Ablation simulation method and device, surgical robot, electronic device

Abstract

The application discloses an ablation simulation method and device, a surgical robot and an electronic device. The method comprises the following steps: acquiring a first three-dimensional model of a target object and a second three-dimensional model of an ablation device, wherein the ablation device comprises a device for ablation of the target object; acquiring a first characteristic of the first three-dimensional model and a second characteristic of the second three-dimensional model, wherein the first characteristic is obtained based on a characteristic of energy propagation of the target object, and the second characteristic is obtained based on a third characteristic of first ablation energy generated by the ablation device, and the first ablation energy comprises energy for ablation of the target object; and simulating ablation of the target object by the ablation device based on the first characteristic, the second characteristic, the first three-dimensional model and the second three-dimensional model to obtain a first ablation simulation result. The ablation simulation method can improve the accuracy of the first ablation simulation result.

Description

Technical Field

[0001] This application relates to the field of medical imaging technology, and in particular to an ablation simulation method and device, a surgical robot, and electronic equipment. Background Technology

[0002] By simulating ablation, factors that reduce the success rate of ablation can be avoided before the ablation procedure, thereby improving the success rate. However, the accuracy of simulation results obtained using current methods is low. Summary of the Invention

[0003] This application provides an ablation simulation method and apparatus, a surgical robot, and an electronic device to improve the accuracy of simulating the ablation of a first tissue by an ablation device.

[0004] Firstly, an ablation simulation method is provided, the method comprising:

[0005] A first three-dimensional model of the target object and a second three-dimensional model of the ablation device are obtained, wherein the ablation device includes a means for ablating the target object;

[0006] A first characteristic of energy propagation of the first three-dimensional model and a second characteristic of the second three-dimensional model are obtained. The first characteristic is obtained based on the energy propagation characteristics of the target object, and the second characteristic is obtained based on the third characteristic of the first ablation energy generated by the ablation device. The first ablation energy includes energy used to ablate the target object.

[0007] Based on the first characteristic, the second characteristic, the first three-dimensional model, and the second three-dimensional model, the ablation device is used to simulate the ablation of the target object, and a first ablation simulation result is obtained.

[0008] In any embodiment of this application, the target object includes lung tissue, and the first three-dimensional model is obtained by three-dimensional reconstruction based on a two-dimensional image of the target object;

[0009] Before simulating the ablation of the target object by the ablation device based on the first characteristic, the second characteristic, the first three-dimensional model, and the second three-dimensional model to obtain the first ablation simulation result, the method further includes:

[0010] The lung image region is obtained by identifying the lung tissue in the two-dimensional image;

[0011] Based on the pixel values ​​of the lung image region, the structural information of the lung tissue is determined, and the structural information includes at least one of the following: information about air in the lung tissue and information about fluid in the lung tissue;

[0012] Based on the structural information, the structure of the first three-dimensional model is adjusted to obtain the third three-dimensional model;

[0013] The ablation device is used to simulate the ablation of the target object based on the first characteristic, the second characteristic, the first three-dimensional model, and the second three-dimensional model to obtain a first ablation simulation result, including:

[0014] Based on the first characteristic, the second characteristic, the second three-dimensional model, and the third three-dimensional model, the ablation device is used to simulate the ablation of the target object, and the first ablation simulation result is obtained.

[0015] In conjunction with any embodiment of this application, determining the structural information of the lung tissue based on the pixel values ​​of the lung image region includes:

[0016] Based on the pixel values ​​of the pixels in the lung image region, a target ratio is determined for the position in the lung tissue corresponding to the pixels in the lung image region. The target ratio is the ratio of the volume of air to the volume of liquid. The pixel values ​​of the pixels in the lung image region are negatively correlated with the target ratio.

[0017] The structural information is obtained based on the target ratio.

[0018] In any embodiment of this application, the first ablation simulation result includes a first relationship, which is the relationship between temperature and time at different locations in the first three-dimensional model;

[0019] The method further includes:

[0020] A second relationship is determined based on the first relationship. The second relationship is the relationship between the target region and time. The target region is the region in the first three-dimensional model where the temperature is within a preset range.

[0021] A third relationship is determined based on the second relationship. The third relationship is the relationship between ablation coverage and time. The ablation coverage is the ratio of the volume of the target region to the volume of the region to be ablated in the first three-dimensional model.

[0022] In conjunction with any embodiment of this application, the characteristics of the energy propagation in the target object include at least one of the following: the thermal conductivity of the tissue within the target object, the specific heat capacity of the tissue within the target object, the density of the tissue within the target object, and the blood perfusion rate within the target object. The first ablation energy includes energy used to lower the temperature.

[0023] In conjunction with any embodiment of this application, the method further includes: displaying at least one of the following: the first relationship, the second relationship, and the third relationship.

[0024] In conjunction with any embodiment of this application, the method further includes:

[0025] Based on the third relationship, n target coverage rates are obtained, where n is a positive integer, and the target coverage rate is the ablation coverage rate that is greater than or equal to the second threshold.

[0026] Based on the n target coverage rates, n first positions are obtained. The target coverage rate among the n target coverage rates corresponds one-to-one with the first position among the n first positions. When the position of the second three-dimensional model is the first position, the ablation coverage rate is the target coverage rate.

[0027] Based on the n first positions, it is determined whether a reference region exists. The reference region includes t first positions, where t is greater than or equal to a third threshold, t is less than or equal to n, and the volume of the reference region is less than or equal to a fourth threshold.

[0028] In the presence of the reference region, a second position of the second three-dimensional model is obtained based on the t first positions, the second position indicating the position where the second three-dimensional model ablates the first three-dimensional model.

[0029] In any embodiment of this application, obtaining the second position of the second three-dimensional model based on the t first positions includes:

[0030] Determine the center of the reference region;

[0031] The second position is obtained based on the position closest to the center of the reference region among the t first positions.

[0032] In conjunction with any embodiment of this application, after determining whether a reference region exists based on the n first positions, the method further includes:

[0033] In the absence of the reference region, determine the center position of the n first positions;

[0034] The second position is obtained based on the position closest to the center position among the n first positions.

[0035] In conjunction with any embodiment of this application, the method further includes:

[0036] Based on the first relationship, a fourth relationship is determined, which is the relationship between ablation force and time. The ablation force includes the force generated by the second ablation energy, and the ablation force is used to destroy the area to be ablated.

[0037] The ablation simulation results are obtained based on the fourth relationship. The ablation simulation results include at least one of the following: whether the region to be ablated is eliminated and the time required for the region to be ablated to be eliminated.

