Window energy emission precise control method of microwave ablation needle, microwave ablation needle and system

Abstract

According to the window energy emission accurate control method of the microwave ablation needle, the microwave ablation needle and the system, the control instruction and the closed-loop adjustment parameters of the anti-bending sleeve are determined based on the emission window length and in combination with the driving mechanism, the anti-bending sleeve is driven to move, the exposure length of the needle point of the ablation needle is matched with the window length, and the window energy emission accuracy is improved. The problems of friction and clamping stagnation during movement of the puncture tube are avoided through the driving mechanism, microwave power is synchronously adjusted on the basis of a pre-designed sleeve displacement-ablation field form corresponding model and the anti-bending sleeve displacement, it is guaranteed that tumor tissue is fully ablated, energy waste is avoided, and the service life of the puncture tube is prolonged. The real-time ablation effect is determined through the real-time image and the real-time temperature in the state forming process of the target ablation field, the displacement amount and the microwave power of the anti-bending sleeve are corrected in real time based on the real-time ablation effect, and the trend that ablation is not thorough or is about to be excessively ablated can be found in time through real-time image and real-time temperature monitoring.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of microwave ablation medical equipment, in particular to a window energy emission precision control method of a microwave ablation needle, a microwave ablation needle and a system. BACKGROUND

[0002] Microwave ablation technology is a minimally invasive tumor treatment method, and its core principle is to deliver microwave energy to target tumor tissue through a microwave ablation needle, so that the heat generated by the high-speed vibration of polar molecules in the tissue can achieve the coagulative necrosis of tumor cells; however, the existing microwave ablation needle has a significant technical defect: the length of the microwave emission window is fixedly designed, and cannot be physically adjusted according to the actual volume of the tumor and the surrounding anatomical structure; when facing a tumor with a small volume or a tumor adjacent to important nerves and blood vessels, the full-window emission of the fixed length can easily lead to excessive diffusion of microwave energy, causing excessive ablation damage to the surrounding normal tissue; at present, the industry can only indirectly control the ablation effect by adjusting the microwave emission power, and cannot fundamentally change the radiation range of the microwave energy, which is difficult to meet the clinical needs of precision medicine, in addition, the puncture adjustment structure of the existing ablation needle is prone to friction and jamming, and the microwave generating device and the puncture structure lack a cooperative control mechanism, which further affects the stability and precision of the ablation. SUMMARY

[0003] The present application provides a window energy emission precision control method of a microwave ablation needle, a microwave ablation needle and a system to solve the problems raised in the background art.

[0004] A window energy emission precision control method of a microwave ablation needle, comprising: S1: obtaining a medical image of a tumor region to be treated, determining a target ablation range based on the medical image, and determining an emission window length based on the target ablation range; S2: based on the emission window length, in combination with the driving mechanism, determining a control instruction for the anti-bending sleeve, driving the anti-bending sleeve to move, so that the length of the needle tip exposed matches the length of the window; S3: based on a pre-designed sleeve displacement- ablation field morphology corresponding model, based on the anti-bending sleeve displacement, synchronously adjusting the microwave power to obtain a target ablation field state; S4: during the formation of the target ablation field state, determining the real-time ablation effect through real-time imaging and real-time temperature, and based on the real-time ablation effect, real-time correcting the anti-bending sleeve displacement and the microwave power; S5: after completing the ablation, resetting the anti-bending sleeve and shielding the emission window.

[0005] Preferably, in the S1, a medical image of a tumor area to be treated is acquired, a target ablation range is determined based on the medical image, and a transmission window length is determined based on the target ablation range, including: After noise reduction and three-dimensional reconstruction processing of the medical image, a target image is obtained, and a tumor area, a tumor shape, a tumor boundary, and a positional relationship between the tumor and surrounding nerves and blood vessels are extracted from the target image; Based on the tumor area, the tumor shape, the tumor boundary, and the positional relationship between the tumor and surrounding nerves and blood vessels, a tumor contour and important structures are locked, and after the important structures are removed based on the tumor contour, a preset safety boundary is superimposed to obtain the target ablation range; Based on a pre-designed corresponding relationship between the ablation range and the window length, the transmission window length corresponding to the target ablation range is determined.

[0006] Preferably, in the S2, based on the transmission window length, a control instruction for the anti-bending cannula is determined in combination with the driving mechanism, including: A micro gap value between the anti-bending cannula and the ablation needle is acquired, and an included angle between a puncture path and a tumor center is determined from the medical image, a sum value between the transmission window length and the micro gap value is acquired, and a product of the sum value and a cosine value of the included angle is taken as an initial displacement; Based on the tissue characteristics of the target ablation range, in combination with the parameter characteristics of the anti-bending cannula and the driving mechanism, a puncture depth, a tumor tissue hardness, and a cannula surface friction coefficient of this ablation are determined, and a ratio of the puncture depth, the tumor tissue hardness, and the cannula surface friction coefficient to a standard puncture depth, a standard tumor tissue hardness, and a standard cannula surface friction coefficient is respectively taken as an index characteristic value, and a sum of products of all index characteristic values and corresponding preset index weights is taken as a load coefficient; Based on a preoperative environmental temperature before the ablation and a preset ablation time, a highest environmental temperature in the ablation process is predicted, and a temperature difference between the highest environmental temperature and the preoperative environmental temperature is acquired; Based on a product of a material thermal expansion coefficient of the anti-bending cannula, the initial displacement, and the temperature difference, a thermal expansion compensation amount is obtained; Based on a sum of the initial target displacement, a product of the initial displacement and the load coefficient, and the thermal expansion compensation amount, a target displacement is obtained; Based on the target displacement, in combination with the driving mechanism, a control instruction for the anti-bending cannula is determined.

[0007] Preferably, after the control instruction is obtained, the control instruction is adjusted in real time based on real-time environmental parameters obtained in the ablation process, including: A real-time electromagnetic interference force is obtained based on a microwave field intensity sensor attached to an inner wall of the anti-bending cannula, and a real-time contact resistance of the tumor tissue to the cannula is obtained based on a micro force feedback sensor arranged at a front end of the anti-bending cannula. The coupling interference force is calculated based on the real-time electromagnetic interference force, the electromagnetic interference coupling coefficient, the real-time contact resistance, and the mechanical resistance interference coupling coefficient; The real-time compensation amount is obtained based on the ratio of the coupling interference force and the stiffness characteristic of the driving mechanism; The control instruction is adjusted in real time based on the target displacement and the real-time compensation amount.

