Ablation range visualization method, device, medium and program product
By constructing a pre-defined ablation model and using a positioning device, real-time visualization of the ablation range and precise path planning are achieved, solving the problems of incomplete tumor coverage and damage to normal tissue during ablation surgery, and improving the visualization and safety of the surgery.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- PEOPLES HOSPITAL PEKING UNIV
- Filing Date
- 2026-02-13
- Publication Date
- 2026-04-17
AI Technical Summary
Current ablation procedures lack real-time visualization of the ablation range, have poor matching between needle insertion path planning and ablation effect, rely on experience for intraoperative adjustments and have high radiation risks, resulting in incomplete tumor coverage or damage to normal tissue.
By establishing a preset ablation model, an isotherm model is constructed based on the type of ablation needle, temperature, and time, and the ablation range is tracked in real time. Combined with a positioning device and a navigation system, the ablation path can be accurately planned and visualized.
It improves the precision of ablation surgery, avoids damage to normal tissues caused by reliance on experience, ensures complete tumor coverage, and reduces radiation risks.
Smart Images
Figure CN121867922A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of intelligent assisted medical care, and more specifically, to a method, device, medium, and procedure for visualizing the ablation range. Background Technology
[0002] Tumor ablation, as an important means of minimally invasive tumor treatment, has been widely used in clinical practice. It uses physical or chemical methods to induce coagulative necrosis of tumor tissue, achieving local tumor control. Currently, techniques such as radiofrequency ablation, microwave ablation, and cryoablation have achieved significant results in the treatment of various solid tumors, including liver cancer, lung cancer, and bone tumors. However, the success of ablation surgery highly depends on the precise control of the ablation area—completely covering the tumor target for radical cure while avoiding damage to surrounding sensitive tissues (such as blood vessels, nerves, and bile ducts) and vital organs. This places extremely high demands on the controllability and visualization of the procedure. In clinical practice, ablation surgery is usually performed under image guidance, with common guidance methods including ultrasound, CT, or MRI. Among these, intraoperative X-ray computed tomography (CT) is widely used for puncture path planning and monitoring of the ablation process because it can provide high-resolution three-dimensional anatomical information.
[0003] However, existing technologies still have the following key problems: insufficient real-time visualization of the ablation range, poor matching between needle insertion path planning and ablation effect, and intraoperative adjustments relying on experience with high radiation risks. When the initial path deviates due to the patient's breathing, positional changes, or tissue deformation, the doctor needs to repeatedly adjust the needle insertion position and replan the ablation parameters, a process highly dependent on the operator's experience. Furthermore, the energy transfer efficiency varies significantly among different tissue types (such as hard bone and soft bone) and different ablation types (such as thermal ablation and cryoablation), and the pre-designed path may result in incomplete tumor coverage or damage to normal tissue due to deviations in the actual ablation range. Summary of the Invention
[0004] The method of this invention can visualize the ablation surgical path in real time and can fully consider different ablation surgical scenarios to avoid over-reliance on doctors' personal experience and damage to the patient's normal tissues, thereby better performing intelligent assisted medical care.
[0005] The first aspect of this invention discloses a method for visualizing the ablation range, the method comprising: Receive intraoperative images acquired for the target tumor; the intraoperative images include images of the ablation needle after insertion and the target tumor. Based on the target tumor image, a preset ablation model matching the target tumor range is extracted. The preset ablation model includes ablation ranges with different temperatures, different ablation times, and different ablation needle types, which can characterize the variation of ablation time and ablation range at different temperatures. Extract the preoperative operation parameters of the matched preset ablation model, and determine the ablation path of the ablation needle based on the preoperative operation parameters.