[0038] Secondly, an ablation simulation method and apparatus are provided, the ablation simulation apparatus comprising:

[0039] The acquisition unit is used to acquire a first three-dimensional model of the target object and a second three-dimensional model of the ablation device, wherein the ablation device includes a device for ablating the target object;

[0040] The acquisition unit is further configured to acquire a first characteristic of the energy propagation of the first three-dimensional model and a second characteristic of the second three-dimensional model. The first characteristic is obtained based on the energy propagation characteristics of the target object, and the second characteristic is obtained based on a third characteristic of the first ablation energy generated by the ablation device. The first ablation energy includes energy used to ablate the target object.

[0041] The processing unit is used to simulate the ablation of the target object by the ablation device based on the first characteristic, the second characteristic, the first three-dimensional model and the second three-dimensional model, and to obtain a first ablation simulation result.

[0042] In any embodiment of this application, the target object includes lung tissue, and the first three-dimensional model is obtained by three-dimensional reconstruction based on a two-dimensional image of the target object;

[0043] The processing unit is further configured to:

[0044] The lung image region is obtained by identifying the lung tissue in the two-dimensional image;

[0045] Based on the pixel values ​​of the lung image region, the structural information of the lung tissue is determined, and the structural information includes at least one of the following: information about air in the lung tissue and information about fluid in the lung tissue;

[0046] Based on the structural information, the structure of the first three-dimensional model is adjusted to obtain the third three-dimensional model;

[0047] Based on the first characteristic, the second characteristic, the second three-dimensional model, and the third three-dimensional model, the ablation device is used to simulate the ablation of the target object, and the first ablation simulation result is obtained.

[0048] In conjunction with any embodiment of this application, the processing unit is further configured to:

[0049] Based on the pixel values ​​of the pixels in the lung image region, a target ratio is determined for the position in the lung tissue corresponding to the pixels in the lung image region. The target ratio is the ratio of the volume of air to the volume of liquid. The pixel values ​​of the pixels in the lung image region are negatively correlated with the target ratio.

[0050] The structural information is obtained based on the target ratio.

[0051] In any embodiment of this application, the first ablation simulation result includes a first relationship, which is the relationship between temperature and time at different locations in the first three-dimensional model;

[0052] The processing unit is further configured to:

[0053] A second relationship is determined based on the first relationship. The second relationship is the relationship between the target region and time. The target region is the region in the first three-dimensional model where the temperature is within a preset range.

[0054] A third relationship is determined based on the second relationship. The third relationship is the relationship between ablation coverage and time. The ablation coverage is the ratio of the volume of the target region to the volume of the region to be ablated in the first three-dimensional model.

[0055] In conjunction with any embodiment of this application, the characteristics of the energy propagation in the target object include at least one of the following: the thermal conductivity of the tissue within the target object, the specific heat capacity of the tissue within the target object, the density of the tissue within the target object, and the blood perfusion rate within the target object. The first ablation energy includes energy used to lower the temperature.

[0056] In conjunction with any embodiment of this application, the processing unit is further configured to: display at least one of the following: the first relationship, the second relationship, and the third relationship.

[0057] In conjunction with any embodiment of this application, the processing unit is further configured to:

[0058] Based on the third relationship, n target coverage rates are obtained, where n is a positive integer, and the target coverage rate is the ablation coverage rate that is greater than or equal to the second threshold.

[0059] Based on the n target coverage rates, n first positions are obtained. The target coverage rate among the n target coverage rates corresponds one-to-one with the first position among the n first positions. When the position of the second three-dimensional model is the first position, the ablation coverage rate is the target coverage rate.

[0060] Based on the n first positions, it is determined whether a reference region exists. The reference region includes t first positions, where t is greater than or equal to a third threshold, t is less than or equal to n, and the volume of the reference region is less than or equal to a fourth threshold.

[0061] In the presence of the reference region, a second position of the second three-dimensional model is obtained based on the t first positions, the second position indicating the position where the second three-dimensional model ablates the first three-dimensional model.

[0062] In conjunction with any embodiment of this application, the processing unit is further configured to:

[0063] Determine the center of the reference region;

[0064] The second position is obtained based on the position closest to the center of the reference region among the t first positions.

[0065] In conjunction with any embodiment of this application, the processing unit is further configured to:

[0066] In the absence of the reference region, determine the center position of the n first positions;

[0067] The second position is obtained based on the position closest to the center position among the n first positions.

[0068] In conjunction with any embodiment of this application, the processing unit is further configured to:

[0069] Based on the first relationship, a fourth relationship is determined, which is the relationship between ablation force and time. The ablation force includes the force generated by the second ablation energy, and the ablation force is used to destroy the area to be ablated.

[0070] The ablation simulation results are obtained based on the fourth relationship. The ablation simulation results include at least one of the following: whether the region to be ablated is eliminated and the time required for the region to be ablated to be eliminated.

[0071] Thirdly, a surgical robot is provided, including the ablation simulation device as described in the second aspect. In this third aspect, the surgical robot can perform ablation simulation methods through the ablation simulation device, thereby improving the accuracy of the ablation simulation results.

[0072] Fourthly, an electronic device is provided, comprising: a processor and a memory, the memory for storing computer program code, the computer program code including computer instructions, wherein, when the processor executes the computer instructions, the electronic device performs a method as described in the first aspect above and any possible implementation thereof.

[0073] Fifthly, another electronic device is provided, comprising: a processor, a transmitting device, an input device, an output device, and a memory, the memory being used to store computer program code, the computer program code including computer instructions, wherein, when the processor executes the computer instructions, the electronic device performs a method as described in the first aspect above and any possible implementation thereof.

[0074] In a sixth aspect, a computer-readable storage medium is provided, wherein a computer program is stored therein, the computer program including program instructions that, when executed by a processor, cause the processor to perform a method as described in the first aspect above and any possible implementation thereof.

[0075] In a seventh aspect, a computer program product is provided, the computer program product comprising a computer program or instructions, wherein, when the computer program or instructions are executed on a computer, the computer performs the method described in the first aspect and any possible implementation thereof.

[0076] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application. Attached Figure Description

[0077] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the embodiments of this application will be described below.

[0078] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the technical solutions of this application.

[0079] Figure 1 A flowchart illustrating an ablation simulation method provided in this application embodiment;

[0080] Figure 2 A schematic diagram of a two-dimensional computed tomography (CT) image provided for an embodiment of this application;

[0081] Figure 3 A schematic diagram of another two-dimensional CT image provided in an embodiment of this application;

[0082] Figure 4 A schematic diagram of yet another two-dimensional CT image provided in an embodiment of this application;

[0083] Figure 5 A schematic diagram of a first three-dimensional model provided in an embodiment of this application;

[0084] Figure 6 A flowchart illustrating another ablation simulation method provided in this application embodiment;

[0085] Figure 7 A schematic diagram of a cryoprobe provided in an embodiment of this application;

[0086] Figure 8 A schematic diagram of an ablation temperature field provided for an embodiment of this application;

[0087] Figure 9 A schematic diagram of another ablation temperature field provided for an embodiment of this application;

[0088] Figure 10 This is a schematic diagram of the structure of an ablation simulation device provided in an embodiment of this application;

[0089] Figure 11 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0090] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0091] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0092] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments. It should be understood that in this application, "at least one" means one or more, "more" means two or more, and "at least two" means two or three or more.