[0008] Preferably, in S3, the microwave power is synchronously adjusted based on the pre-designed sleeve displacement- ablation field pattern corresponding model based on the anti-bending sleeve displacement, to obtain a target ablation field state, including: Through simulation and ex vivo experiments, a quantitative mapping model of the anti-bending sleeve displacement and the ablation field pattern is established, and the microwave power corresponding to the ablation field pattern is obtained, to establish the sleeve displacement- ablation field pattern corresponding model; The anti-bending sleeve displacement is input into the sleeve displacement- ablation field pattern corresponding model, and the microwave power is output; The microwave power is synchronously adjusted based on the anti-bending sleeve displacement, to obtain a target ablation field state.

[0009] Preferably, in S4, during the formation of the target ablation field state, the real-time ablation effect is determined through real-time images and real-time temperature, and the anti-bending sleeve displacement and the microwave power are corrected in real time based on the real-time ablation effect, including: The actual contour area of the ablation region, the pattern similarity with the target ablation field state, the coverage ratio of the effective ablation temperature interval, and the number of temperature points exceeding the maximum temperature threshold are extracted from the real-time images and obtained based on the real-time temperature; The ablation effect quantitative value is calculated based on the actual contour area, the pattern similarity, the coverage ratio, and the number of temperature points; The ablation effect quantitative value is compared with the preset effect qualified threshold interval, and the power correction operation or the displacement correction operation is determined based on the comparison result; The temperature point deviation is obtained, and the temperature comprehensive deviation is obtained by using the weighted average method, the ablation region diffusion deviation is obtained, the ablation stage of the ablation process and the tumor tissue density are obtained, the ablation stage coefficient is determined based on the ablation stage, and the tissue type coefficient is determined based on the tumor tissue density; The temperature comprehensive deviation and the ablation region diffusion deviation are converted into language variables of fuzzy control, the fuzzy inference rule is obtained based on the dynamic matching of the ablation stage coefficient and the tissue type coefficient with the pre-designed fuzzy library rule, the language variables are inferred based on the fuzzy inference rule, and the power correction value is obtained; The boundary deviation is determined based on the difference between the actual contour area and the standard area of the target ablation field state, and the displacement correction value is calculated in combination with the stiffness characteristic of the anti-bending sleeve. The power correction rate and displacement correction rate are obtained under the power correction value and displacement correction value respectively. Based on the comparison result of the ratio of the power correction rate and displacement correction rate with the preset synchronization coefficient, the power correction value or displacement correction value is coordinated to obtain the final correction amount of the displacement of the anti-bending sleeve and the microwave power.

[0010] Preferably, the quantitative value of the ablation effect is calculated based on the actual contour area, morphological similarity, coverage ratio, and number of temperature points, specifically as follows: Obtain the area ratio of the actual contour area to the standard area, and use the product of the area ratio and the area weight as the first indicator value; The product of morphological similarity and morphological weight is used as the second index value; The product of coverage percentage and coverage weight is used as the third indicator value; The product of the number of temperature points and the temperature weight is used as the fourth index value; The ablation effect is quantified by subtracting the fourth indicator value from the sum of the first, second, and third indicator values.

[0011] Preferably, in step S5, after ablation is completed, the anti-bending sleeve is reset and the launch window is blocked, including: By reversing the action of the drive mechanism, the anti-bending sleeve is controlled to reset along the original path; The shielding component is moved to the launch window by an electromagnetic switch to provide cover.

[0012] A microwave ablation needle, comprising: The ablation needle body is equipped with a microwave transmitting antenna inside, and the output end of the microwave transmitting antenna extends to the tip of the ablation needle body to form a transmission window; Anti-bending sleeve: fitted over the outside of the ablation needle body; Drive mechanism: connected to the anti-bend sleeve, used to drive the anti-bend sleeve to move linearly along the axial direction of the ablation needle body; Positioning mechanism: includes a displacement sensor for real-time detection of the axial displacement of the anti-bending sleeve; Connection interface: Located at the tail of the ablation needle body, used for electrical connection with the microwave generation system.

[0013] A precise control system for window energy emission of a microwave ablation needle, comprising: The data analysis module is used to acquire medical images of the tumor area to be treated, determine the target ablation range based on the medical images, and determine the emission window length based on the target ablation range. The instruction drive module is used to determine the control command for the anti-bending sleeve based on the length of the emission window and in combination with the drive mechanism, and drive the anti-bending sleeve to move so that the exposed length of the ablation needle tip matches the length of the window. The ablation control module is used to synchronously adjust the microwave power based on the anti-bending sleeve displacement according to the pre-designed sleeve displacement-ablation field morphology model, so as to obtain the target ablation field state. The real-time correction module is used to determine the real-time ablation effect through real-time images and real-time temperature during the formation of the target ablation field, and to make real-time corrections to the displacement of the anti-bending sleeve and the microwave power based on the real-time ablation effect. The reset module is used to reset the anti-bending sleeve and block the launch window after ablation is completed.

[0014] Compared with the prior art, the present invention has achieved the following beneficial effects: By acquiring medical images of the tumor region to be treated, the target ablation area is determined based on the images. Then, the emission window length is determined based on the target ablation area, achieving precise quantification of ablation requirements. This ensures the emission window length is precisely matched to the tumor size and location, eliminating microwave energy diffusion caused by an excessively long window when treating small tumors or tumors near important tissues. This completely avoids damage to normal tissues from over-ablation. Based on the emission window length and combined with the drive mechanism, control commands and closed-loop adjustment parameters for the anti-bend sleeve are determined, driving the anti-bend sleeve to move so that the exposed length of the ablation needle tip matches the window length. The drive mechanism avoids the friction and jamming problems of traditional puncture tube movement, ensuring smooth and reliable movement of the anti-bend sleeve and guaranteeing the repeatability of the adjustment action. Based on a pre-designed model corresponding to the sleeve displacement and ablation field morphology, the microwave power is synchronously adjusted based on the anti-bend sleeve displacement. The system obtains the target ablation field state and links the window length with the microwave power to ensure they work in tandem with the target ablation field. This guarantees sufficient ablation of tumor tissue while avoiding energy waste. During the formation of the target ablation field state, real-time imaging and temperature are used to determine the real-time ablation effect. Based on the real-time ablation effect, the displacement of the anti-bend sleeve and the microwave power are adjusted in real time. Real-time imaging and temperature monitoring dynamically capture ablation progress, promptly identifying trends of incomplete or impending over-ablation. The real-time adjustment of the anti-bend sleeve displacement and microwave power based on the real-time ablation effect ensures the ablation process always closely matches the actual state of the tumor, avoiding tumor residue due to insufficient ablation and preventing damage to surrounding normal tissue due to energy overflow. This improves the safety and reliability of high-risk tumor treatment. After ablation, the anti-bend sleeve is reset and the emission window is blocked to ensure postoperative safety and improve equipment reusability and operational standardization.