[0006] In some embodiments, the preset ablation model is obtained based on the ablation needle type, ablation time, and a first temperature, including: Establish a rectangular coordinate system with the needle axis of the ablation needle as the cross-section, the needle tip as the origin, and the needle axis as the first coordinate axis; in the rectangular coordinate system, the geometric symmetry direction of the ablation needle is consistent with the coordinate axis; Obtain the coordinates of each temperature measuring point in a Cartesian coordinate system under a temperature measuring matrix formed by at least two temperature measuring needles parallel to the ablation needle; Based on the first temperature T, the ablation time t, and the coordinates of the temperature measurement point, a function Ti(t, x, y) is constructed to obtain the isotherm model, which is the preset ablation model. Optionally, the matching principle extracted from the preset ablation model that matches the target tumor image includes: comparing the first boundary of the ablation range in the preset ablation model with the second boundary of the target tumor image range; when the straight-line distance between the first boundary and the second boundary is less than the first threshold, a matching success message is sent. Optionally, the first boundary is the long axis or short axis of the ablation range, and the second boundary is the long axis or short axis of the target tumor imaging range; Optionally, the first temperature includes: 0 degrees Celsius, -20 degrees Celsius, and -40 degrees Celsius; Optionally, the ablation time includes 10 minutes, 15 minutes, and 20 minutes.
[0007] Optionally, the first threshold is determined based on the richness of blood supply to the tumor.
[0008] In some embodiments, the preset ablation model is constructed at a second temperature, the second temperature including 36.5-37.5 degrees Celsius, preferably 37 degrees Celsius.
[0009] In some embodiments, the method for constructing the preset ablation model further includes: For the first biological tissue, the procedures of cryoablation, thermal ablation and cryoablation were executed sequentially to obtain the size and shape of the ablation range at different ablation times, and the first isotherm model was constructed. For the second biological tissue, the procedures of cryoablation, thermal ablation, and cryoablation were executed sequentially to obtain the estimated size and shape of the ablation range at different ablation times, and a second isotherm model was constructed. The preset ablation model is obtained by fitting the first isotherm model and the second isotherm model.
[0010] In some embodiments, the ablation range refers to the range radiating from the center to the periphery, with the center having the lowest temperature and the periphery having the same temperature as the surrounding tissue.
[0011] In some embodiments, the method further includes: fixing and positioning the ablation needle using a positioning device based on the needle insertion point and the insertion path of the needle insertion point; the positioning device includes: The tracer is configured to be detachably mounted on the operating handle of the ablation needle, and the reference frame is provided with a first optical marker ball or reflective marker for identification and tracking by the optical tracking camera of the navigation system; A reference frame is configured to be fixed to the patient's body surface or bony landmarks during surgery, and the fixing structure is provided with a second optical marker ball or reflective marker to establish the association between the patient's coordinate system and the navigation system's coordinate system; The tracer is fixed to the ablation needle, and the position and angle changes of the tracer and the reference frame are tracked in real time to adjust the position of the ablation needle; the ablation needle is inserted based on the needle inlet and the access path, and the arrival position of the ablation needle is determined on the three-dimensional medical image.
[0012] In some embodiments, the ablation procedure further includes path planning, which includes preoperative planning and intraoperative planning; the preoperative planning refers to determining the access path through the needle insertion point and the tumor target point before the start of the procedure; the intraoperative planning refers to correcting errors and precisely ablating the tumor by using the positioning device when the surgical fixation position is deviated due to external force or self-force on the patient; and / or the tumor includes bone tumors, lung tumors, brain tumors, liver tumors, and kidney tumors; the bone tumor includes hard bone tumors and soft bone tumors.
[0013] A second aspect of the present invention discloses a device for planning tumor ablation surgical paths with visualization of ablation range, the device comprising: a memory and a processor; The memory is used to store program instructions; The processor is used to call program instructions, and when the program instructions are executed, the method steps for visualizing the ablation range are implemented.
[0014] A third aspect of the present invention discloses a computer-readable storage medium including a computer program, which, when executed by a processor, implements method steps for visualizing the ablation range.