[0093] The execution subject of this application embodiment is an ablation simulation device, which can be any electronic device capable of executing the technical solutions disclosed in the method embodiments of this application. Optionally, the ablation simulation device can be one of the following: a computer, a server.

[0094] It should be understood that the method embodiments of this application can also be implemented by a processor executing computer program code. The embodiments of this application are described below with reference to the accompanying drawings. Please refer to... Figure 1 , Figure 1 This is a flowchart illustrating an ablation simulation method provided in an embodiment of this application.

[0095] 101. Obtain the first three-dimensional model of the target object and the second three-dimensional model of the ablation device.

[0096] In this embodiment, the target object can be a person. The ablation device is a device used to ablate the target object; an exemplary ablation device is a cryoprobe, which can be used to perform cryoablation on the target object.

[0097] The first three-dimensional model is a three-dimensional model of the target object. Optionally, the first three-dimensional model is a three-dimensional model constructed based on the size, shape, and relative positional relationship between multiple tissues in the target object. For example, the first three-dimensional model is a three-dimensional model constructed based on the lungs, diaphragm, and thoracic cavity of the target object.

[0098] In this embodiment of the application, the three-dimensional model (including the first three-dimensional model, the second three-dimensional model and the third three-dimensional model mentioned below) can be one of the following: triangular mesh model, computer-aided design (CAD) three-dimensional model, point cloud three-dimensional model.

[0099] In some schemes, the ablation simulation device acquires multiple two-dimensional images of the target object and then denoises these images. A three-dimensional reconstruction is then performed based on the denoised images to obtain a first three-dimensional model. Optionally, the two-dimensional images are two-dimensional CT images. Optionally, the first three-dimensional model has the same resolution in all three directions.

[0100] 102. Obtain the first characteristic of energy propagation of the first three-dimensional model and the second characteristic of the second three-dimensional model.

[0101] In this embodiment, the first characteristic is derived based on the characteristic of energy propagation from the target object. The second characteristic is derived based on the third characteristic of the ablation device generating first ablation energy, which includes energy used to ablate the target object.

[0102] In some embodiments, the ablation device is used to perform cryoablation on a target object. In this case, the first ablation energy includes energy for lowering the temperature. For example, the first ablation energy can lower the temperature of tissues within the target object, thereby destroying the tissues and achieving the effect of removing them. Optionally, the energy for lowering the temperature originates from a refrigerant. For example, the refrigerant includes at least one of the following: argon gas or liquid nitrogen. When the first ablation energy includes energy for lowering the temperature, the characteristic of energy propagation by the target object includes the characteristic of the target object propagating the energy for lowering the temperature. Accordingly, the first characteristic is obtained based on the characteristic of the target object propagating the energy for lowering the temperature. Optionally, the characteristic of the target object propagating the energy for lowering the temperature includes at least one of the following: the thermal conductivity of the target object, the specific heat capacity of the target object, the density of the target object, and the perfusion rate of blood within the target object. Optionally, the thermal conductivity of the target object is the thermal conductivity of the tissues within the target object, the specific heat capacity of the target object is the specific heat capacity of the tissues within the target object, and the density of the target object is the density of the tissues within the target object.

[0103] In other embodiments, the ablation device is used to thermally ablate the target object. In this case, the first ablation energy includes energy used to raise the temperature. For example, the first ablation energy can raise the temperature of the tissue within the target object, thereby destroying the tissue and achieving the effect of removing the tissue from the target object. Optionally, the first ablation energy includes thermal energy.

[0104] The third characteristic is the characteristic of the ablation device generating the first ablation energy. Optionally, the third characteristic includes at least one of the following: operating parameters of the ablation device, and the dimensions of the structure in the ablation device used to propagate the first ablation energy, wherein the operating parameters of the ablation device are related to the generation of the first ablation energy. For example, the first ablation energy includes energy for reducing temperature, and the operating parameters of the ablation device include a freezing temperature and a duration of temperature reduction, wherein the ablation device includes a freezing probe, which is a structure for propagating the first ablation energy, and the first ablation energy is emitted outward through the tip of the freezing probe. The freezing temperature is the temperature of the tip of the freezing probe in the ablation device. The dimensions of the structure used to propagate the first ablation energy include the diameter and length of the freezing probe.

[0105] 103. Based on the first characteristic, the second characteristic, the first three-dimensional model, and the second three-dimensional model, the ablation device is used to simulate the ablation of the target object, and the first ablation simulation result is obtained.

[0106] In step 103, the ablation simulation device, based on the second characteristic, can simulate the first ablation energy generated by the ablation device during the ablation of the target object. Specifically, based on the second characteristic, the ablation simulation device can cause the second three-dimensional model to generate a second ablation energy, which is used to simulate the first ablation energy. Based on the first characteristic, the ablation simulation device can simulate the propagation of the second ablation energy generated by the second three-dimensional model within the first three-dimensional model, thereby simulating the propagation of the first ablation energy within the target object. Therefore, by executing step 103, the ablation simulation device can simulate the ablation of the target object by the ablation device and obtain the first ablation simulation result.

[0107] Optionally, before executing step 103, the ablation simulation device also acquires a first relative positional relationship between the first three-dimensional model and the second three-dimensional model, wherein the first relative positional relationship is obtained based on a second relative positional relationship between the ablation device and the target object. During the execution of step 103, the ablation simulation device performs the following steps: based on the first characteristic, the second characteristic, the first three-dimensional model, the second three-dimensional model, and the first relative positional relationship, it simulates the ablation of the target object by the ablation device to obtain a first ablation simulation result.

[0108] exist Figure 1 In the ablation simulation method, after obtaining the first three-dimensional model of the target object, the second three-dimensional model of the ablation device, the first characteristic and the second characteristic, the ablation simulation device simulates the ablation of the target object by the ablation device based on the first characteristic, the second characteristic, the first three-dimensional model and the second three-dimensional model, and obtains the first ablation simulation result, which can improve the simulation accuracy and thus improve the accuracy of the first ablation simulation result.

[0109] As an optional implementation, the target object includes lung tissue. The first three-dimensional model is obtained by three-dimensional reconstruction based on two-dimensional images of the target object. In some embodiments, the first three-dimensional model is obtained by three-dimensional reconstruction based on multiple two-dimensional images of the target object; for example, the two-dimensional images are two-dimensional CT images obtained from a CT scan of the target object. Three-dimensional reconstruction based on multiple two-dimensional CT images yields a three-dimensional model of the target object (i.e., the first three-dimensional model). Optionally, when the target object includes lung tissue, the two-dimensional images include image regions corresponding to the lung tissue, and the first three-dimensional model always includes lung sub-models corresponding to the lung tissue.