[0015] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in this application.

[0016] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart illustrating a method for precise control of window energy emission from a microwave ablation needle according to an embodiment of the present invention; Figure 2 This is a flow diagram of a precise control system for window energy emission of a microwave ablation needle according to an embodiment of the present invention. Detailed Implementation

[0018] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0019] Example 1: This embodiment of the invention provides a method for precise control of window energy emission of a microwave ablation needle, such as... Figure 1 As shown, it includes: S1: Acquire medical images of the tumor region to be treated, determine the target ablation area based on the medical images, and determine the emission window length based on the target ablation area; S2: Based on the length of the emission window and in conjunction with the drive mechanism, determine the control command for the anti-bending sleeve, drive the anti-bending sleeve to move, so that the exposed length of the ablation needle tip matches the length of the window; S3: Based on the pre-designed sleeve displacement-ablation field morphology correspondence model, microwave power is synchronously adjusted based on the anti-bending sleeve displacement to obtain the target ablation field state. S4: During the formation of the target ablation field, the real-time ablation effect is determined by real-time images and real-time temperature, and the displacement of the anti-bending sleeve and microwave power are corrected in real time based on the real-time ablation effect. S5: After ablation is completed, the anti-bending sleeve is reset and the launch window is blocked.

[0020] In this embodiment, medical images are used to show the tumor's volume, shape, and the locational relationship of important neurovascular structures.

[0021] In this embodiment, the length of the emission window determines the exposed length of the ablation needle tip.

[0022] In this embodiment, the control command for the anti-bend sleeve is determined based on the length of the launch window.

[0023] In this embodiment, the microwave power is synchronously adjusted based on the displacement of the anti-bending sleeve, so that the microwave energy output matches the effective transmission window length, forming the target ablation field morphology.

[0024] The beneficial effects of the above design scheme are as follows: By acquiring medical images of the tumor area to be treated, the target ablation range is determined based on the medical images, and the emission window length is determined based on the target ablation range, achieving precise quantification of ablation requirements. This allows the emission window length to be precisely matched with the tumor size and location, eliminating microwave energy diffusion caused by excessively long windows when treating small tumors or tumors near important tissues, thus completely avoiding damage to normal tissues from excessive ablation. Based on the emission window length and combined with the drive mechanism, control commands and closed-loop adjustment parameters for the anti-bend sleeve are determined, driving the anti-bend sleeve to move so that the exposed length of the ablation needle tip matches the window length. Through the drive mechanism, the friction and jamming problems of traditional puncture tube movement are avoided, ensuring smooth and reliable movement of the anti-bend sleeve and guaranteeing the repeatability of the adjustment action. Based on the pre-designed sleeve displacement-ablation field morphology correspondence model, the microwave power is adjusted based on the anti-bend sleeve displacement. Synchronous adjustment is performed to obtain the target ablation field state. The window length and microwave power are linked to ensure that they are adapted to the target ablation field in a coordinated manner. This ensures that the tumor tissue is fully ablated while avoiding energy waste. During the formation of the target ablation field state, the real-time ablation effect is determined through real-time imaging and real-time temperature. Based on the real-time ablation effect, the displacement of the anti-bend sleeve and microwave power are corrected in real time. Through real-time imaging and real-time temperature monitoring, the ablation progress can be dynamically captured, and the trend of incomplete ablation or impending over-ablation can be detected in time. The real-time correction of the displacement of the anti-bend sleeve and microwave power based on the real-time ablation effect ensures that the ablation process always conforms to the actual state of the tumor. This avoids tumor residue due to insufficient ablation and prevents damage to surrounding normal tissue due to energy overflow, thus improving the safety and reliability of tumor treatment in high-risk sites. After the ablation is completed, the anti-bend sleeve is reset and the emission window is blocked to ensure postoperative safety and improve the reusability of the equipment and the standardization of operation.

[0025] Example 2: Based on Example 1, this embodiment of the invention provides a method for precise control of window energy emission of a microwave ablation needle. In step S1, medical images of the tumor region to be treated are acquired, the target ablation range is determined based on the medical images, and the emission window length is determined based on the target ablation range, including: After denoising and three-dimensional reconstruction of the medical image, the target image is obtained. The tumor area, tumor shape, tumor boundary and the positional relationship between the tumor and the surrounding nerves and blood vessels are extracted from the target image. Based on the tumor area, tumor shape, tumor boundary, and the positional relationship between the tumor and surrounding nerves and blood vessels, the tumor outline and important structures are locked. After removing important structures based on the tumor outline, a preset safety boundary is superimposed to obtain the target ablation range. Based on the pre-designed correspondence between ablation range and window length, the emission window length corresponding to the target ablation range is determined.

[0026] In this embodiment, the preset safety boundary is typically 5-10 mm, with the aim of avoiding tumor residue.

[0027] In this embodiment, the medical images are CT, MRI, or ultrasound images.

[0028] The beneficial effects of the above design scheme are: by acquiring medical images of the tumor area to be treated, the target ablation range is determined based on the medical images, and the length of the emission window is determined based on the target ablation range, so as to achieve precise quantification of ablation requirements and make the length of the emission window precisely match the size and location of the tumor. This eliminates the microwave energy diffusion caused by excessively long windows when treating small tumors or tumors near important tissues, and completely avoids damage to normal tissues caused by excessive ablation.