[0015] Advantages of this invention: 1. To address the issue that in actual ablation surgery, only the 0°C isotherm (e.g., ice ball) can be seen intraoperatively, while the -20°C and -40°C isotherms are not visible, making it impossible to track the real-time ablation range and potentially leading to incomplete tumor coverage of the pre-designed ablation path, this application proposes establishing pre-defined ablation models based on different ablation needle types, temperatures, and times before surgery. A pre-experimental boundary is set as the maximum threshold boundary of the actual boundary. This allows the operator to match the target tumor image size with the pre-defined ablation model during actual surgery, thereby determining the optimal ablation path. The intraoperative operating parameters are then determined based on the pre-operative operating parameters of the pre-defined ablation model corresponding to this optimal ablation path.
[0016] 2. In response to the common problem in existing technologies where the use of ablation needles with the same ablation range leads to incomplete ablation or damage to normal tissue, this invention constructs a pre-defined ablation model to obtain the ablation range, and then compares it with the ablation needle position and ablation range displayed in real time during the procedure. Since the actual operating parameters during the procedure are determined by the pre-defined ablation model, the pre-test boundary determined by the pre-defined ablation model can be used as the maximum threshold boundary. This effectively avoids the ablation needle damaging surrounding normal tissue cells during the ablation procedure. It also effectively solves the problem that the real-time temperature of the tumor and surrounding normal tissue cannot be determined due to the uncertainty and lack of visualization of the cold and hot ablation range, which can easily lead to insufficient tumor inactivation or damage to normal tissue.
[0017] In practical use, this application has two scenarios: Scenario 1 is: When selecting a pre-defined ablation model that matches the size of the target tumor, it is not limited by the type of ablation needle, but can be chosen from the currently determined 3 The ablation range determined by the 5 preset ablation models is selected as the best-matched preset ablation model.
[0018] Scenario 2 is as follows: When limited by the actual availability of ablation needle types in clinical practice, the ablation needle type can be determined first. When selecting a pre-defined ablation model that matches the extent of the target tumor, only the 1 ablation needle already determined under that ablation needle type can be used. The ablation range determined by the three preset ablation models is selected as the best-matched preset ablation model. Attached Figure Description
[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0020] Figure 1 This is a schematic flowchart of the method for visualizing the ablation range provided in an embodiment of the present invention; Figure 2 This is a schematic flowchart of the ablation surgery navigation system provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the real-time navigation window for ablation surgery provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the gelatin ablation range provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the freezing temperature parameters for performing ablation surgery on a pig's leg using the RBL20 ablation needle provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the computing device for the method of visualizing the ablation range provided in an embodiment of the present invention. Detailed Implementation
[0021] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.
[0022] In some of the processes described in the specification, claims, and accompanying drawings of this invention, multiple operations appear in a specific order. However, it should be clearly understood that these operations may not be performed in the order they appear herein, or they may be performed in parallel. The operation numbers, such as S1, S2, etc., are merely used to distinguish different operations and do not themselves represent any execution order. Furthermore, these processes may include more or fewer operations, and these operations may be performed sequentially or in parallel.
[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0024] Figure 1 This is a schematic flowchart of the method for visualizing the ablation range provided in an embodiment of the present invention, specifically including the following steps: S1: Receive intraoperative images acquired for the target tumor; the intraoperative images include images of the target tumor. S2: Based on the target tumor image, extract a preset ablation model that matches the target tumor range. The preset ablation model includes ablation ranges with different temperatures, different ablation times, and different ablation needle types, and can characterize the variation of ablation time and ablation range at different temperatures. In some embodiments, the preset ablation model is obtained based on the ablation needle type, ablation time, and a first temperature, including: Establish a rectangular coordinate system with the needle axis of the ablation needle as the cross-section, the needle tip as the origin, and the needle axis as the first coordinate axis; in the rectangular coordinate system, the geometric symmetry direction of the ablation needle (such as the normal of the needle sheath shape and the symmetry line of the flow channel) is consistent with the coordinate axis; Obtain the coordinates of each temperature measuring point in a Cartesian coordinate system under a temperature measuring matrix formed by at least two temperature measuring needles parallel to the ablation needle; Based on the first temperature T, the ablation time t, and the coordinates of the temperature measurement point, a function Ti(t, x, y) is constructed to obtain the isotherm model, which is the preset ablation model.