[0110] For example, Figure 2 , Figure 3 , Figure 4 These are all schematic diagrams of a two-dimensional CT image provided in the embodiments of this application, wherein, Figure 2 The two-dimensional CT image shown is a cross-section of the lung tissue of the target object. Figure 3 The two-dimensional CT image shown is a coronal section of the lung tissue of the target object. Figure 4 The 2D CT image shown is the sagittal plane of the lung tissue of the target object. Through analysis... Figure 2 The two-dimensional CT image shown Figure 3 The two-dimensional CT image shown Figure 4 The two-dimensional CT image shown can be reconstructed into a three-dimensional model to obtain the first three-dimensional model.

[0111] For example, Figure 5 This is a schematic diagram of a first three-dimensional model provided in an embodiment of this application. Wherein, Figure 5 The first three-dimensional model shown is obtained by... Figure 2 The two-dimensional CT image shown Figure 3 The two-dimensional CT image shown Figure 4 The three-dimensional reconstruction is obtained from the two-dimensional CT image shown.

[0112] In this embodiment, before executing the step "simulating the ablation of the target object by the ablation device based on the first characteristic, the second characteristic, the first three-dimensional model, and the second three-dimensional model to obtain the first ablation simulation result," the ablation simulation device further performs the following steps: determining the lung tissue in the two-dimensional image to obtain a lung image region. Based on the pixel values ​​of the lung image region, determining the structural information of the lung tissue, wherein the structural information includes at least one of the following: information about air in the lung tissue, information about fluid in the lung tissue. Based on the structural information, adjusting the structure of the first three-dimensional model to obtain a third three-dimensional model. After obtaining the third three-dimensional model, during the execution of the step "simulating the ablation of the target object by the ablation device based on the first characteristic, the second characteristic, the first three-dimensional model, and the second three-dimensional model to obtain the first ablation simulation result," the ablation simulation device performs the following steps: simulating the ablation of the target object by the ablation device based on the first characteristic, the second characteristic, the second three-dimensional model, and the third three-dimensional model to obtain the first ablation simulation result.

[0113] Because lung tissue contains both air and fluid (exemplarily water), and the propagation capabilities of air and fluid for ablation differ, the ablation simulation device first determines the structural information of the lung tissue before simulating ablation. This structural information includes at least one of the following: information about the air within the lung tissue and information about the fluid within the lung tissue. Then, based on this structural information, the structure of the first three-dimensional model is adjusted to obtain a third three-dimensional model. This allows the third three-dimensional model to more accurately reflect the structure of the target object's lung tissue. Simulation is then performed based on the first characteristic, the second characteristic, the second three-dimensional model, and the third three-dimensional model to obtain the first ablation simulation result, which improves the accuracy of the simulation and, consequently, the accuracy of the first ablation simulation result.

[0114] Furthermore, since the larger the ratio of the volume of air in the lung tissue to the volume of fluid in the lung tissue, the larger the pixel value of the pixel corresponding to the lung tissue in the two-dimensional image, after determining the lung image region, the ablation simulation device uses the pixel value of the lung image region as a basis to determine the ratio of the volume of air in the lung tissue to the volume of fluid in the lung tissue. Therefore, based on the ratio of the volume of air in the lung tissue to the volume of fluid in the lung tissue, the structural information of the lung tissue can be determined.

[0115] As an optional implementation, determining the structural information of lung tissue based on pixel values ​​of a lung image region includes the following steps: determining a target ratio in the lung tissue corresponding to a pixel in the lung image region based on the pixel values ​​of pixels in the lung image region, wherein the target ratio is the ratio of air volume to liquid volume, and the pixel values ​​of pixels in the lung image region are negatively correlated with the target ratio. Structural information is obtained based on the target ratio.

[0116] As mentioned earlier, the larger the ratio of air volume to fluid volume in lung tissue, the larger the pixel value of the corresponding pixel in the two-dimensional image. The target ratio is the ratio of air volume to fluid volume in lung tissue. Therefore, the ablation simulation device determines the target ratio based on the pixel values ​​of pixels in the lung image region, following the principle that the target ratio is negatively correlated with the pixel values, thus improving the accuracy of the target ratio. Then, based on the target ratio, structural information is obtained, which further improves the accuracy of the structural information.

[0117] Optionally, when the structural information is obtained based on the target ratio, the ablation simulation device performs the following steps in the process of adjusting the structure of the first three-dimensional model based on the structural information to obtain the third three-dimensional model: adjusting the ratio of the volume of air in the first three-dimensional model to the volume of liquid in the first three-dimensional model based on the structural information to obtain the third three-dimensional model.

[0118] Optionally, the two-dimensional image is a two-dimensional CT image, where the pixel value of each pixel is its CT value, and the fluid in the lung tissue is water. Since air attenuates the X-rays produced during a CT scan more than water does, the larger the target ratio, the smaller the CT value of the pixel in the two-dimensional CT image. For example, the CT value of a pixel corresponding to air in a two-dimensional CT image is -1000 Henle units (HU), while the CT value of a pixel corresponding to water is 0. When a pixel in a two-dimensional CT image corresponds to a region that includes both air and water, the CT value of that pixel is between -1000 HU and 0, and the larger the ratio of the air volume to the water volume in the corresponding region, the smaller the CT value of that pixel.

[0119] As an optional implementation, the first ablation simulation result includes a first relationship, which is the relationship between temperature and time at different locations in the first three-dimensional model. Based on the first relationship, the temperature at each location in the first three-dimensional model at any given time can be determined.

[0120] In this embodiment, the ablation simulation device further performs the following steps: determining a second relationship based on a first relationship, wherein the second relationship is the relationship between the target area and time, and the target area is the region in the first three-dimensional model where the temperature is within a preset range. Determining a third relationship based on the second relationship, wherein the third relationship is the relationship between ablation coverage and time, and the ablation coverage is the ratio of the volume of the target area to the volume of the area to be ablated in the first three-dimensional model.

[0121] In this implementation, the target region in the first 3D model at any given time can be determined based on the second relationship. Therefore, after obtaining the second relationship, a third relationship can be determined based on the second relationship and the region to be ablated.

[0122] Optionally, if the temperature of the area to be ablated is within a preset range, the area to be ablated is destroyed. For example, the preset range is less than or equal to -40 degrees Celsius.

[0123] Optionally, the area to be ablated includes the area corresponding to the lesion. In some schemes, the ablation simulation device can determine the area to be ablated by detecting the lesion on a first three-dimensional model.