[0029] Example 3: Based on Example 1, this embodiment of the invention provides a method for precise control of window energy emission of a microwave ablation needle. In step S2, based on the emission window length and in conjunction with the drive mechanism, control commands for the anti-bending sleeve are determined, including: The minute gap value between the anti-bend sleeve and the ablation needle is obtained, and the angle between the puncture path and the tumor center is determined from the medical image. The sum of the emission window length and the minute gap value is obtained, and the product of the sum and the cosine of the angle is used as the initial displacement. Based on the tissue characteristics of the target ablation range, combined with the parameter characteristics of the anti-bending cannula and the drive mechanism, the puncture depth, tumor tissue hardness, and cannula surface friction coefficient of this ablation are determined. The ratios of the puncture depth, tumor tissue hardness, and cannula surface friction coefficient to the standard puncture depth, standard tumor tissue hardness, and standard cannula surface friction coefficient are obtained as indicator feature values. The sum of the products of all indicator feature values ​​and the corresponding preset indicator weights is used as the load coefficient. Based on the preoperative ambient temperature and preset ablation time, the highest ambient temperature during the ablation process is predicted, and the temperature difference between the highest ambient temperature and the preoperative ambient temperature is obtained. The thermal expansion compensation amount is obtained by multiplying the material thermal expansion coefficient, initial displacement and temperature difference of the anti-bend sleeve. The target displacement is obtained by summing the initial target displacement, the product of the initial displacement and the load coefficient, and the thermal expansion compensation amount. Based on the target displacement and in conjunction with the drive mechanism, control commands for the anti-bending sleeve are determined.

[0030] In this embodiment, the target displacement is the displacement that the anti-bending sleeve needs to move, and the movement is powered by a drive mechanism.

[0031] In this embodiment, the thermal expansion compensation is used to offset the thermal expansion and contraction deviation of the metal sleeve during the ablation process in advance.

[0032] In this embodiment, the minute gap between the anti-bending sleeve and the ablation needle is calibrated preoperatively using a laser micrometer.

[0033] In this embodiment, the load factor represents the displacement compensation ratio corresponding to the actual moving resistance.

[0034] In this embodiment, the preset index weights are pre-calibrated experimentally to ensure they are suitable for clinical scenarios.

[0035] In this embodiment, the micro-gap value and the angle between the puncture path and the tumor center are incorporated into the calculation of the initial target displacement to avoid the problem of mismatch between window length and displacement caused by mechanical errors.

[0036] In this embodiment, the standard puncture depth, standard tumor tissue hardness, and standard cannula surface friction coefficient are, for example, 5 cm, 200 HB, and 0.02.

[0037] The beneficial effects of the above design scheme are as follows: By obtaining the minute gap value between the anti-bend sleeve and the ablation needle, and determining the angle between the puncture path and the tumor center from medical images, the sum of the emission window length and the minute gap value is obtained. The product of the sum and the cosine of the angle is used as the initial displacement. This quantifies the space deviation caused by the assembly gap between the sleeve and the ablation needle, and the projection deviation of the displacement during non-perpendicular puncture, providing a precise benchmark for subsequent compensation. This avoids control deviations caused by unclear mechanical connections from the source. Based on the tissue characteristics of the target ablation range, combined with the parameter characteristics of the anti-bend sleeve and the drive mechanism, the puncture depth, tumor tissue hardness, and sleeve surface friction coefficient of this ablation are determined. The ratios of the puncture depth, tumor tissue hardness, and sleeve surface friction coefficient to the standard puncture depth, standard tumor tissue hardness, and standard sleeve surface friction coefficient are obtained as indicator feature values. The sum of the products of all indicator feature values ​​and the corresponding preset indicator weights is used as the load coefficient, realizing dynamic quantification of load intensity and providing an adaptability basis for subsequent compensation. This invention addresses the issue of insufficient cannula displacement caused by load fluctuations under different operating conditions, improves the adaptability of commands to complex clinical scenarios, and predicts the highest ambient temperature during ablation based on the preoperative ambient temperature and preset ablation time, obtaining the temperature difference between the highest ambient temperature and the preoperative ambient temperature. Based on the product of the thermal expansion coefficient of the anti-bend cannula material, the initial displacement, and the temperature difference, the thermal expansion compensation is obtained to preemptively offset the effects of thermal expansion and contraction of the metal cannula. This avoids the drift in the emission window length caused by axial expansion and contraction of the cannula during ablation, addressing the pain point of traditional solutions ignoring temperature interference, ensuring the stability of command execution under high-temperature conditions, and reducing the risk of over-ablation or under-ablation caused by thermal deformation. The target displacement is obtained by summing the initial target displacement, the product of the initial displacement and the load coefficient, and the thermal expansion compensation. Based on the target displacement and combined with the drive mechanism, the control command for the anti-bend cannula is determined, transforming the precise calculation after multi-dimensional compensation into mechanically executable commands, ensuring that the drive mechanism's actions are highly consistent with the target displacement.

[0038] Example 4: Based on Example 3, this embodiment of the invention provides a method for precise control of window energy emission of a microwave ablation needle. After receiving the control command, the control command is adjusted in real time based on the real-time environmental parameters obtained during the ablation process, including: The real-time electromagnetic interference force is obtained based on a microwave field strength sensor attached to the inner wall of the anti-bend sleeve, and the real-time contact resistance of the tumor tissue to the sleeve is obtained based on a miniature force feedback sensor set at the front end of the anti-bend sleeve. The coupled interference force is calculated based on the real-time electromagnetic interference force, electromagnetic interference coupling coefficient, real-time contact resistance, and mechanical resistance interference coupling coefficient. The real-time compensation amount is obtained based on the ratio of the coupled interference force to the stiffness characteristics of the drive mechanism. The control commands are adjusted in real time based on the target displacement and the real-time compensation amount.

[0039] In this embodiment, the drive mechanism is designed using a piezoelectric ceramic stack and a flexible hinge transmission.

[0040] In this embodiment, the stiffness characteristics, electromagnetic interference coupling coefficient, and mechanical resistance interference coupling coefficient of the drive mechanism are obtained in advance through experimental calibration. For example, the stiffness characteristics of the drive mechanism are 50 N / mm.