[0025] In some embodiments, the matching principle in a preset ablation model that matches the target tumor image range includes: comparing a first boundary of the ablation range in the preset ablation model with a second boundary of the target tumor image range; when the straight-line distance between the first boundary and the second boundary is less than a first threshold, a matching success message is issued; the first threshold is determined based on the richness of blood supply to the tumor. Generally, a rich blood supply (higher tumor temperature) results in a smaller ablation range; a poor blood supply results in a larger ablation range. The preset ablation model is a model based on a -40°C isotherm.
[0026] In some embodiments, the first boundary is the long axis or short axis of the ablation range, and the second boundary is the long axis or short axis of the target tumor image range; Optionally, the first temperature includes: 0 degrees Celsius, -20 degrees Celsius, and -40 degrees Celsius; Optionally, the ablation time includes 10 minutes, 15 minutes, and 20 minutes.
[0027] In some embodiments, the preset ablation model is constructed at a second temperature, the second temperature including 36.5-37.5 degrees Celsius, preferably 37 degrees Celsius.
[0028] In some embodiments, the method for constructing the preset ablation model further includes: For the first biological tissue, the procedures of cryoablation, thermal ablation and cryoablation were executed sequentially to obtain the size and shape of the ablation range at different ablation times, and the first isotherm model was constructed. For the second biological tissue, the procedures of cryoablation, thermal ablation, and cryoablation were executed sequentially to obtain the estimated size and shape of the ablation range at different ablation times, and a second isotherm model was constructed. The preset ablation model is obtained by fitting the first isotherm model and the second isotherm model.
[0029] S3: Extract the preoperative operation parameters of the matched preset ablation model, and determine the actual ablation parameters during the operation based on the preoperative operation parameters. The actual ablation parameters during the operation include the ablation needle type, ablation time, and ablation temperature.
[0030] Since real-time imaging range cannot be obtained during surgery, we assume a pre-experimental boundary of 2. 3. Use the pre-experiment boundary as the true boundary threshold. During the procedure, only the 0°C isotherm (e.g., ice hockey) is visible, not the -40°C ablation isotherm. The pre-set 0°C isotherm is visible intraoperatively, and its coverage relationship with the tumor is clearly defined using the orthopedic navigation surgical system. Specifically, the ablation needle is fixed using a tracer, and both the ablation needle and the planned ablation area are visualized in the navigation system; a patient model is created intraoperatively, containing the tumor area; the tumor area, ablation needle, and planned ablation area are matched within the navigation system; if the -40°C isotherm and tumor area do not match, the most suitable isotherm is selected from multiple isotherms to match the tumor area; the pre-determined operating parameters are then used to perform the procedure.
[0031] In some embodiments, the ablation range refers to the range radiating from the center to the periphery, with the center having the lowest temperature and the periphery having the same temperature as the surrounding tissue.
[0032] The specific construction process of the preset ablation model includes: (1) Preparation of experimental animals The experimental animal (pig) was anesthetized and its body temperature was maintained at 37 degrees Celsius.
[0033] Animal experiments selected abdominal, leg, and back muscles as test sites.
[0034] Pre-cooling and leakage testing of composite hot and cold ablation needles.
[0035] Temperature probe two-point calibration (0 ℃, 37 ℃, drift ≤0.2 ℃).
[0036] (2) Coordinate system and alignment Select the analysis section (needle shaft cross section) and establish a rectangular coordinate system (with the needle tip as the origin of the coordinate axis and the needle shaft as the x-axis).