[0124] As an optional implementation, the ablation simulation device further performs the following steps: Based on the third relationship, n target coverage rates are obtained, where n is a positive integer, and the target coverage rate is an ablation coverage rate greater than or equal to a second threshold. Based on the n target coverage rates, n first positions are obtained, where each of the n target coverage rates corresponds one-to-one with a first position among the n first positions. When the position of the second three-dimensional model is a first position, the ablation coverage rate is the target coverage rate. Based on the n first positions, it is determined whether a reference region exists, where the reference region includes t first positions, where t is greater than or equal to a third threshold, t is less than or equal to n, and the volume of the reference region is less than or equal to a fourth threshold. If a reference region exists, based on the t first positions, a second position of the second three-dimensional model is obtained, where the second position indicates the position where the second three-dimensional model ablates the first three-dimensional model.

[0125] Because a higher ablation coverage rate increases the probability of eliminating the area to be ablated, in this implementation, the ablation simulation device first obtains n ablation coverage rates greater than or equal to a second threshold based on a third relationship; these are the n target coverage rates. In other words, when the second 3D model is located at the position corresponding to the target coverage rate, an ablation coverage rate greater than or equal to the second threshold indicates a higher probability of eliminating the area to be ablated. After determining the position corresponding to the target coverage rate, the ablation device can be navigated based on this position to ensure it is positioned correctly. This increases the probability of eliminating the area to be ablated within the target object when using the ablation device to ablate it.

[0126] However, in practical applications, during navigation of the ablation device based on the target coverage area, there can be a deviation between the actual location reached by the ablation device and the location corresponding to the target coverage area. For example, if the ablation device is connected to a robotic arm, controlling the movement of the robotic arm can move the ablation device towards the location corresponding to the target coverage area. However, due to control errors of the robotic arm, a deviation can easily occur between the actual location reached by the ablation device and the location corresponding to the target coverage area. Therefore, if the error tolerance of navigating the ablation device based on the location corresponding to the target coverage area is large, the probability of eliminating the area to be ablated within the target object can be increased.

[0127] Because the deviation between the actual location reached by the ablation device and the location corresponding to the target coverage is usually small, if there are many locations corresponding to the target coverage in a small area, then determining the navigation target of the ablation device based on that area can improve the error tolerance of navigating the ablation device.

[0128] Based on this, in this implementation, the ablation simulation device first obtains n first positions based on n target coverage rates. Then, based on the n first positions, it determines whether a reference region exists, where the reference region is a region that meets the following conditions: small volume and the presence of positions corresponding to a large number of target coverage rates. Specifically, the volume of the reference region is less than or equal to a fourth threshold, indicating that the volume of the reference region is small. The reference region includes t first positions, where t is greater than or equal to a third threshold, indicating that the reference region contains positions corresponding to a large number of target coverage rates. If a reference region exists, the second position of the second three-dimensional model is obtained based on the t first positions within the reference region. This improves the fault tolerance rate when navigating the ablation device based on the second position, thereby increasing the probability of eliminating the area to be ablated within the target object.

[0129] It should be understood that the second position indicates the location where the second 3D model ablates the first 3D model. Since the ablation of the second 3D model onto the first 3D model is a simulation of the ablation device's ablation of the target object, the second position can also indicate the location where the ablation device ablates the target object. In other words, before ablating the target object, the ablation device can be navigated based on the second position. For example, after obtaining the second position, the robotic arm is controlled to move the ablation device so that it reaches the location where the target object can be ablated.

[0130] As an optional implementation, obtaining the second position of the second three-dimensional model based on t first positions includes the following steps: determining the center of the reference region; and obtaining the second position based on the position closest to the center of the reference region among the t first positions. This improves the fault tolerance when navigating the ablation device based on the second position, thereby increasing the probability of eliminating the area to be ablated within the target object.

[0131] Optionally, the ablation simulation device may use the position closest to the center of the reference region among the t first positions as the second position.

[0132] As an optional implementation, after determining whether a reference region exists based on n first positions, the ablation simulation device further performs the following steps: If no reference region exists, determine the center position of the n first positions. Based on the position among the n first positions closest to the center position, obtain a second position. This improves the fault tolerance when navigating the ablation device based on the second position, thereby increasing the probability of eliminating the ablation region within the target object.

[0133] Optionally, the center position of the n first positions is the average of the n first positions. For example, the n first positions include first position p1 and first position p2, where the coordinates of first position p1 are (x1, y1, z1) and the coordinates of first position p2 are (x2, y2, z2). The coordinates of the center position of the n first positions are (x3, y3, z3), where x3 = (x1 + x2) / 2, y3 = (y1 + y2) / 2, and z3 = (z1 + z2) / 2.

[0134] Optionally, the ablation simulation device may use the center position of the n first positions as the third position.

[0135] As an optional implementation, the ablation simulation device further performs the following steps: determining a fourth relationship based on a first relationship, wherein the fourth relationship is the relationship between ablation force and time, the ablation force includes the force generated by a second ablation energy, the second ablation energy is used to simulate the first ablation energy, and the ablation force is used to destroy the region to be ablated. Obtaining ablation simulation results based on the fourth relationship, wherein the ablation simulation results include at least one of the following: whether the region to be ablated is eliminated, and the time required for the region to be eliminated.

[0136] Because when an ablation device ablates the area to be ablated on a target object, the initial ablation energy emitted by the device causes a temperature change in the area, which in turn generates a force to destroy it. This force can then eliminate the area. Therefore, the ablation force acting on the area can be determined based on its temperature. Thus, the ablation simulation device first determines the fourth relationship based on the first relationship, and then predicts whether the area to be ablated will be eliminated and the time required for elimination based on the fourth relationship. The ablation simulation results described above can then be obtained based on the fourth relationship.

[0137] Optionally, the ablation simulation device inputs the first relationship into the neural network to obtain the fourth relationship, wherein the neural network is used to obtain the relationship between the ablation force on the tissue and time based on the relationship between the tissue temperature and time.

[0138] As an optional implementation method, Figure 6 This is a flowchart illustrating another ablation simulation method provided in an embodiment of this application. Based on Figure 6 The process shown can be used for simulation before ablation surgery on the target object, and for preoperative planning based on the simulation process.

[0139] like Figure 6 As shown, the process begins by acquiring a two-dimensional CT image, specifically a two-dimensional CT image of the target object. Then, image preprocessing is performed on the two-dimensional CT image, including determining the pixel values. Image preprocessing includes resampling the two-dimensional CT image, denoising the image, determining the spacing between pixels, and determining the origin of the image coordinate system. Determining the pixel values ​​refers to determining the pixel value of each individual pixel in the two-dimensional CT image.