[0041] The beneficial effects of the above design scheme are as follows: Real-time electromagnetic interference force is obtained based on a microwave field strength sensor attached to the inner wall of the anti-bend sleeve; real-time contact resistance of tumor tissue to the sleeve is obtained based on a miniature force feedback sensor located at the front end of the anti-bend sleeve. This accurately captures the electromagnetic interference force and tissue contact resistance, solving the problem of difficulty in quantifying interference sources during ablation. A coupling coefficient is introduced to calculate the coupled interference force, considering the synergistic effect of electromagnetic and mechanical interference, avoiding compensation deviations caused by single interference analysis, and improving the comprehensiveness of interference assessment. Real-time compensation is obtained based on the ratio of the coupled interference force to the stiffness characteristics of the drive mechanism, allowing the compensation strategy to adapt to the mechanical performance of the equipment, ensuring the rationality and feasibility of the compensation amount, and avoiding over- or under-compensation. Real-time adjustment of control commands based on the target displacement and real-time compensation amount enables real-time calibration of the ablation path and force, offsetting the impact of interference on ablation accuracy, and improving surgical safety and tumor ablation effect.

[0042] Example 5: Based on Example 1, this embodiment of the invention provides a method for precise control of window energy emission of a microwave ablation needle. In step S3, based on a pre-designed sleeve displacement-ablation field morphology correspondence model, the microwave power is synchronously adjusted based on the anti-bending sleeve displacement to obtain the target ablation field state, including: Through simulation and in vitro experiments, a quantitative mapping model between the displacement of the anti-bending sleeve and the ablation field morphology was established, and the microwave power corresponding to the ablation field morphology was obtained, thus establishing a corresponding model of sleeve displacement and ablation field morphology. Input the anti-bending sleeve displacement into the sleeve displacement-ablation field morphology corresponding model, and output the microwave power. The microwave power is synchronously adjusted based on the displacement of the anti-bending sleeve to obtain the target ablation field state.

[0043] The beneficial effects of the above design scheme are: by using a pre-designed sleeve displacement-ablation field morphology correspondence model, the microwave power is synchronously adjusted based on the anti-bending sleeve displacement to obtain the target ablation field state. The window length and microwave power are linked to ensure that they work together to adapt to the target ablation field, which not only ensures that the tumor tissue is fully ablated, but also avoids energy waste.

[0044] Example 6: Based on Example 1, this embodiment of the invention provides a method for precise control of window energy emission of a microwave ablation needle. In step S4, during the formation of the target ablation field, the real-time ablation effect is determined through real-time images and real-time temperature. Based on the real-time ablation effect, the displacement of the anti-bending sleeve and the microwave power are corrected in real time, including: The actual contour area of ​​the ablation region and its morphological similarity to the target ablation field state are extracted from real-time images. The coverage ratio of the effective ablation temperature range and the number of temperature points exceeding the maximum temperature threshold are obtained based on real-time temperature. The ablation effect is quantified based on the actual contour area, morphological similarity, coverage ratio, and number of temperature points. The ablation effect quantification value is compared with a preset effect qualification threshold range, and based on the comparison result, it is determined whether to perform a power correction operation or a displacement correction operation. Temperature point deviation is obtained, and a weighted average method is used to obtain comprehensive temperature deviation. Ablation area diffusion deviation is also obtained. Ablation stage and tumor tissue density of the ablation process are obtained. Ablation stage coefficient is determined based on ablation stage, and tissue type coefficient is determined based on tumor tissue density. The temperature comprehensive deviation and ablation zone diffusion deviation are converted into linguistic variables for fuzzy control. Based on the ablation stage coefficient and tissue type coefficient, dynamic matching is performed with the pre-designed fuzzy library rules to obtain fuzzy inference rules. Based on the fuzzy inference rules, the linguistic variables are inferred to obtain the power correction value. Based on the difference between the actual contour area and the standard area of ​​the target ablation field, the boundary deviation is determined, and the displacement correction value is calculated by combining the stiffness characteristics of the anti-bending sleeve. The power correction rate and displacement correction rate are obtained under the power correction value and displacement correction value respectively. Based on the comparison result of the ratio of the power correction rate and displacement correction rate with the preset synchronization coefficient, the power correction value or displacement correction value is coordinated to obtain the final correction amount of the displacement of the anti-bending sleeve and the microwave power.

[0045] In this embodiment, if the power correction rate is too fast, the power adjustment is slowed down; or if the displacement correction rate is too slow, the displacement drive is accelerated.

[0046] In this embodiment, the linguistic variables are, for example, small deviation, medium deviation, and large deviation.

[0047] In this embodiment, when performing a correction operation, at least one of the following is performed each time: either a power correction operation or a displacement correction operation.

[0048] In this embodiment, the ablation stages are divided into an initial stage (focusing on rapid heating), a middle stage (focusing on stable expansion), and a later stage (focusing on avoiding excessive ablation), with corresponding ablation stage coefficients of 1.2, 1.0, and 0.8, respectively.

[0049] In this embodiment, the higher the tumor tissue density, the higher the corresponding tissue type coefficient.

[0050] In this embodiment, a diffusion deviation of the ablation region greater than zero indicates that the expansion is too fast, while a deviation less than zero indicates that the expansion is insufficient.

[0051] In this embodiment, the real-time temperature is obtained by collecting data from 16 feature points within the ablation area using eight fiber optic sensors arranged circumferentially around the sleeve.

[0052] In this embodiment, the displacement correction value is determined by dividing the product of the boundary deviation and the stiffness characteristics of the anti-bending sleeve by a preset tissue safety contact force threshold.

[0053] In this embodiment, the preset effective threshold range is E[0.92, 1.05]. When the ablation effect quantification value is not within this range, it is determined that there is an effect deviation. (1) If the ablation effect quantification value is <0.92 (insufficient effect), further judgment is made: if the coverage ratio is <0.7 and the temperature point deviation is generally low, the source is traced to insufficient microwave power; if the morphological similarity is <0.8 and the actual contour area is smaller than the standard area, the source is traced to the sleeve displacement not covering the target area; (2) If the ablation effect quantification value is >1.05 (over-ablation), if the number of temperature points is ≥3, the source is traced to excessive power; if the actual contour area is larger than the standard area and the coverage ratio is ≥0.9, the source is traced to excessive sleeve displacement.