[0037] Use clamps / positioning plates to align the x and y axes with the geometric symmetry directions of the device (such as the normal to the needle sheath shape or the symmetry line of the flow channel). This step corresponds to our assumption that θ = 0°.
[0038] (3) Multi-point temperature measurement layout Because the thermometer needles have a certain width, and each needle has four measuring points located at distances of 5mm, 15mm, 25mm, and 35mm from the needle tip, three thermometer needles are placed parallel to the cryoablation needle, closely spaced, with a 5mm distance between each needle, naturally forming a measuring matrix. The coordinates of each measuring point within the cross-section are recorded. .
[0039] Sampling frequency ≥ 1 Hz, recording the entire process as a function of temperature T and time t, and coordinates x and y. .
[0040] (4) Freezing program and time selection time Choose 10, 15, or 20 minutes, and use one new cycle each time. Value, within one loop The value remains unchanged.
[0041] The program is set to: Freeze ( —Heat (5 min) —Freeze ( Replace at the end of the cycle. When calculating the value, it is necessary to select an animal part that has not been operated on and repeat the experiment.
[0042] (5) Interpolation and isotherm extraction use Constructing a 2D temperature field (IDW).
[0043] exist Extraction at 0 ℃ 20℃ 40 ℃ contour line; if multiple loops appear, take the closed curve containing the needle axis.
[0044] For each isotherm, perform uniform arc length sampling (≥20–50 points) for fitting purposes.
[0045] (6) Construction of isotherm model Isotherm model:
[0046] Origin of coordinates: needle tip It is necessary to interpolate the temperature field. (or isotherm point set) Extract target temperature (0 / 20 / Closed curve (40 ℃).
[0047] Using the least squares form: by For isotherm sampling points, minimize and use scalar constraints (such as fixed) or Remove scale indeterminate.
[0048] remember , .
[0049] Ellipse center parameters:
[0050] Correction of the constant at the center:
[0051] Half-shaft parameters (requirements) ):
[0052] At this point, all the parameters of the ellipse have been solved.
[0053] In some embodiments, the operating parameters include: ablation needle type, ablation time, and first temperature.
[0054] In some embodiments, the method further includes: fixing and positioning the ablation needle using a positioning device based on the needle insertion point and the insertion path of the needle insertion point; the positioning device includes: The tracer is configured to be detachably mounted on the operating handle of the ablation needle, and the reference frame is provided with a first optical marker ball or reflective marker for identification and tracking by the optical tracking camera of the navigation system; A reference frame is configured to be fixed to the patient's body surface or bony landmarks during surgery, and the fixing structure is provided with a second optical marker ball or reflective marker to establish the association between the patient's coordinate system and the navigation system's coordinate system; The tracer is fixed to the ablation needle, and the position and angle changes of the tracer and reference frame are tracked in real time to adjust the position of the ablation needle. The ablation needle is inserted based on the needle inlet and the access path, and the arrival position of the ablation needle is determined on the three-dimensional medical image. In one embodiment, the ablation procedure further includes path planning, which includes preoperative planning and intraoperative planning.
[0055] In one embodiment, the preoperative planning refers to determining the access path using the needle insertion point and the tumor target point before the start of surgery.
[0056] In one embodiment, the intraoperative planning refers to correcting errors and precisely ablating tumors by means of the positioning device when the surgical fixation position is shifted due to external forces or the patient's own actions.
[0057] In one embodiment, the tumor includes bone tumors, lung tumors, brain tumors, liver tumors, and kidney tumors.
[0058] In one embodiment, the bone tumor includes both hard bone tumors and soft bone tumors.
