage status of the aforementioned interventional ablation device in real time.

[0075] Other technical features are described in the previous embodiments and will not be repeated here.

[0076] In the above description, the disclosure of this invention is not intended to limit itself to these aspects. Rather, within the scope of the objectives of this disclosure, components can be selectively and operationally combined in any number. Furthermore, terms such as “comprising,” “encompassing,” and “having” should be interpreted by default as inclusive or open-ended, rather than exclusive or closed, unless explicitly defined as such. All technical, scientific, or other terms are to be understood by those skilled in the art, unless defined as such. Public terms found in dictionaries should not be interpreted in the context of the relevant technical documents in an overly idealistic or impractical manner, unless explicitly defined as such in this disclosure. Any modifications or alterations made by those skilled in the art based on the foregoing disclosure are within the scope of the claims.

Claims

1. An interventional ablation device with visual assisted guidance function, characterized in that, The interventional ablation device includes: The interventional ablation body includes an ablation needle and a puncture needle; the interventional ablation body also has a coaxial outer sheath; The housing covers the outside of the interventional ablation body; a visual auxiliary detection structure is provided on the housing; the visual auxiliary detection structure is used to know the puncture status of the puncture needle or the ablation status of the ablation needle along a designated path during the interventional ablation process; wherein, the visual auxiliary detection structure is equipped with an optical fiber acquisition head and an extension structure that can protrude from the housing; the optical fiber acquisition head is located at the top of the extension structure and can acquire images; then, based on the returned images, the extension posture of the aforementioned extension structure is adjusted to separate specific human tissues in the designated path to assist the interventional ablation body in completing the puncture or ablation operation.

2. The interventional ablation device according to claim 1, characterized in that, During the puncture, the puncture needle can reach the target tissue area through a designated path; the target tissue area is a preset ablation area, which includes the current location of the target tissue and the ablation area within the safety boundary defined for the aforementioned target tissue.

3. The interventional ablation device according to claim 1, characterized in that, The coaxial outer sheath is a metal outer tube; the interventional ablation body inside the coaxial outer sheath can be replaced multiple times; wherein, after the puncture is completed, the coaxial outer sheath is left in the patient's target tissue area, and at the same time, the coaxial puncture needle is removed and replaced with an ablation needle that can be inserted coaxially.

4. The interventional ablation device according to claim 1 or 2, characterized in that, The optical fiber acquisition head and the extension structure are encased in a sleeve made of flexible material; During the puncture, the visual auxiliary detection structure can work with the image obtained during the puncture to determine the condition of the human tissue obstructed by the puncture needle in the needle insertion path and the depth of the puncture needle insertion. In addition, the visual auxiliary detection structure can pull away the human tissue obstructed in the needle insertion path to ensure that the puncture needle is properly positioned. During the ablation process, the visual auxiliary detection structure can obtain corresponding image images based on the ablation area covered by the active segment of the ablation needle, so as to monitor the coverage and ablation effect of the ablation operation.

5. The interventional ablation device according to claim 4, characterized in that, The cannula can be filled with gas to control the movable position and retractable posture of the visual auxiliary detection structure along a designated path after it penetrates into the subcutaneous tissue of the human body.

6. The interventional ablation device according to claim 4, characterized in that, The visual auxiliary detection structure has multiple optical fibers, and corresponding sleeves are configured for the number of optical fibers. Multiple cannulas can work together to pry open specific human tissue along a designated path, and before the ablation operation is performed, surround the target tissue area to be ablated within the safety boundary defined by the aforementioned target tissue.

7. The interventional ablation device according to claim 1, characterized in that, The outer side of the sleeve of the extension structure is also equipped with a climbing extension manipulator. The extension manipulator is a soft structure with multiple degrees of freedom of knuckles, which can unfold / close as needed. The extended manipulator has multiple extended robotic arms, and each extended robotic arm can be equipped with multiple movable joints to ensure that the extended manipulator can achieve multi-degree-of-freedom movement as needed during use; Before the aforementioned extended robotic arm is invoked, the extended robotic arm is in a retracted state and clings to the side wall of the sleeve, with a certain distance between the extended robotic arm and the fiber optic acquisition head; In use, the extended robotic arm, through the cooperation of the extended robotic arm and the movable joints on the extended robotic arm, can lift or bypass dense human tissue in an extended posture, thereby adjusting the support, lifting or deflection posture of the sleeve.

8. An interventional ablation system with visual assisted guidance function, characterized in that, Including the interventional ablation device according to any one of claims 1-7, the image captured by the visual auxiliary detection structure on the interventional ablation device can be transmitted via optical fiber; The system also includes an image processing device for processing the aforementioned images. The image processing device can analyze the aforementioned images and indicate whether the usage status of the aforementioned interventional ablation device needs to be adjusted.

9. An interventional ablation method with visually guided function, characterized in that, include: Obtain the current image captured by the interventional ablation device according to any one of claims 1-7. Determine the current status of the puncture / ablation procedure; By comparing the differences between the puncture / ablation operation performed by the interventional ablation device under actual execution and the puncture / ablation operation performed by the interventional ablation device under the preset ablation plan, feedback information on the differences is obtained. Based on the aforementioned feedback information regarding differences, the usage status of the aforementioned interventional ablation device is adjusted in real time.

10. The interventional ablation method according to claim 9, characterized in that, The difference feedback information records the offset information of the puncture position on the specified puncture path, as well as the difference information of the ablation coverage area on the specified ablation path.

Images