[0140] After image preprocessing of the 2D CT image, image segmentation can be performed on the preprocessed 2D CT image. Specifically, at least one of the following information from the image preprocessing is segmented: the upper lobe of the right lung, the middle lobe of the right lung, the lower lobe of the right lung, the upper lobe of the left lung, the middle lobe of the left lung, the lower lobe of the left lung, nodules in the lung tissue, arteries in the lung tissue, veins in the lung tissue, trachea in the lung tissue, the thoracic cavity of the target object, and the bones of the target object. Among these, nodules in the lung tissue are the areas to be ablated.

[0141] Then, based on the segmentation results and pixel values ​​of the 2D CT image, 3D reconstruction can be performed to obtain a third 3D model. Specifically, based on the pixel values ​​of the 2D CT image, the structural information of the lung tissue can be determined. Based on the segmentation results, 3D reconstruction can be performed to obtain a first 3D model. Then, based on the structural information of the lung tissue, the structure of the first 3D model can be adjusted to obtain the third 3D model.

[0142] Then, based on the third 3D model and the operating parameters of the ablation device, the ablation of the target object by the ablation device can be simulated. Specifically, based on the operating parameters of the ablation device, the second characteristics of the second 3D model can be determined. Optionally, the ablation device includes a cryoprobe, and the operating parameters of the ablation device include the position of the cryoprobe, the temperature of the tip of the cryoprobe, and the duration of cryotherapy by the cryoprobe. For example, Figure 7 This is a schematic diagram of a cryoprobe provided in an embodiment of this application. Figure 7 As shown, the tip of the cryoprobe is located near the center of the nodule in the lung tissue. Figure 7 The temperature of the tip of the cryoprobe can be set to -160 degrees Celsius, and the duration of cryoprobe freezing can be set to 15 minutes.

[0143] After obtaining the first characteristic and the second three-dimensional model, the ablation device can be used to simulate the ablation of the target object based on the first characteristic, the second characteristic, the second three-dimensional model and the third three-dimensional model to obtain the first ablation result.

[0144] During simulation, at least one of the following parameters for different tissues in the third 3D model can be determined based on the first characteristic: thermal conductivity, specific heat capacity, density, and blood perfusion rate within the tissue. For example, the density of blood tissue is 1060 kg / m³, the specific heat capacity of blood tissue is 3600 joules / kg Kelvin, the thermal conductivity of blood tissue is 0.55 watts / m Kelvin, and the blood perfusion coefficient is 0.5. As another example, the thermal conductivity of air is 0.02 watts / m Kelvin, the density of air is 1.2 kg / m³, the specific heat capacity of air is 1000 joules / kg Kelvin, and the blood perfusion coefficient of air is 0.

[0145] Optionally, the first ablation energy includes energy used to lower the temperature, i.e., the energy used by the ablation device to perform cryoablation. During the simulation, a Pennesian biological tissue heat conduction calculation model can be constructed based on the third three-dimensional model and the second characteristic. This model describes the heat propagation process in the tissue during cryoablation. Based on this model, the temperature change of the tissue within the target object during the ablation process can be simulated, thereby obtaining the first ablation result, including the first relationship.

[0146] After obtaining the first ablation result including the first relation, the simulation result of the ablation temperature field can be obtained based on the first relation. The simulation result of the ablation temperature field includes the isothermal region in the third three-dimensional model. For example, the simulation result of the ablation temperature field includes the 0 degree Celsius isothermal region, the -20 degree Celsius isothermal region, and the -40 degree Celsius isothermal region.

[0147] Please see Figure 8 , Figure 8This is a schematic diagram of an ablation temperature field provided in an embodiment of this application. Figure 8 In the image, the area to be ablated consists of nodules in the lung tissue. Figure 8 The isotherms at -40°C and -20°C are also shown. The temperature at any point within the -40°C isotherm is less than or equal to -40°C, and the temperature at any point within the -20°C isotherm is less than or equal to -20°C. Please refer to [link / reference]. Figure 9 , Figure 9 This is a schematic diagram of another ablation temperature field provided in an embodiment of this application. Figure 9 In the image, the area to be ablated consists of nodules in the lung tissue. Figure 9 The image also shows a cryogenic probe, an isotherm at -40 degrees Celsius, and an isotherm at -20 degrees Celsius.

[0148] After obtaining the simulation results of the ablation temperature field, the ablation coverage rate can be calculated based on these results. Specifically, a second relationship can be obtained based on the simulation results of the ablation temperature field, and a third relationship can be determined based on the second relationship, thereby calculating the ablation coverage rate. For example, the preset range is less than or equal to -40 degrees Celsius, meaning the target area is a region with a temperature less than or equal to -40 degrees Celsius. Therefore, the target area can be determined from the third 3D model based on the third relationship, and the ablation coverage rate can then be calculated.

[0149] After calculating the ablation coverage, the preoperative planning results can be displayed, which include at least one of the following: the first ablation result, the simulation result of the ablation temperature field, and the ablation coverage. Optionally, the preoperative planning results can be displayed in a two-dimensional and / or three-dimensional view to allow users to determine whether the preoperative planning results meet the requirements. If the preoperative planning results do not meet the requirements, the user can adjust the operating parameters of the ablation device and re-perform the simulation based on the adjusted operating parameters until the preoperative planning results meet the requirements. If the preoperative planning results meet the requirements, the preoperative planning ends.

[0150] Those skilled in the art will understand that, in the above-described method of the specific implementation, the order in which each step is written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0151] If the technical solution of this application involves personal information, the product using this technical solution has clearly informed the user of the personal information processing rules and obtained the user's voluntary consent before processing the personal information. If the technical solution of this application involves sensitive personal information, the product using this technical solution has obtained the user's separate consent before processing the sensitive personal information, and also meets the requirement of "express consent". For example, at personal information collection devices such as cameras, clear and prominent signs are set up to inform users that they have entered the scope of personal information collection and that personal information will be collected. If an individual voluntarily enters the collection scope, it is deemed that they have agreed to the collection of their personal information; or on the personal information processing device, while using clear signs / information to inform users of the personal information processing rules, authorization is obtained from the individual through pop-up information or by asking the individual to upload their personal information; wherein, personal information processing may include information such as the personal information processor, the purpose of personal information processing, the processing method, and the types of personal information processed.

[0152] The methods of the embodiments of this application have been described in detail above, and the apparatus of the embodiments of this application is provided below.

[0153] Please see Figure 10 , Figure 10 This is a schematic diagram of an ablation simulation device provided in an embodiment of this application. The ablation simulation device 1 includes: an acquisition unit 11 and a processing unit 12, wherein:

[0154] The acquisition unit 11 is used to acquire a first three-dimensional model of the target object and a second three-dimensional model of the ablation device, wherein the ablation device includes a device for ablating the target object;

[0155] The acquisition unit 11 is further configured to acquire a first characteristic of the energy propagation of the first three-dimensional model and a second characteristic of the second three-dimensional model. The first characteristic is obtained based on the energy propagation characteristics of the target object, and the second characteristic is obtained based on a third characteristic of the first ablation energy generated by the ablation device. The first ablation energy includes energy used to ablate the target object.