[0054] The beneficial effects of the above design scheme are as follows: The actual contour area of ​​the ablation region and its morphological similarity to the target ablation field state are extracted from real-time images; the coverage ratio of the effective ablation temperature range and the number of temperature points exceeding the maximum temperature threshold are obtained based on real-time temperature, providing comprehensive and accurate raw data support for effect quantification; the ablation effect quantification value is calculated based on the actual contour area, morphological similarity, coverage ratio, and number of temperature points; the ablation effect quantification value is compared with a preset effect qualification threshold range; based on the comparison result, it is determined whether to perform a power correction operation or a displacement correction operation; the ablation effect quantification value is obtained by integrating multi-dimensional parameters; the correction type is screened by comparing with the qualification threshold to avoid blindly performing power or displacement correction; temperature point deviation is obtained, and a weighted average method is used to obtain the comprehensive temperature deviation; the ablation region diffusion deviation is obtained; the ablation stage and tumor tissue density of the ablation process are obtained; the ablation stage coefficient is determined based on the ablation stage; and the tumor tissue density coefficient is determined based on the tumor tissue density. The tissue type coefficient is determined; the temperature comprehensive deviation and ablation area diffusion deviation are converted into linguistic variables for fuzzy control. Based on the ablation stage coefficient and tissue type coefficient, dynamic matching with pre-designed fuzzy library rules is performed to obtain fuzzy inference rules. Based on the fuzzy inference rules, the linguistic variables are inferred to obtain the power correction value. The correction deviation caused by fixed rules is avoided, and the scene adaptability and accuracy of power correction are improved. The mechanical characteristics are adapted to ensure the safety of displacement correction: the displacement correction is calculated by combining the boundary deviation and the stiffness characteristics of the sleeve, so that the correction amount matches the mechanical performance of the equipment, avoiding damage to normal tissue due to excessive or too fast displacement, while ensuring the stability of the sleeve shape. The accuracy of displacement correction and surgical safety are taken into account. By comparing the power and displacement correction rate ratio and the preset synchronization coefficient, the correction amount is dynamically fine-tuned to ensure that the correction rhythm of the two is matched, avoiding the instability of the ablation field shape caused by the sudden change of a single variable, ensuring the stable formation of the target ablation field, and ultimately improving the tumor ablation effect and surgical safety.

[0055] Example 7: Based on Example 6, this embodiment of the invention provides a method for precise control of window energy emission of a microwave ablation needle. The method calculates a quantitative value of the ablation effect based on the actual contour area, morphological similarity, coverage ratio, and number of temperature points. Specifically: Obtain the area ratio of the actual contour area to the standard area, and use the product of the area ratio and the area weight as the first indicator value; The product of morphological similarity and morphological weight is used as the second index value; The product of coverage percentage and coverage weight is used as the third indicator value; The product of the number of temperature points and the temperature weight is used as the fourth index value; The ablation effect is quantified by subtracting the fourth indicator value from the sum of the first, second, and third indicator values.

[0056] The beneficial effects of the above design scheme are: by integrating multi-dimensional indicators through weighting, the weights of each parameter can be flexibly adapted according to clinical needs, ensuring that the quantitative results are consistent with the actual assessment focus; the introduction of negative correction for the number of overheating points avoids the risk of overheating being ignored, and provides an objective and comparable core basis for subsequent correction type determination, thereby improving decision-making efficiency and accuracy.

[0057] Example 8: Based on Example 1, this embodiment of the invention provides a method for precise control of window energy emission of a microwave ablation needle. In step S5, after ablation is completed, the anti-bending sleeve is reset and the emission window is blocked, including: By reversing the action of the drive mechanism, the anti-bending sleeve is controlled to reset along the original path; The shielding component is moved to the launch window by an electromagnetic switch to provide cover.

[0058] The beneficial effects of the above design scheme are: by resetting the anti-bending sleeve and blocking the emission window after ablation, postoperative safety is ensured, and the reusability of the equipment and the standardization of operation are improved.

[0059] Example 9: This embodiment of the invention provides a microwave ablation needle, comprising: The ablation needle body is equipped with a microwave transmitting antenna inside, and the output end of the microwave transmitting antenna extends to the tip of the ablation needle body to form a transmission window; Anti-bending sleeve: fitted over the outside of the ablation needle body; Drive mechanism: connected to the anti-bend sleeve, used to drive the anti-bend sleeve to move linearly along the axial direction of the ablation needle body; Positioning mechanism: includes a displacement sensor for real-time detection of the axial displacement of the anti-bending sleeve; Connection interface: Located at the tail of the ablation needle body, used for electrical connection with the microwave generation system.

[0060] In this embodiment, the anti-bend sleeve is made of microwave shielding material. As a microwave shielding structure, its axial length is greater than the maximum design length of the microwave emitting window, which is used to block the microwave emitting window to adjust the effective emitting area. The inner wall of the anti-bend sleeve is provided with an insulating heat dissipation coating to solve the problem of heat generation of the metal sleeve in the microwave field.

[0061] The beneficial effects of the above design scheme are: by dynamically adjusting the effective transmission window length through mechanical shielding, the precise control of the microwave ablation range and shape can be achieved, completely solving the problem of over-ablation caused by traditional fixed windows, which is especially suitable for ablation of small-volume tumors and tumors near important tissues; the anti-bending sleeve adopts microwave shielding material and is equipped with an insulating heat dissipation coating, which not only achieves reliable shielding, but also effectively solves the problem of heat generation of metal sleeves in microwave fields, improving equipment safety and service life.

[0062] Example 10: This embodiment of the invention provides a precise control system for the window energy emission of a microwave ablation needle, such as... Figure 2 As shown, it includes: The data analysis module is used to acquire medical images of the tumor area to be treated, determine the target ablation range based on the medical images, and determine the emission window length based on the target ablation range. The instruction drive module is used to determine the control command for the anti-bending sleeve based on the length of the emission window and in combination with the drive mechanism, and drive the anti-bending sleeve to move so that the exposed length of the ablation needle tip matches the length of the window. The ablation control module is used to synchronously adjust the microwave power based on the anti-bending sleeve displacement according to the pre-designed sleeve displacement-ablation field morphology model, so as to obtain the target ablation field state. The real-time correction module is used to determine the real-time ablation effect through real-time images and real-time temperature during the formation of the target ablation field, and to make real-time corrections to the displacement of the anti-bending sleeve and the microwave power based on the real-time ablation effect. The reset module is used to reset the anti-bending sleeve and block the launch window after ablation is completed.