[0059] Figure 2This is a schematic flowchart of the ablation surgery navigation system provided in an embodiment of the present invention, specifically including: Image acquisition module 201: used to receive intraoperative images acquired for the detection object; the intraoperative images include images of the target tumor; Matching module 202: used to extract a preset ablation model that matches the target tumor range based on the target tumor image. The preset ablation model includes ablation ranges with different temperatures, different ablation times, and different ablation needle types, and can characterize the variation of ablation time and ablation range at different temperatures. Ablation parameter determination module 203: used to extract the preoperative operation parameters of the matched preset ablation model, and determine the actual ablation parameters during the operation based on the preoperative operation parameters. The actual ablation parameters during the operation include ablation needle type, ablation time, and ablation temperature.
[0060] The preset ablation model is obtained based on the ablation needle type, ablation time, and first temperature, and includes: Establish a rectangular coordinate system with the needle axis of the ablation needle as the cross-section, the needle tip as the origin, and the needle axis as the first coordinate axis; in the rectangular coordinate system, the geometric symmetry direction of the ablation needle (such as the normal of the needle sheath shape and the symmetry line of the flow channel) is consistent with the coordinate axis; Obtain the coordinates of each temperature measuring point in a Cartesian coordinate system under a temperature measuring matrix formed by at least two temperature measuring needles parallel to the ablation needle; Based on the first temperature T, the ablation time t, and the coordinates of the temperature measurement point, a function Ti(t, x, y) is constructed to obtain the isotherm model, which is the preset ablation model. Figure 3 This is a schematic diagram of the real-time navigation window for ablation surgery provided in an embodiment of the present invention. It shows the relationship between the extracted and matched preset ablation model, the ablation needle and the target tumor from different perspectives. The white, light blue and blue ellipses from the outside to the inside are the isotherms at 0°, -20° and -40° respectively when the ablation needle is RBL26 and the time is 10 minutes.
[0061] Figure 4 This is a schematic diagram of the gelatin ablation range provided in the embodiments of the present invention, including the ablation range under different ablation needles, ablation times, and ablation temperatures. Of course, this diagram is only a schematic diagram. In actual work, the ablation range is obtained by performing an ablation surgery on the pig leg.
[0062] In one embodiment, the ablation needle model includes: RCL17, RBL20, RBL26, RAL26, and RAL30.
[0063] Figure 5 This is a schematic diagram of the freezing temperature parameters for using the RBL20 ablation needle in a pig leg ablation surgery, as provided in this embodiment of the invention: The computing device for a method of visualizing ablation range provided in this embodiment of the invention includes: a memory and a processor, such as... Figure 6 As shown: Memory is used to store program instructions; The processor is used to invoke program instructions, and when the program instructions are executed, the method steps for visualizing the ablation range are implemented.
[0064] The present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method steps for visualizing the ablation range.
[0065] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and modules described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.
[0066] 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 modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules 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 modules may be electrical, mechanical, or other forms.
[0067] The modules described as separate components may or may not be physically separate. Similarly, the components shown as modules may or may not be physical modules; they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment, depending on actual needs.
[0068] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The aforementioned integrated modules can be implemented in hardware or as software functional modules.
[0069] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, which may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.
[0070] Those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware, and the program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.
[0071] The computer device provided by the present invention has been described in detail above. For those skilled in the art, there will be changes in the specific implementation and application scope based on the ideas of the embodiments of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.
Claims
1. A method for visualizing the ablation range, characterized in that, The method includes: Receive intraoperative images acquired for the target object, the intraoperative images including images of the target tumor; Based on the target tumor image, a preset ablation model matching the target tumor range is extracted. The preset ablation model includes ablation ranges with different temperatures, different ablation times, and different ablation needle types, which can characterize the variation of ablation time and ablation range at different temperatures. Extract the preoperative operation parameters of the matched preset ablation model, and determine the actual ablation parameters during the operation based on the preoperative operation parameters. The actual ablation parameters during the operation include the ablation needle type, ablation time, and ablation temperature.