[0156] The processing unit 12 is used to simulate the ablation of the target object by the ablation device based on the first characteristic, the second characteristic, the first three-dimensional model and the second three-dimensional model, and to obtain the first ablation simulation result.

[0157] In any embodiment of this application, the target object includes lung tissue, and the first three-dimensional model is obtained by three-dimensional reconstruction based on a two-dimensional image of the target object;

[0158] The processing unit 12 is further configured to:

[0159] The lung image region is obtained by identifying the lung tissue in the two-dimensional image;

[0160] Based on the pixel values ​​of the lung image region, the structural information of the lung tissue is determined, and the structural information includes at least one of the following: information about air in the lung tissue and information about fluid in the lung tissue;

[0161] Based on the structural information, the structure of the first three-dimensional model is adjusted to obtain the third three-dimensional model;

[0162] Based on the first characteristic, the second characteristic, the second three-dimensional model, and the third three-dimensional model, the ablation device is used to simulate the ablation of the target object, and the first ablation simulation result is obtained.

[0163] In conjunction with any embodiment of this application, the processing unit 12 is further configured to:

[0164] Based on the pixel values ​​of the pixels in the lung image region, a target ratio is determined for the position in the lung tissue corresponding to the pixels in the lung image region. The target ratio is the ratio of the volume of air to the volume of liquid. The pixel values ​​of the pixels in the lung image region are negatively correlated with the target ratio.

[0165] The structural information is obtained based on the target ratio.

[0166] In any embodiment of this application, the first ablation simulation result includes a first relationship, which is the relationship between temperature and time at different locations in the first three-dimensional model;

[0167] The processing unit 12 is further configured to:

[0168] A second relationship is determined based on the first relationship. The second relationship is the relationship between the target region and time. The target region is the region in the first three-dimensional model where the temperature is within a preset range.

[0169] A third relationship is determined based on the second relationship. The third relationship is the relationship between ablation coverage and time. The ablation coverage is the ratio of the volume of the target region to the volume of the region to be ablated in the first three-dimensional model.

[0170] In conjunction with any embodiment of this application, the characteristics of the energy propagation in the target object include at least one of the following: the thermal conductivity of the tissue within the target object, the specific heat capacity of the tissue within the target object, the density of the tissue within the target object, and the blood perfusion rate within the target object. The first ablation energy includes energy used to lower the temperature.

[0171] In conjunction with any embodiment of this application, the processing unit 12 is further configured to: display at least one of the following: the first relationship, the second relationship, and the third relationship.

[0172] In conjunction with any embodiment of this application, the processing unit 12 is further configured to:

[0173] Based on the third relationship, n target coverage rates are obtained, where n is a positive integer, and the target coverage rate is the ablation coverage rate that is greater than or equal to the second threshold.

[0174] Based on the n target coverage rates, n first positions are obtained. The target coverage rate among the n target coverage rates corresponds one-to-one with the first position among the n first positions. When the position of the second three-dimensional model is the first position, the ablation coverage rate is the target coverage rate.

[0175] Based on the n first positions, it is determined whether a reference region exists. The reference region includes t first positions, where t is greater than or equal to a third threshold, t is less than or equal to n, and the volume of the reference region is less than or equal to a fourth threshold.

[0176] In the presence of the reference region, a second position of the second three-dimensional model is obtained based on the t first positions, the second position indicating the position where the second three-dimensional model ablates the first three-dimensional model.

[0177] In conjunction with any embodiment of this application, the processing unit 12 is further configured to:

[0178] Determine the center of the reference region;

[0179] The second position is obtained based on the position closest to the center of the reference region among the t first positions.

[0180] In conjunction with any embodiment of this application, the processing unit 12 is further configured to:

[0181] In the absence of the reference region, determine the center position of the n first positions;

[0182] The second position is obtained based on the position closest to the center position among the n first positions.

[0183] In conjunction with any embodiment of this application, the processing unit 12 is further configured to:

[0184] Based on the first relationship, a fourth relationship is determined, which is the relationship between ablation force and time. The ablation force includes the force generated by the second ablation energy, and the ablation force is used to destroy the area to be ablated.

[0185] The ablation simulation results are obtained based on the fourth relationship. The ablation simulation results include at least one of the following: whether the region to be ablated is eliminated and the time required for the region to be ablated to be eliminated.

[0186] In this embodiment of the application, after obtaining the first three-dimensional model of the target object, the second three-dimensional model of the ablation device, the first characteristic and the second characteristic, the ablation simulation device simulates the ablation of the target object by the ablation device based on the first characteristic, the second characteristic, the first three-dimensional model and the second three-dimensional model, and obtains the first ablation simulation result, which can improve the simulation accuracy and thus improve the accuracy of the first ablation simulation result.

[0187] In some embodiments, the functions or modules of the apparatus provided in this application can be used to perform the methods described in the above method embodiments. The specific implementation can be referred to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0188] Figure 11 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. The electronic device 2 includes a processor 21 and a memory 22. Optionally, the electronic device 2 also includes an input device 23 and an output device 24. The processor 21, memory 22, input device 23, and output device 24 are coupled together via connectors, which include various interfaces, transmission lines, or buses, etc., and are not limited in this embodiment. It should be understood that in the various embodiments of this application, coupling refers to mutual connection in a specific way, including direct connection or indirect connection through other devices, such as through various interfaces, transmission lines, buses, etc.

[0189] The processor 21 can be one or more graphics processing units (GPUs). If the processor 21 is a GPU, the GPU can be a single-core GPU or a multi-core GPU. Optionally, the processor 21 can be a processor group composed of multiple GPUs, with the multiple processors coupled to each other via one or more buses. Optionally, the processor can also be other types of processors, etc., which are not limited in this embodiment.

[0190] The memory 22 can be used to store computer program instructions, as well as various types of computer program code, including program code for executing the scheme of this application. Optionally, the memory includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM), which is used for related instructions and data.

[0191] Input device 23 is used to input data and / or signals, and output device 24 is used to output data and / or signals. Input device 23 and output device 24 can be independent devices or an integrated device.

[0192] It is understood that in this embodiment of the application, the memory 22 can be used not only to store related instructions, but also to store related data. For example, the memory 22 can be used to store the first three-dimensional model and the second three-dimensional model obtained through the input device 23, or the memory 22 can also be used to store the first ablation result obtained through the processor 21, etc. This embodiment of the application does not limit the specific data stored in the memory.

[0193] Understandable Figure 11 This is merely a simplified design of an electronic device. In practical applications, the electronic device may also include other necessary components, including, but not limited to, any number of input / output devices, processors, memories, etc., and all electronic devices that can implement the embodiments of this application are within the protection scope of this application.