[0063] In this embodiment, medical images are used to show the tumor's volume, shape, and the locational relationship of important neurovascular structures.

[0064] In this embodiment, the length of the emission window determines the exposed length of the ablation needle tip.

[0065] In this embodiment, the control command for the anti-bend sleeve is determined based on the length of the launch window.

[0066] In this embodiment, the microwave power is synchronously adjusted based on the displacement of the anti-bending sleeve, so that the microwave energy output matches the effective transmission window length, forming the target ablation field morphology.

[0067] The beneficial effects of the above design scheme are as follows: By acquiring medical images of the tumor area to be treated, the target ablation range is determined based on the medical images, and the emission window length is determined based on the target ablation range, achieving precise quantification of ablation requirements. This allows the emission window length to be precisely matched with the tumor size and location, eliminating microwave energy diffusion caused by excessively long windows when treating small tumors or tumors near important tissues, thus completely avoiding damage to normal tissues from excessive ablation. Based on the emission window length and combined with the drive mechanism, control commands and closed-loop adjustment parameters for the anti-bend sleeve are determined, driving the anti-bend sleeve to move so that the exposed length of the ablation needle tip matches the window length. Through the drive mechanism, the friction and jamming problems of traditional puncture tube movement are avoided, ensuring smooth and reliable movement of the anti-bend sleeve and guaranteeing the repeatability of the adjustment action. Based on the pre-designed sleeve displacement-ablation field morphology correspondence model, the microwave power is adjusted based on the anti-bend sleeve displacement. Synchronous adjustment is performed to obtain the target ablation field state. The window length and microwave power are linked to ensure that they are adapted to the target ablation field in a coordinated manner. This ensures that the tumor tissue is fully ablated while avoiding energy waste. During the formation of the target ablation field state, the real-time ablation effect is determined through real-time imaging and real-time temperature. Based on the real-time ablation effect, the displacement of the anti-bend sleeve and microwave power are corrected in real time. Through real-time imaging and real-time temperature monitoring, the ablation progress can be dynamically captured, and the trend of incomplete ablation or impending over-ablation can be detected in time. The real-time correction of the displacement of the anti-bend sleeve and microwave power based on the real-time ablation effect ensures that the ablation process always conforms to the actual state of the tumor. This avoids tumor residue due to insufficient ablation and prevents damage to surrounding normal tissue due to energy overflow, thus improving the safety and reliability of tumor treatment in high-risk sites. After the ablation is completed, the anti-bend sleeve is reset and the emission window is blocked to ensure postoperative safety and improve the reusability of the equipment and the standardization of operation.

[0068] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of this application and its equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for precise control of window energy emission from a microwave ablation needle, characterized in that, include: S1: Acquire medical images of the tumor region to be treated, determine the target ablation area based on the medical images, and determine the emission window length based on the target ablation area; S2: Based on the length of the emission window and in conjunction with the drive mechanism, determine the control command for the anti-bending sleeve, drive the anti-bending sleeve to move, so that the exposed length of the ablation needle tip matches the length of the window; S3: Based on the pre-designed sleeve displacement-ablation field morphology correspondence model, microwave power is synchronously adjusted based on the anti-bending sleeve displacement to obtain the target ablation field state. S4: During the formation of the target ablation field, the real-time ablation effect is determined by real-time images and real-time temperature, and the displacement of the anti-bending sleeve and microwave power are corrected in real time based on the real-time ablation effect. S5: After ablation is completed, the anti-bending sleeve is reset and the launch window is blocked.

2. The method for precise control of window energy emission of a microwave ablation needle according to claim 1, characterized in that, In step S1, medical images of the tumor region to be treated are acquired, the target ablation area is determined based on the medical images, and the emission window length is determined based on the target ablation area, including: After denoising and three-dimensional reconstruction of the medical image, the target image is obtained. The tumor area, tumor shape, tumor boundary and the positional relationship between the tumor and the surrounding nerves and blood vessels are extracted from the target image. Based on the tumor area, tumor shape, tumor boundary, and the positional relationship between the tumor and surrounding nerves and blood vessels, the tumor outline and important structures are locked. After removing important structures based on the tumor outline, a preset safety boundary is superimposed to obtain the target ablation range. Based on the pre-designed correspondence between ablation range and window length, the emission window length corresponding to the target ablation range is determined.

3. The method for precise control of window energy emission of a microwave ablation needle according to claim 1, characterized in that, In step S2, based on the launch window length and in conjunction with the drive mechanism, control commands for the anti-bending sleeve are determined, including: The minute gap value between the anti-bend sleeve and the ablation needle is obtained, and the angle between the puncture path and the tumor center is determined from the medical image. The sum of the emission window length and the minute gap value is obtained, and the product of the sum and the cosine of the angle is used as the initial displacement. Based on the tissue characteristics of the target ablation range, combined with the parameter characteristics of the anti-bending cannula and the drive mechanism, the puncture depth, tumor tissue hardness, and cannula surface friction coefficient of this ablation are determined. The ratios of the puncture depth, tumor tissue hardness, and cannula surface friction coefficient to the standard puncture depth, standard tumor tissue hardness, and standard cannula surface friction coefficient are obtained as indicator feature values. The sum of the products of all indicator feature values ​​and the corresponding preset indicator weights is used as the load coefficient. Based on the preoperative ambient temperature and preset ablation time, the highest ambient temperature during the ablation process is predicted, and the temperature difference between the highest ambient temperature and the preoperative ambient temperature is obtained. The thermal expansion compensation amount is obtained by multiplying the material thermal expansion coefficient, initial displacement and temperature difference of the anti-bend sleeve. The target displacement is obtained by summing the initial target displacement, the product of the initial displacement and the load coefficient, and the thermal expansion compensation amount. Based on the target displacement and in conjunction with the drive mechanism, control commands for the anti-bending sleeve are determined.