2. The method for visualizing the ablation range according to claim 1, characterized in that, The preset ablation model is obtained based on the ablation needle type, ablation time, and first temperature, and includes: Establish a rectangular coordinate system with the needle axis of the ablation needle as the cross-section, the needle tip as the origin, and the needle axis as the first coordinate axis; in the rectangular coordinate system, the geometric symmetry direction of the ablation needle is consistent with the coordinate axis; Obtain the coordinates of each temperature measuring point in a Cartesian coordinate system under a temperature measuring matrix formed by at least two temperature measuring needles parallel to the ablation needle; Based on the first temperature T, the ablation time t, and the coordinates of the temperature measurement point, a function Ti(t, x, y) is constructed to obtain the isotherm model, which is the preset ablation model. Optionally, the matching principle extracted from the preset ablation model that matches the target tumor image includes: comparing the first boundary of the ablation range in the preset ablation model with the second boundary of the target tumor image range; when the straight-line distance between the first boundary and the second boundary is less than the first threshold, a matching success message is sent. Optionally, the first boundary is the long axis or short axis of the ablation range, and the second boundary is the long axis or short axis of the target tumor imaging range; Optionally, the first temperature includes: 0 degrees Celsius, -20 degrees Celsius, and -40 degrees Celsius; Optionally, the ablation time includes: 10 minutes, 15 minutes, and 20 minutes; Optionally, the first threshold is determined based on the blood supply richness of the tumor.
3. The method for visualizing the ablation range according to claim 1, characterized in that, The preset ablation model is constructed at a second temperature, which includes 36.5-37.5 degrees Celsius, preferably 37 degrees Celsius.
4. The method for visualizing the ablation range according to claim 1, characterized in that, The method for constructing the preset ablation model also includes: For the first biological tissue, the procedures of cryoablation, thermal ablation and cryoablation were executed sequentially to obtain the size and shape of the ablation range at different ablation times, and the first isotherm model was constructed. For the second biological tissue, the procedures of cryoablation, thermal ablation, and cryoablation were executed sequentially to obtain the estimated size and shape of the ablation range at different ablation times, and a second isotherm model was constructed. The preset ablation model is obtained by fitting the first isotherm model and the second isotherm model.
5. The method for visualizing the ablation range according to claim 1, characterized in that, The ablation range refers to the range radiating from the center to the periphery, with the center having the lowest temperature and the periphery having the same temperature as the surrounding tissue.
6. The method for visualizing the ablation range according to claim 1, characterized in that, The method further includes: fixing and positioning the ablation needle using a positioning device based on the needle insertion point and the insertion path of the needle insertion point; the positioning device includes: The tracer is configured to be detachably mounted on the operating handle of the ablation needle, and the tracer is provided with a first optical marker ball or reflective marker for identification and tracking by the optical tracking camera of the navigation system; A reference frame is configured to be fixed to the patient's body surface or bony landmarks during surgery, and the reference frame is provided with a second optical marker ball or reflective marker to establish the association between the patient's coordinate system and the navigation system's coordinate system; The tracer is fixed to the ablation needle, and the position and angle changes of the tracer and the reference frame are tracked in real time to adjust the position of the ablation needle; the ablation needle is inserted based on the needle inlet and the access path, and the arrival position of the ablation needle is determined on the three-dimensional medical image.
7. The method for visualizing the ablation range according to claim 1, characterized in that, The intraoperative imaging also includes the ablation needle after the ablation needle is inserted at the insertion point. At this time, when extracting a preset ablation model that matches the target tumor range based on the target tumor image, it is extracted from the preset ablation model whose ablation needle type has been determined. The actual intraoperative ablation parameters include ablation time and ablation temperature.
8. A computer device, characterized in that, include: Memory and processor; The memory is used to store program instructions; The processor is used to call program instructions, which, when executed, implement the method steps for visualizing the ablation range as described in any one of claims 1-7.
9. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the method steps for visualizing the ablation range as described in any one of claims 1-7.
10. A computer-readable storage medium storing a computer program thereon, characterized in that, When the computer program is executed by the processor, it implements the method steps for visualizing the ablation range as described in any one of claims 1-7.