[0194] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0195] Those skilled in the art will readily understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. Those skilled in the art will also readily understand that the various embodiments of this application have different focuses, and for the sake of convenience and brevity, the same or similar parts may not be repeated in different embodiments. Therefore, parts not described or not described in detail in one embodiment can be referred to the descriptions in other embodiments.

[0196] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0197] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0198] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0199] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., digital versatile discs (DVDs)), or semiconductor media (e.g., solid-state disks (SSDs)).

[0200] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. An ablation simulation method, characterized by, The method comprises: obtaining a first three-dimensional model of a target object, and a second three-dimensional model of an ablation device, the ablation device comprising a device for ablation of the target object; obtaining a first characteristic of energy propagation of the first three-dimensional model and a second characteristic of the second three-dimensional model, the first characteristic being based on a characteristic of energy propagation of the target object, and the second characteristic being based on a third characteristic of a first ablation energy generated by the ablation device, the first ablation energy comprising energy for ablation of the target object; based on the first characteristic, the second characteristic, the first three-dimensional model and the second three-dimensional model, simulating ablation of the target object by the ablation device to obtain a first ablation simulation result, the first ablation simulation result comprising a first relationship between temperature and time at different positions in the first three-dimensional model; determining a second relationship based on the first relationship, the second relationship being a relationship between a target region and time, the target region being a region in the first three-dimensional model where the temperature is within a preset range; determining a third relationship based on the second relationship, the third relationship being a relationship between ablation coverage and time, the ablation coverage being a ratio of a volume of the target region to a volume of a region to be ablated in the first three-dimensional model; based on the third relationship, obtaining n target coverages, n being a positive integer, the target coverage being the ablation coverage greater than or equal to a second threshold value; based on the n target coverages, obtaining n first positions, the target coverage in the n target coverages corresponding to the first position in the n first positions, in a case where a position of the second three-dimensional model is the first position, the ablation coverage is the target coverage; based on the n first positions, determining whether a reference region exists, the reference region comprising t first positions, t being greater than or equal to a third threshold value, t being less than or equal to n, a volume of the reference region being less than or equal to a fourth threshold value; in a case where the reference region exists, based on the t first positions, obtaining a second position of the second three-dimensional model, the second position indicating a position of the second three-dimensional model for ablation of the first three-dimensional model.

2. The method of claim 1, wherein, The target object comprises lung tissue, and the first three-dimensional model is obtained by three-dimensional reconstruction based on a two-dimensional image of the target object; before the step of simulating ablation of the target object by the ablation device based on the first characteristic, the second characteristic, the first three-dimensional model and the second three-dimensional model to obtain a first ablation simulation result, the method further comprises: determining a lung image region from the lung tissue in the two-dimensional image; based on a pixel value of the lung image region, determining structure information of the lung tissue, the structure information comprising at least one of the following: information of air in the lung tissue, information of liquid in the lung tissue; based on the structure information, adjusting a structure of the first three-dimensional model to obtain a third three-dimensional model; The ablation device is used to simulate the ablation of the target object based on the first characteristic, the second characteristic, the first three-dimensional model, and the second three-dimensional model to obtain a first ablation simulation result, including: Based on the first characteristic, the second characteristic, the second three-dimensional model, and the third three-dimensional model, the ablation device is used to simulate the ablation of the target object, and the first ablation simulation result is obtained.

3. The method of claim 2, wherein, Determining the structural information of the lung tissue based on the pixel values ​​of the lung image region includes: Based on the pixel values ​​of the pixels in the lung image region, a target ratio is determined for the position in the lung tissue corresponding to the pixels in the lung image region. The target ratio is the ratio of the volume of air to the volume of liquid. The pixel values ​​of the pixels in the lung image region are negatively correlated with the target ratio. The structural information is obtained based on the target ratio.

4. The method of claim 1, wherein, The step of obtaining the second position of the second three-dimensional model based on the t first positions includes: Determine the center of the reference region; The second position is obtained based on the position closest to the center of the reference region among the t first positions.

5. The method of claim 1, wherein, The method further includes: Based on the first relationship, a fourth relationship is determined, which is the relationship between ablation force and time. The ablation force includes the force generated by the second ablation energy, which is used to simulate the first ablation energy. The ablation force is used to destroy the area to be ablated. The ablation simulation results are obtained based on the fourth relationship. The ablation simulation results include at least one of the following: whether the region to be ablated is eliminated and the time required for the region to be ablated to be eliminated.

6. An ablation simulation device, characterized in that, The ablation simulation device includes: The acquisition unit is used to acquire a first three-dimensional model of the target object and a second three-dimensional model of the ablation device, wherein the ablation device includes a device for ablating the target object; The acquisition unit is further configured to acquire a first characteristic of the energy propagation of the first three-dimensional model and a second characteristic of the second three-dimensional model. The first characteristic is obtained based on the energy propagation characteristics of the target object, and the second characteristic is obtained based on a third characteristic of the first ablation energy generated by the ablation device. The first ablation energy includes energy used to ablate the target object. The processing unit is configured to simulate the ablation of the target object by the ablation device based on the first characteristic, the second characteristic, the first three-dimensional model, and the second three-dimensional model, and obtain a first ablation simulation result; the first ablation simulation result includes a first relationship, which is the relationship between temperature and time at different locations in the first three-dimensional model. The processing unit is further configured to determine a second relationship based on the first relationship, wherein the second relationship is the relationship between a target region and time, and the target region is a region in the first three-dimensional model whose temperature is within a preset range; The processing unit is further configured to determine a third relationship based on the second relationship, wherein the third relationship is the relationship between ablation coverage and time, and the ablation coverage is the ratio of the volume of the target region to the volume of the region to be ablated in the first three-dimensional model; The processing unit is further configured to obtain n target coverage rates based on the third relationship, where n is a positive integer and the target coverage rate is the ablation coverage rate that is greater than or equal to the second threshold. The processing unit is further configured to obtain n first positions based on the n target coverage rates, wherein the target coverage rate among the n target coverage rates corresponds one-to-one with the first position among the n first positions, and when the position of the second three-dimensional model is the first position, the ablation coverage rate is the target coverage rate; The processing unit is further configured to determine whether a reference region exists based on the n first positions, wherein the reference region includes t first positions, the t being greater than or equal to a third threshold, the t being less than or equal to the n, and the volume of the reference region being less than or equal to a fourth threshold; The processing unit is further configured to, in the presence of the reference region, obtain the second position of the second three-dimensional model based on the t first positions.

7. A surgical robot, characterised in that, Includes the ablation simulation device as described in claim 6.

8. An electronic device, comprising: include: A processor and a memory, the memory being used to store computer program code, the computer program code including computer instructions, wherein, when the processor executes the computer instructions, the electronic device performs the method as described in any one of claims 1 to 5.

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