4. The method for precise control of window energy emission of a microwave ablation needle according to claim 3, characterized in that, After receiving the control command, the control command is adjusted in real time based on the real-time environmental parameters obtained during the ablation process, including: The real-time electromagnetic interference force is obtained based on a microwave field strength sensor attached to the inner wall of the anti-bend sleeve, and the real-time contact resistance of the tumor tissue to the sleeve is obtained based on a miniature force feedback sensor set at the front end of the anti-bend sleeve. The coupled interference force is calculated based on the real-time electromagnetic interference force, electromagnetic interference coupling coefficient, real-time contact resistance, and mechanical resistance interference coupling coefficient. The real-time compensation amount is obtained based on the ratio of the coupled interference force to the stiffness characteristics of the drive mechanism. The control commands are adjusted in real time based on the target displacement and the real-time compensation amount.

5. The method for precise control of window energy emission of a microwave ablation needle according to claim 1, characterized in that, In step S3, based on a pre-designed sleeve displacement-ablation field morphology correspondence model, the microwave power is synchronously adjusted based on the anti-bending sleeve displacement to obtain the target ablation field state, including: Through simulation and in vitro experiments, a quantitative mapping model between the displacement of the anti-bending sleeve and the ablation field morphology was established, and the microwave power corresponding to the ablation field morphology was obtained, thus establishing a corresponding model of sleeve displacement and ablation field morphology. Input the anti-bending sleeve displacement into the sleeve displacement-ablation field morphology corresponding model, and output the microwave power. The microwave power is synchronously adjusted based on the displacement of the anti-bending sleeve to obtain the target ablation field state.

6. The method for precise control of window energy emission of a microwave ablation needle according to claim 1, characterized in that, In step S4, during the formation of the target ablation field, the real-time ablation effect is determined through real-time imaging and real-time temperature. Based on the real-time ablation effect, the displacement of the anti-bending sleeve and the microwave power are corrected in real time, including: The actual contour area of ​​the ablation region and its morphological similarity to the target ablation field state are extracted from real-time images. The coverage ratio of the effective ablation temperature range and the number of temperature points exceeding the maximum temperature threshold are obtained based on real-time temperature. The ablation effect is quantified based on the actual contour area, morphological similarity, coverage ratio, and number of temperature points. The ablation effect quantification value is compared with a preset effect qualification threshold range, and based on the comparison result, it is determined whether to perform a power correction operation or a displacement correction operation. Temperature point deviation is obtained, and a weighted average method is used to obtain comprehensive temperature deviation. Ablation area diffusion deviation is also obtained. Ablation stage and tumor tissue density of the ablation process are obtained. Ablation stage coefficient is determined based on ablation stage, and tissue type coefficient is determined based on tumor tissue density. The temperature comprehensive deviation and ablation zone diffusion deviation are converted into linguistic variables for fuzzy control. Based on the ablation stage coefficient and tissue type coefficient, dynamic matching is performed with the pre-designed fuzzy library rules to obtain fuzzy inference rules. Based on the fuzzy inference rules, the linguistic variables are inferred to obtain the power correction value. Based on the difference between the actual contour area and the standard area of ​​the target ablation field, the boundary deviation is determined, and the displacement correction value is calculated by combining the stiffness characteristics of the anti-bending sleeve. The power correction rate and displacement correction rate are obtained under the power correction value and displacement correction value respectively. Based on the comparison result of the ratio of the power correction rate and displacement correction rate with the preset synchronization coefficient, the power correction value or displacement correction value is coordinated to obtain the final correction amount of the displacement of the anti-bending sleeve and the microwave power.

7. The method for precise control of window energy emission of a microwave ablation needle according to claim 6, characterized in that, The ablation effect is quantified based on the actual contour area, morphological similarity, coverage ratio, and number of temperature points. Obtain the area ratio of the actual contour area to the standard area, and use the product of the area ratio and the area weight as the first indicator value; The product of morphological similarity and morphological weight is used as the second index value; The product of coverage percentage and coverage weight is used as the third indicator value; The product of the number of temperature points and the temperature weight is used as the fourth index value; The ablation effect is quantified by subtracting the fourth indicator value from the sum of the first, second, and third indicator values.

8. The method for precise control of window energy emission of a microwave ablation needle according to claim 1, characterized in that, In step S5, after ablation is completed, the anti-bending sleeve is reset and the launch window is blocked, including: By reversing the action of the drive mechanism, the anti-bending sleeve is controlled to reset along the original path; The shielding component is moved to the launch window by an electromagnetic switch to provide cover.

9. A microwave ablation needle, specifically used in the window energy emission precision control method as described in claim 1, characterized in that, include: The ablation needle body is equipped with a microwave transmitting antenna inside, and the output end of the microwave transmitting antenna extends to the tip of the ablation needle body to form a transmission window; Anti-bending sleeve: fitted over the outside of the ablation needle body; Drive mechanism: connected to the anti-bend sleeve, used to drive the anti-bend sleeve to move linearly along the axial direction of the ablation needle body; Positioning mechanism: includes a displacement sensor for real-time detection of the axial displacement of the anti-bending sleeve; Connection interface: Located at the tail of the ablation needle body, used for electrical connection with the microwave generation system.

10. A precise control system for window energy emission of a microwave ablation needle, specifically used to implement the precise control method for window energy emission as described in claim 1, characterized in that, include: The data analysis module is used to acquire medical images of the tumor area to be treated, determine the target ablation range based on the medical images, and determine the emission window length based on the target ablation range. The instruction drive module is used to determine the control command for the anti-bending sleeve based on the length of the emission window and in combination with the drive mechanism, and drive the anti-bending sleeve to move so that the exposed length of the ablation needle tip matches the length of the window. The ablation control module is used to synchronously adjust the microwave power based on the anti-bending sleeve displacement according to the pre-designed sleeve displacement-ablation field morphology model, so as to obtain the target ablation field state. The real-time correction module is used to determine the real-time ablation effect through real-time images and real-time temperature during the formation of the target ablation field, and to make real-time corrections to the displacement of the anti-bending sleeve and the microwave power based on the real-time ablation effect. The reset module is used to reset the anti-bending sleeve and block the launch window after ablation is completed.

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